Merge branch 'risky_optimizations'

This reverts commit acd3f8d879.

.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

.github/workflows/codeql.yml

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

.github/workflows/dotnet.yml

@@ -37,9 +37,12 @@ jobs:
           fetch-depth: 0 # Get all history to allow automatic versioning using MinVer
 
       - name: Setup .NET
-        uses: actions/setup-dotnet@v3
+        uses: actions/setup-dotnet@v4
         with:
-          dotnet-version: ${{ matrix.dotnet-version }}.x
+          dotnet-version: |
+            6
+            7
+            8
             
       - name: Restore dependencies
         run: dotnet restore

.github/workflows/publish.yml

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

.github/workflows/release.yml

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

CHANGELOG.md

@@ -6,12 +6,122 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ## [Unreleased] - yyyy-mm-dd
 
+### Added
+- Added RcBinaryMinHeap ([@Sarofc](https://github.com/Sarofc))
+- Added DotRecast.Benchmark ([@Sarofc](https://github.com/Sarofc))
+
+### Fixed
+- Fix raycast shortcuts ([@Sarofc](https://github.com/Sarofc)) [#72](https://github.com/ikpil/DotRecast/issues/72)
+- Fix dynamic mesh bounds calculation ([@ppiastucki](https://github.com/ppiastucki)) [#77](https://github.com/ikpil/DotRecast/issues/77)
+    - issuer : [@OhJeongrok](https://github.com/OhJeongrok)
+- Fix Support non-tiled dynamic nav meshes ([@ppiastucki](https://github.com/ppiastucki))
+
+### Changed
+- Changed data structure of 'neis' from List<byte> to byte[] for optimized memory usage and improved access speed in `DtLayerMonotoneRegion`
+- Changed new RcVec3f[3] to stackalloc RcVec3f[3] in DtNavMesh.GetPolyHeight() to reduce heap allocation
+- Changed memory handling to use stackalloc in DtNavMeshQuery.GetPolyWallSegments for reducing SOH
+- Changed DtNavMeshQuery.GetPolyWallSegments() to use Span<T> for enhanced performance, memory efficiency.
+- Changed bmin/bmax from int[] to RcVec3i for improved memory efficiency
+
+### Removed
+- Nothing
+
+### Special Thanks
+- [@Doprez](https://github.com/Doprez)
+
+
+## [2024.3.1] - 2024-07-09
+
+### Added
+- Nothing
+
+### Fixed
+- Fixed bug where the dynamic voxel save file browser doesn't appear in `Recast.Demo`
+
+### Changed
+- Changed to reuse samples and edges list in `BuildPolyDetail()`
+- Changed `heights`, `areas`, `cons`, and `regs` arrays to byte arrays for uniformity and efficiency in `DtTileCacheLayer`
+- Changed `reg`, `area` arrays to byte arrays for uniformity and efficiency in `DtTileCacheContour`
+- Changed `RcChunkyTriMesh` to separate the function and variable.
+- Changed to consolidate vector-related functions into one place.
+- Changed stack handling from List to a fixed-size array with manual index management for optimization in `RcLayers.BuildHeightfieldLayers()`
+- Changed to use Span<byte> and stackalloc for improved performance and memory management in `RcLayers.BuildHeightfieldLayers()`
+- Changed vertCount and triCount to byte in `DtPolyDetail`
+- Changed `new float[]` to `stackalloc float[]` in `DtConvexConvexIntersections.Intersect()`
+- Changed agents management from list to dictionary in `DtCrowd`
+- Changed to efficiently stack nearby DtCrowdAgents in `DtCrowd.GetNeighbours()`
+- Changed to limit neighbor search to a maximum count and use array for memory efficiency in `DtCrowd.AddNeighbour()`
+
+### Removed
+- Removed RcMeshDetails.VdistSq2(float[], float[])
+- Removed RcVecUtils.Dot()
+- Removed RcVecUtils.Scale()
+- Removed RcVecUtils.Subtract(RcVec3f i, float[] verts, int j)
+- Removed RcVecUtils.Subtract(float[] verts, int i, int j)
+- Removed RcVecUtils.Min(), RcVecUtils.Max()
+- Removed RcVecUtils.Create(float[] values)
+- Removed RcVecUtils.Dot2D(this RcVec3f @this, Span<float> v, int vi)
+
+### Special Thanks
+- [@Doprez](https://github.com/Doprez)
+
+## [2024.2.3] - 2024-06-03
+
+### Added
+- Added `DtCollectPolysQuery` and `FindCollectPolyTest`
+
+### Fixed
+- Nothing
+
+### Changed
+- Changed `IDtPolyQuery` interface to make `Process()` more versatile
+- Changed `PolyQueryInvoker` to `DtActionPolyQuery`
+- Changed `DtTileCacheBuilder` to a static class
+- Changed `DtTileCacheLayerHeaderReader` to a static class
+- Changed `Dictionary<int, List<DtMeshTile>>` to `DtMeshTile[]` to optimize memory usage
+- Changed `MAX_STEER_POINTS` from class constant to local. 
+- Changed `List<DtStraightPath>` to `Span<DtStraightPath>` for enhanced memory efficiency
+- Changed `DtWriter` to a static class and renamed it to `RcIO`
+- Changed class `Trajectory` to interface `ITrajectory`
+
+### Removed
+- Nothing
+
+### Special Thanks
+- [@Doprez](https://github.com/Doprez)
+
+ 
+## [2024.2.2] - 2024-05-18
+
+### Added
+- Added RcSpans UnitTest
+ 
+### Fixed
+- Nothing
+
+### Changed
+- Changed class name of static functions to RcRecast and DtDetour
+- Changed DtLink class member variable type from int to byte
+- Changed initialization in DtNavMesh constructor to Init() function.
+
+### Removed
+- Nothing
+ 
+### Special Thanks
+- [@Doprez](https://github.com/Doprez)
+
+
+## [2024.2.1] - 2024-05-04
+
 ### Added
 - Added RcCircularBuffer<T> [@ikpil](https://github.com/ikpil)
 - Added struct DtCrowdScopedTimer to avoid allocations in scoped timer calls. [@wrenge](https://github.com/wrenge)
 - Added struct RcScopedTimer to avoid allocations in RcContext scoped timer [@ikpil](https://github.com/ikpil)
+- Added RcSpans [@ikpil](https://github.com/ikpil)
  
 ### Fixed
+- SOH issue [#14](https://github.com/ikpil/DotRecast/issues/41)
+- Optimization: reduce number of allocations on hot path. [@awgil](https://github.com/awgil)
 
 ### Changed
 - Changed DtPathCorridor.Init(int maxPath) function to allow setting the maximum path [@ikpil](https://github.com/ikpil)

DotRecast.sln

@@ -39,6 +39,12 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "DotRecast.Detour.Extras.Tes
 EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "DotRecast.Detour.TileCache.Test", "test\DotRecast.Detour.TileCache.Test\DotRecast.Detour.TileCache.Test.csproj", "{3CAA7306-088E-4373-A406-99755CC2B605}"
 EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "DotRecast.Benchmark", "test\DotRecast.Benchmark\DotRecast.Benchmark.csproj", "{D1EFC625-D095-4208-98A2-112B73CB40B0}"
+EndProject
+Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "tool", "tool", "{9C213609-BF13-4024-816E-A6ADD641DF24}"
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "DotRecast.Tool.PublishToUniRecast", "tool\DotRecast.Tool.PublishToUniRecast\DotRecast.Tool.PublishToUniRecast.csproj", "{1822BBA8-FE4E-4C5F-B9C0-3E20E6353446}"
+EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Any CPU = Debug|Any CPU
@@ -112,23 +118,33 @@ Global
 		{10395C8F-DFBD-4263-8A20-EA3500A6E55A}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{10395C8F-DFBD-4263-8A20-EA3500A6E55A}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{10395C8F-DFBD-4263-8A20-EA3500A6E55A}.Release|Any CPU.Build.0 = Release|Any CPU
+		{D1EFC625-D095-4208-98A2-112B73CB40B0}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{D1EFC625-D095-4208-98A2-112B73CB40B0}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{D1EFC625-D095-4208-98A2-112B73CB40B0}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{D1EFC625-D095-4208-98A2-112B73CB40B0}.Release|Any CPU.Build.0 = Release|Any CPU
+		{1822BBA8-FE4E-4C5F-B9C0-3E20E6353446}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{1822BBA8-FE4E-4C5F-B9C0-3E20E6353446}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{1822BBA8-FE4E-4C5F-B9C0-3E20E6353446}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{1822BBA8-FE4E-4C5F-B9C0-3E20E6353446}.Release|Any CPU.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(NestedProjects) = preSolution
 		{FFE40BBF-843B-41FA-8504-F4ABD166762E} = {8ED75CF7-A3D6-423D-8499-9316DD413DAD}
 		{38933A87-4568-40A5-A3DA-E2445E8C2B99} = {8ED75CF7-A3D6-423D-8499-9316DD413DAD}
 		{C19E4BFA-63A0-4815-9815-869A9DC52DBC} = {8ED75CF7-A3D6-423D-8499-9316DD413DAD}
-		{88754FE2-A05A-4D4D-A81A-90418AD32362} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
-		{554CB5BD-D58A-4856-BFE1-666A62C9BEA3} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
 		{FA7EF26A-BA47-43FD-86F8-0A33CFDF643F} = {8ED75CF7-A3D6-423D-8499-9316DD413DAD}
-		{F9C5B52E-C01D-4514-94E9-B1A6895352E2} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
 		{53AF87DA-37F8-4504-B623-B2113F4438CA} = {8ED75CF7-A3D6-423D-8499-9316DD413DAD}
-		{67C68B34-118A-439C-88E1-D6D1ED78DC59} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
 		{17E4F2F0-FC27-416E-9CB6-9F2CAAC49C9D} = {8ED75CF7-A3D6-423D-8499-9316DD413DAD}
-		{7BAA69B2-EDC7-4603-B16F-BC7B24353F81} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
 		{DEB16B90-CCD4-497E-A2E9-4CC66FD7EF47} = {8ED75CF7-A3D6-423D-8499-9316DD413DAD}
-		{3CAA7306-088E-4373-A406-99755CC2B605} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
 		{023E1E6A-4895-4573-89AE-3D5D8E0B39C8} = {8ED75CF7-A3D6-423D-8499-9316DD413DAD}
 		{DF987948-8C23-4337-AF83-D87D6407518D} = {8ED75CF7-A3D6-423D-8499-9316DD413DAD}
+		{88754FE2-A05A-4D4D-A81A-90418AD32362} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
+		{554CB5BD-D58A-4856-BFE1-666A62C9BEA3} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
+		{F9C5B52E-C01D-4514-94E9-B1A6895352E2} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
+		{67C68B34-118A-439C-88E1-D6D1ED78DC59} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
+		{7BAA69B2-EDC7-4603-B16F-BC7B24353F81} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
+		{3CAA7306-088E-4373-A406-99755CC2B605} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
 		{10395C8F-DFBD-4263-8A20-EA3500A6E55A} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
+		{D1EFC625-D095-4208-98A2-112B73CB40B0} = {A7CB8D8B-70DA-4567-8316-0659FCAE1C73}
+		{1822BBA8-FE4E-4C5F-B9C0-3E20E6353446} = {9C213609-BF13-4024-816E-A6ADD641DF24}
 	EndGlobalSection
 EndGlobal

README.md

@@ -1,28 +1,22 @@
-<h1 align="center">DotRecast</h1>
-<p align="center">
-<i>DotRecast is C# Recast & Detour, a port of <a href="https://github.com/recastnavigation/recastnavigation">recastnavigation</a> and <a href="https://github.com/ppiastucki/recast4j">recast4j</a> to the C# language.</i>
-</p>
-<p align="center">
-<i>If you'd like to support the project, we'd appreciate starring(⭐) our repos on Github for more visibility.</i>
-</p>
+# DotRecast
+
+*DotRecast is C# Recast & Detour, a port of [recastnavigation](https://github.com/recastnavigation/recastnavigation) and [recast4j](https://github.com/ppiastucki/recast4j) to the C# language.*  
+*If you'd like to support the project, we'd appreciate starring(⭐) our repos on Github for more visibility.*
 
 ---
 
-<p align="center">
-<img alt="![GitHub License]" src="https://img.shields.io/github/license/ikpil/DotRecast?style=for-the-badge">
-<img alt="Languages" src="https://img.shields.io/github/languages/top/ikpil/DotRecast?style=for-the-badge">
-<img alt="GitHub repo size" src="https://img.shields.io/github/repo-size/ikpil/DotRecast?style=for-the-badge">
-<a href="https://github.com/ikpil/DotRecast"><img alt="GitHub Repo stars" src="https://img.shields.io/github/stars/ikpil/DotRecast?style=for-the-badge&logo=github"></a>
-<a href="https://github.com/ikpil/DotRecast/actions/workflows/dotnet.yml"><img alt="GitHub Actions Workflow Status" src="https://img.shields.io/github/actions/workflow/status/ikpil/DotRecast/dotnet.yml?style=for-the-badge&logo=github"></a>
-<a href="https://github.com/ikpil/DotRecast/actions/workflows/codeql.yml"><img alt="GitHub Actions Workflow Status" src="https://img.shields.io/github/actions/workflow/status/ikpil/DotRecast/codeql.yml?style=for-the-badge&logo=github&label=CODEQL"></a>
-<a href="https://github.com/ikpil/DotRecast/commits"><img alt="GitHub commit activity" src="https://img.shields.io/github/commit-activity/m/ikpil/DotRecast?style=for-the-badge&logo=github"></a>
-<a href="https://github.com/ikpil/DotRecast/issues"><img alt="GitHub issues" src="https://img.shields.io/github/issues-raw/ikpil/DotRecast?style=for-the-badge&logo=github&color=44cc11"></a>
-<a href="https://github.com/ikpil/DotRecast/issues"><img alt="GitHub closed issues" src="https://img.shields.io/github/issues-closed-raw/ikpil/DotRecast?style=for-the-badge&logo=github&color=a371f7"></a>
-<a href="https://www.nuget.org/packages/DotRecast.Core"><img alt="NuGet Version" src="https://img.shields.io/nuget/vpre/DotRecast.Core?style=for-the-badge&logo=nuget"></a>
-<a href="https://www.nuget.org/packages/DotRecast.Core"><img alt="NuGet Downloads" src="https://img.shields.io/nuget/dt/DotRecast.Core?style=for-the-badge&logo=nuget"></a>
-<a href="https://visitorbadge.io/status?path=ikpil%2FDotRecast"><img alt="Visitors" src="https://api.visitorbadge.io/api/daily?path=ikpil%2FDotRecast&countColor=%23263759"></a>
-<a href="https://github.com/sponsors/ikpil"><img alt="GitHub Sponsors" src="https://img.shields.io/github/sponsors/ikpil?style=for-the-badge&logo=GitHub-Sponsors&link=https%3A%2F%2Fgithub.com%2Fsponsors%2Fikpil"></a>
-</p>
+![GitHub License](https://img.shields.io/github/license/ikpil/DotRecast?style=for-the-badge)
+![Languages](https://img.shields.io/github/languages/top/ikpil/DotRecast?style=for-the-badge)
+![GitHub repo size](https://img.shields.io/github/repo-size/ikpil/DotRecast?style=for-the-badge)
+[![GitHub Repo stars](https://img.shields.io/github/stars/ikpil/DotRecast?style=for-the-badge&logo=github)](https://github.com/ikpil/DotRecast)
+[![GitHub Actions Workflow Status](https://img.shields.io/github/actions/workflow/status/ikpil/DotRecast/dotnet.yml?style=for-the-badge&logo=github)](https://github.com/ikpil/DotRecast/actions/workflows/dotnet.yml)
+[![GitHub Actions Workflow Status](https://img.shields.io/github/actions/workflow/status/ikpil/DotRecast/codeql.yml?style=for-the-badge&logo=github&label=CODEQL)](https://github.com/ikpil/DotRecast/actions/workflows/codeql.yml)
+[![GitHub commit activity](https://img.shields.io/github/commit-activity/m/ikpil/DotRecast?style=for-the-badge&logo=github)](https://github.com/ikpil/DotRecast/commits)
+[![GitHub issues](https://img.shields.io/github/issues-raw/ikpil/DotRecast?style=for-the-badge&logo=github&color=44cc11)](https://github.com/ikpil/DotRecast/issues)
+[![GitHub closed issues](https://img.shields.io/github/issues-closed-raw/ikpil/DotRecast?style=for-the-badge&logo=github&color=a371f7)](https://github.com/ikpil/DotRecast/issues)
+[![NuGet Version](https://img.shields.io/nuget/vpre/DotRecast.Core?style=for-the-badge&logo=nuget)](https://www.nuget.org/packages/DotRecast.Core)
+[![NuGet Downloads](https://img.shields.io/nuget/dt/DotRecast.Core?style=for-the-badge&logo=nuget)](https://www.nuget.org/packages/DotRecast.Core)
+[![GitHub Sponsors](https://img.shields.io/github/sponsors/ikpil?style=for-the-badge&logo=GitHub-Sponsors&link=https%3A%2F%2Fgithub.com%2Fsponsors%2Fikpil)](https://github.com/sponsors/ikpil)
 
 ---
 

composer.json

@@ -0,0 +1,8 @@
+{
+  "name": "rnd/dotrecastnetsim",
+  "description": "DotRecast",
+  "homepage": "https://git.bit5.ru/rnd/DotRecastNetSim.git",
+  "require": {
+      "php": ">=7.4"
+  }
+}

src/DotRecast.Core/Buffers/RcCyclicBuffer.cs

@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Collections;
 using System.Collections.Generic;
 using System.Net.Security;

src/DotRecast.Core/Buffers/RcCyclicBuffers.cs

@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Numerics;
 using System.Runtime.InteropServices;
 

src/DotRecast.Core/Buffers/RcObjectPool.cs

@@ -0,0 +1,30 @@
+using System;
+using System.Collections.Generic;
+
+namespace DotRecast.Core.Buffers
+{
+    // This implementation is thread unsafe
+    public class RcObjectPool<T> where T : class
+    {
+        private readonly Queue<T> _items = new Queue<T>();
+        private readonly Func<T> _createFunc;
+
+        public RcObjectPool(Func<T> createFunc)
+        {
+            _createFunc = createFunc;
+        }
+
+        public T Get()
+        {
+            if (_items.TryDequeue(out var result))
+                return result;
+
+            return _createFunc();
+        }
+
+        public void Return(T obj)
+        {
+            _items.Enqueue(obj);
+        }
+    }
+}

src/DotRecast.Core/Buffers/RcRentedArray.cs

@@ -13,7 +13,7 @@ namespace DotRecast.Core.Buffers
         }
     }
 
-    public class RcRentedArray<T> : IDisposable
+    public struct RcRentedArray<T> : IDisposable
     {
         private ArrayPool<T> _owner;
         private T[] _array;
@@ -43,6 +43,11 @@ namespace DotRecast.Core.Buffers
             return _array;
         }
 
+        public Span<T> AsSpan()
+        {
+            return new Span<T>(_array, 0, Length);
+        }
+
 
         public void Dispose()
         {

src/DotRecast.Core/Collections/CollectionExtensions.cs

@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Collections.Generic;
 
 namespace DotRecast.Core.Collections
@@ -45,5 +45,11 @@ namespace DotRecast.Core.Collections
                 (list[k], list[n]) = (list[n], list[k]);
             }
         }
+
+        public static void AddRange<T>(this IList<T> list, Span<T> span)
+        {
+            foreach (var i in span) 
+                list.Add(i);
+        }
     }
 }

src/DotRecast.Core/Collections/RcBinaryMinHeap.cs

@@ -0,0 +1,153 @@
+using System;
+using System.Collections.Generic;
+using System.Runtime.CompilerServices;
+
+namespace DotRecast.Core.Collections
+{
+    public sealed class RcBinaryMinHeap<T>
+    {
+        private readonly List<T> _items;
+        private readonly Comparison<T> _comparision;
+
+        public int Count => _items.Count;
+        public int Capacity => _items.Capacity;
+
+        public RcBinaryMinHeap(Comparison<T> comparision)
+        {
+            _items = new List<T>();
+            _comparision = comparision;
+        }
+
+        public RcBinaryMinHeap(int capacity, Comparison<T> comparison) : this(comparison)
+        {
+            if (capacity <= 0)
+                throw new ArgumentException("capacity must greater than zero");
+
+            _items = new List<T>(capacity);
+            _comparision = comparison;
+        }
+
+        public void Push(T val)
+        {
+            _items.Add(val);
+            SiftUp(_items.Count - 1);
+        }
+
+        public T Pop()
+        {
+            var min = Peek();
+            RemoveMin();
+            return min;
+        }
+
+        private void RemoveMin()
+        {
+            if (_items.Count == 0)
+            {
+                Throw();
+                static void Throw() => throw new InvalidOperationException("no element to pop");
+            }
+
+            int last = _items.Count - 1;
+            Swap(0, last);
+            _items.RemoveAt(last);
+
+            MinHeapify(0, last - 1);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public T Top()
+        {
+            return _items[0];
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public T Peek()
+        {
+            if (IsEmpty())
+            {
+                throw new Exception("Heap is empty.");
+            }
+
+            return _items[0];
+        }
+
+
+        public bool Modify(T node)
+        {
+            for (int i = 0; i < _items.Count; i++)
+            {
+                if (_items[i].Equals(node))
+                {
+                    SiftUp(i);
+                    return true;
+                }
+            }
+
+            return false;
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public void Clear()
+        {
+            _items.Clear();
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public bool IsEmpty()
+        {
+            return 0 == _items.Count;
+        }
+
+        private void SiftUp(int nodeIndex)
+        {
+            int parent = (nodeIndex - 1) / 2;
+            while (_comparision.Invoke(_items[nodeIndex], _items[parent]) < 0)
+            {
+                Swap(parent, nodeIndex);
+                nodeIndex = parent;
+                parent = (nodeIndex - 1) / 2;
+            }
+        }
+
+
+        private void MinHeapify(int nodeIndex, int lastIndex)
+        {
+            int left = (nodeIndex * 2) + 1;
+            int right = left + 1;
+            int smallest = nodeIndex;
+
+            if (left <= lastIndex && _comparision.Invoke(_items[left], _items[nodeIndex]) < 0)
+                smallest = left;
+
+            if (right <= lastIndex && _comparision.Invoke(_items[right], _items[smallest]) < 0)
+                smallest = right;
+
+            if (smallest == nodeIndex)
+                return;
+
+            Swap(nodeIndex, smallest);
+            MinHeapify(smallest, lastIndex);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        private void Swap(int x, int y)
+        {
+            if (x == y)
+                return;
+
+            (_items[y], _items[x]) = (_items[x], _items[y]);
+        }
+
+
+        public T[] ToArray()
+        {
+            return _items.ToArray();
+        }
+
+        public List<T> ToList()
+        {
+            return new List<T>(_items);
+        }
+    }
+}

src/DotRecast.Core/Collections/RcImmutableArray.Enumerable.cs

@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Collections;
 using System.Collections.Generic;
 

src/DotRecast.Core/Collections/RcImmutableArray.Listable.cs

@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Collections.Generic;
 
 namespace DotRecast.Core.Collections

src/DotRecast.Core/Collections/RcImmutableArray.Minimal.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Core.Collections
+namespace DotRecast.Core.Collections
 {
     public readonly partial struct RcImmutableArray<T>
     {

src/DotRecast.Core/Collections/RcImmutableArray.cs

@@ -1,4 +1,4 @@
-using System;
+using System;
 
 namespace DotRecast.Core.Collections
 {

src/DotRecast.Core/Collections/RcSortedQueue.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -27,12 +27,12 @@ namespace DotRecast.Core.Collections
     {
         private bool _dirty;
         private readonly List<T> _items;
-        private readonly Comparer<T> _comparer;
+        private readonly Comparison<T> _comparison;
 
         public RcSortedQueue(Comparison<T> comp)
         {
             _items = new List<T>();
-            _comparer = Comparer<T>.Create((x, y) => comp.Invoke(x, y) * -1);
+            _comparison = (x, y) => comp(x, y) * -1;
         }
 
         public int Count()
@@ -55,7 +55,7 @@ namespace DotRecast.Core.Collections
         {
             if (_dirty)
             {
-                _items.Sort(_comparer); // reverse
+                _items.Sort(_comparison); // reverse
                 _dirty = false;
             }
         }
@@ -88,7 +88,7 @@ namespace DotRecast.Core.Collections
                 return false;
 
             //int idx = _items.BinarySearch(item, _comparer); // don't use this! Because reference types can be reused externally.
-            int idx = _items.FindLastIndex(x => item.Equals(x));
+            int idx = _items.LastIndexOf(item);
             if (0 > idx)
                 return false;
 

src/DotRecast.Core/Collections/RcStackArray128.cs

@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Runtime.CompilerServices;
 
 namespace DotRecast.Core.Collections

src/DotRecast.Core/Collections/RcStackArray16.cs

@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Runtime.CompilerServices;
 
 namespace DotRecast.Core.Collections

src/DotRecast.Core/Collections/RcStackArray2.cs

@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Runtime.CompilerServices;
 
 namespace DotRecast.Core.Collections

src/DotRecast.Core/Collections/RcStackArray256.cs

@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Runtime.CompilerServices;
 
 namespace DotRecast.Core.Collections

src/DotRecast.Core/Collections/RcStackArray32.cs

@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Runtime.CompilerServices;
 
 namespace DotRecast.Core.Collections

src/DotRecast.Core/Collections/RcStackArray4.cs

@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Runtime.CompilerServices;
 
 namespace DotRecast.Core.Collections

src/DotRecast.Core/Collections/RcStackArray512.cs

@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Runtime.CompilerServices;
 
 namespace DotRecast.Core.Collections

src/DotRecast.Core/Collections/RcStackArray64.cs

@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Runtime.CompilerServices;
 
 namespace DotRecast.Core.Collections

src/DotRecast.Core/Collections/RcStackArray8.cs

@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Runtime.CompilerServices;
 
 namespace DotRecast.Core.Collections

src/DotRecast.Core/IRcCompressor.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Core/IRcRand.cs

@@ -1,7 +1,9 @@
-namespace DotRecast.Core
+namespace DotRecast.Core
 {
     public interface IRcRand
     {
         float Next();
+        double NextDouble();
+        int NextInt32();
     }
 }

src/DotRecast.Core/Numerics/RcMatrix4x4f.cs

@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Runtime.CompilerServices;
 
 namespace DotRecast.Core.Numerics

src/DotRecast.Core/Numerics/RcVec.cs

@@ -1,20 +1,15 @@
-using System;
+using System;
 using System.Runtime.CompilerServices;
 
 namespace DotRecast.Core.Numerics
 {
-    public static class RcVecUtils
+    public static class RcVec
     {
         public const float EPSILON = 1e-6f;
+        public static readonly float EQUAL_THRESHOLD = RcMath.Sqr(1.0f / 16384.0f);
 
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static RcVec3f Create(float[] values)
-        {
-            return Create(values, 0);
-        }
-
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static RcVec3f Create(float[] values, int n)
+        public static RcVec3f Create(Span<float> values, int n)
         {
             return new RcVec3f(values[n + 0], values[n + 1], values[n + 2]);
         }
@@ -42,10 +37,73 @@ namespace DotRecast.Core.Numerics
             }
         }
 
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static RcVec3f Scale(this RcVec3f v, float scale)
+        /// Performs a 'sloppy' colocation check of the specified points.
+        /// @param[in] p0 A point. [(x, y, z)]
+        /// @param[in] p1 A point. [(x, y, z)]
+        /// @return True if the points are considered to be at the same location.
+        ///
+        /// Basically, this function will return true if the specified points are
+        /// close enough to eachother to be considered colocated.
+        public static bool Equal(RcVec3f p0, RcVec3f p1)
         {
-            return v * scale;
+            float d = RcVec3f.DistanceSquared(p0, p1);
+            return d < EQUAL_THRESHOLD;
+        }
+
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float Dot2(RcVec3f a, RcVec3f b)
+        {
+            return a.X * b.X + a.Z * b.Z;
+        }
+
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float DistSq2(float[] verts, int p, int q)
+        {
+            float dx = verts[q + 0] - verts[p + 0];
+            float dy = verts[q + 2] - verts[p + 2];
+            return dx * dx + dy * dy;
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float Dist2(float[] verts, int p, int q)
+        {
+            return MathF.Sqrt(DistSq2(verts, p, q));
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float DistSq2(RcVec3f p, RcVec3f q)
+        {
+            float dx = q.X - p.X;
+            float dy = q.Z - p.Z;
+            return dx * dx + dy * dy;
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float Dist2(RcVec3f p, RcVec3f q)
+        {
+            return MathF.Sqrt(DistSq2(p, q));
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float Cross2(float[] verts, int p1, int p2, int p3)
+        {
+            float u1 = verts[p2 + 0] - verts[p1 + 0];
+            float v1 = verts[p2 + 2] - verts[p1 + 2];
+            float u2 = verts[p3 + 0] - verts[p1 + 0];
+            float v2 = verts[p3 + 2] - verts[p1 + 2];
+            return u1 * v2 - v1 * u2;
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float Cross2(RcVec3f p1, RcVec3f p2, RcVec3f p3)
+        {
+            float u1 = p2.X - p1.X;
+            float v1 = p2.Z - p1.Z;
+            float u2 = p3.X - p1.X;
+            float v2 = p3.Z - p1.Z;
+            return u1 * v2 - v1 * u2;
         }
 
         /// Derives the dot product of two vectors on the xz-plane. (@p u . @p v)
@@ -62,46 +120,6 @@ namespace DotRecast.Core.Numerics
                    @this.Z * v.Z;
         }
 
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static float Dot2D(this RcVec3f @this, float[] v, int vi)
-        {
-            return @this.X * v[vi] +
-                   @this.Z * v[vi + 2];
-        }
-
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static RcVec3f Add(RcVec3f a, float[] verts, int i)
-        {
-            return new RcVec3f(
-                a.X + verts[i],
-                a.Y + verts[i + 1],
-                a.Z + verts[i + 2]
-            );
-        }
-
-
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static RcVec3f Subtract(float[] verts, int i, int j)
-        {
-            return new RcVec3f(
-                verts[i] - verts[j],
-                verts[i + 1] - verts[j + 1],
-                verts[i + 2] - verts[j + 2]
-            );
-        }
-
-
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static RcVec3f Subtract(RcVec3f i, float[] verts, int j)
-        {
-            return new RcVec3f(
-                i.X - verts[j],
-                i.Y - verts[j + 1],
-                i.Z - verts[j + 2]
-            );
-        }
-
-
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static void Cross(float[] dest, float[] v1, float[] v2)
         {
@@ -119,19 +137,11 @@ namespace DotRecast.Core.Numerics
         }
         
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static float Dot(float[] v1, float[] v2)
+        public static void Copy(Span<float> @out, int n, Span<float> @in, int m)
         {
-            return v1[0] * v2[0] +
-                   v1[1] * v2[1] +
-                   v1[2] * v2[2];
-        }
-
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static float Dot(float[] v1, RcVec3f vector2)
-        {
-            return v1[0] * vector2.X +
-                   v1[1] * vector2.Y +
-                   v1[2] * vector2.Z;
+            @out[n + 0] = @in[m + 0];
+            @out[n + 1] = @in[m + 1];
+            @out[n + 2] = @in[m + 2];
         }
 
         /// Returns the distance between two points.
@@ -167,26 +177,6 @@ namespace DotRecast.Core.Numerics
             return v;
         }
 
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static RcVec3f Min(RcVec3f v, float[] @in, int i)
-        {
-            return new RcVec3f(
-                (v.X < @in[i + 0]) ? v.X : @in[i + 0],
-                (v.Y < @in[i + 1]) ? v.Y : @in[i + 1],
-                (v.Z < @in[i + 2]) ? v.Z : @in[i + 2]
-            );
-        }
-
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static RcVec3f Max(RcVec3f v, float[] @in, int i)
-        {
-            return new RcVec3f(
-                (v.X > @in[i + 0]) ? v.X : @in[i + 0],
-                (v.Y > @in[i + 1]) ? v.Y : @in[i + 1],
-                (v.Z > @in[i + 2]) ? v.Z : @in[i + 2]
-            );
-        }
-
         /// Derives the distance between the specified points on the xz-plane.
         /// @param[in] v1 A point. [(x, y, z)]
         /// @param[in] v2 A point. [(x, y, z)]
@@ -202,6 +192,10 @@ namespace DotRecast.Core.Numerics
             return (float)MathF.Sqrt(dx * dx + dz * dz);
         }
 
+        /// Derives the square of the distance between the specified points on the xz-plane.
+        ///  @param[in]		v1	A point. [(x, y, z)]
+        ///  @param[in]		v2	A point. [(x, y, z)]
+        /// @return The square of the distance between the point on the xz-plane.
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static float Dist2DSqr(RcVec3f v1, RcVec3f v2)
         {
@@ -211,7 +205,7 @@ namespace DotRecast.Core.Numerics
         }
 
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static float Dist2DSqr(RcVec3f p, float[] verts, int i)
+        public static float Dist2DSqr(RcVec3f p, Span<float> verts, int i)
         {
             float dx = verts[i] - p.X;
             float dz = verts[i + 2] - p.Z;
@@ -262,7 +256,7 @@ namespace DotRecast.Core.Numerics
         /// @param[in] v2 The destination vector.
         /// @param[in] t The interpolation factor. [Limits: 0 <= value <= 1.0]
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static RcVec3f Lerp(float[] verts, int v1, int v2, float t)
+        public static RcVec3f Lerp(Span<float> verts, int v1, int v2, float t)
         {
             return new RcVec3f(
                 verts[v1 + 0] + (verts[v2 + 0] - verts[v1 + 0]) * t,

src/DotRecast.Core/Numerics/RcVec3f.cs

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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
@@ -49,6 +50,19 @@ namespace DotRecast.Core.Numerics
             Z = f;
         }
 
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public RcVec3f(ReadOnlySpan<float> values)
+        {
+            if (values.Length < 3)
+            {
+                RcThrowHelper.ThrowArgumentOutOfRangeException(nameof(values));
+            }
+
+            X = values[0];
+            Y = values[1];
+            Z = values[2];
+        }
+
 
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public readonly float Length()

src/DotRecast.Core/Numerics/RcVec3i.cs

@@ -0,0 +1,9 @@
+namespace DotRecast.Core.Numerics
+{
+    public struct RcVec3i
+    {
+        public int X;
+        public int Y;
+        public int Z;
+    }
+}

src/DotRecast.Core/RcArrays.cs

@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Runtime.CompilerServices;
 
 namespace DotRecast.Core

src/DotRecast.Core/RcAtomicBoolean.cs

@@ -1,4 +1,4 @@
-using System.Threading;
+using System.Threading;
 
 namespace DotRecast.Core
 {

src/DotRecast.Core/RcAtomicFloat.cs

@@ -1,4 +1,4 @@
-using System.Threading;
+using System.Threading;
 
 namespace DotRecast.Core
 {

src/DotRecast.Core/RcAtomicInteger.cs

@@ -1,4 +1,4 @@
-using System.Threading;
+using System.Threading;
 
 namespace DotRecast.Core
 {

src/DotRecast.Core/RcAtomicLong.cs

@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Threading;
 
 namespace DotRecast.Core

src/DotRecast.Core/RcByteOrder.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Core
+namespace DotRecast.Core
 {
     public enum RcByteOrder
     {

src/DotRecast.Core/RcByteUtils.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Core/RcContext.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Core/RcConvexUtils.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Core/RcDirectory.cs

@@ -1,4 +1,4 @@
-using System.IO;
+using System.IO;
 using System.Linq;
 
 namespace DotRecast.Core

src/DotRecast.Core/RcEdge.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Core
+namespace DotRecast.Core
 {
     public class RcEdge
     {

src/DotRecast.Core/RcFrequency.cs

@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Diagnostics;
 
 namespace DotRecast.Core

src/DotRecast.Core/RcHashCodes.cs

@@ -1,4 +1,4 @@
-using System.Runtime.CompilerServices;
+using System.Runtime.CompilerServices;
 
 namespace DotRecast.Core
 {

src/DotRecast.Core/RcIO.cs

@@ -0,0 +1,165 @@
+/*
+Recast4J Copyright (c) 2015 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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.
+*/
+
+using System;
+using System.IO;
+
+namespace DotRecast.Core
+{
+    public static class RcIO
+    {
+        public static RcByteBuffer ToByteBuffer(BinaryReader br, bool direct)
+        {
+            byte[] data = ToByteArray(br);
+            if (direct)
+            {
+                Array.Reverse(data);
+            }
+
+            return new RcByteBuffer(data);
+        }
+
+        public static byte[] ToByteArray(BinaryReader br)
+        {
+            using var ms = new MemoryStream();
+            Span<byte> buffer = stackalloc byte[4096];
+            int l;
+            while ((l = br.Read(buffer)) > 0)
+            {
+                ms.Write(buffer.Slice(0, l));
+            }
+
+            return ms.ToArray();
+        }
+
+
+        public static RcByteBuffer ToByteBuffer(BinaryReader br)
+        {
+            var bytes = ToByteArray(br);
+            return new RcByteBuffer(bytes);
+        }
+
+        public static int SwapEndianness(int i)
+        {
+            var s = (((uint)i >> 24) & 0xFF) | (((uint)i >> 8) & 0xFF00) | (((uint)i << 8) & 0xFF0000) | ((i << 24) & 0xFF000000);
+            return (int)s;
+        }
+
+        public static byte[] ReadFileIfFound(string filename)
+        {
+            if (string.IsNullOrEmpty(filename))
+                return null;
+
+            string filePath = filename;
+
+            if (!File.Exists(filePath))
+            {
+                var searchFilePath = RcDirectory.SearchFile($"{filename}");
+                if (!File.Exists(searchFilePath))
+                {
+                    searchFilePath = RcDirectory.SearchFile($"resources/{filename}");
+                }
+
+                if (File.Exists(searchFilePath))
+                {
+                    filePath = searchFilePath;
+                }
+            }
+
+            using var fs = new FileStream(filePath, FileMode.Open, FileAccess.Read, FileShare.Read);
+            byte[] buffer = new byte[fs.Length];
+            var read = fs.Read(buffer, 0, buffer.Length);
+            if (read != buffer.Length)
+                return null;
+
+            return buffer;
+        }
+
+        public static void Write(BinaryWriter ws, float value, RcByteOrder order)
+        {
+            byte[] bytes = BitConverter.GetBytes(value);
+            int i = BitConverter.ToInt32(bytes, 0);
+            Write(ws, i, order);
+        }
+
+        public static void Write(BinaryWriter ws, short value, RcByteOrder order)
+        {
+            if (order == RcByteOrder.BIG_ENDIAN)
+            {
+                ws.Write((byte)((value >> 8) & 0xFF));
+                ws.Write((byte)(value & 0xFF));
+            }
+            else
+            {
+                ws.Write((byte)(value & 0xFF));
+                ws.Write((byte)((value >> 8) & 0xFF));
+            }
+        }
+
+        public static void Write(BinaryWriter ws, long value, RcByteOrder order)
+        {
+            if (order == RcByteOrder.BIG_ENDIAN)
+            {
+                Write(ws, (int)((ulong)value >> 32), order);
+                Write(ws, (int)(value & 0xFFFFFFFF), order);
+            }
+            else
+            {
+                Write(ws, (int)(value & 0xFFFFFFFF), order);
+                Write(ws, (int)((ulong)value >> 32), order);
+            }
+        }
+
+        public static void Write(BinaryWriter ws, int value, RcByteOrder order)
+        {
+            if (order == RcByteOrder.BIG_ENDIAN)
+            {
+                ws.Write((byte)((value >> 24) & 0xFF));
+                ws.Write((byte)((value >> 16) & 0xFF));
+                ws.Write((byte)((value >> 8) & 0xFF));
+                ws.Write((byte)(value & 0xFF));
+            }
+            else
+            {
+                ws.Write((byte)(value & 0xFF));
+                ws.Write((byte)((value >> 8) & 0xFF));
+                ws.Write((byte)((value >> 16) & 0xFF));
+                ws.Write((byte)((value >> 24) & 0xFF));
+            }
+        }
+
+        public static void Write(BinaryWriter ws, bool value)
+        {
+            Write(ws, (byte)(value ? 1 : 0));
+        }
+
+        public static void Write(BinaryWriter ws, byte value)
+        {
+            ws.Write(value);
+        }
+
+        public static void Write(BinaryWriter ws, MemoryStream ms)
+        {
+            ms.Position = 0;
+            byte[] buffer = new byte[ms.Length];
+            ms.Read(buffer, 0, buffer.Length);
+            ws.Write(buffer);
+        }
+    }
+}

src/DotRecast.Core/RcIntersections.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Core/RcMath.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -29,5 +29,11 @@ namespace DotRecast.Core
         {
             return f * f;
         }
+        
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float Lerp(float value1, float value2, float amount)
+        {
+            return (value1 * (1.0f - amount)) + (value2 * amount);
+        }
     }
 }

src/DotRecast.Core/RcObjImporter.cs

@@ -1,6 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Core/RcObjImporterContext.cs

@@ -1,4 +1,4 @@
-using System.Collections.Generic;
+using System.Collections.Generic;
 
 namespace DotRecast.Core
 {

src/DotRecast.Core/RcProcess.cs

@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Diagnostics;
 using System.Runtime.InteropServices;
 

src/DotRecast.Core/RcRand.cs

@@ -1,4 +1,4 @@
-using System;
+using System;
 
 namespace DotRecast.Core
 {
@@ -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.Core/RcResources.cs

@@ -1,22 +0,0 @@
-using System.IO;
-
-namespace DotRecast.Core
-{
-    public static class RcResources
-    {
-        public static byte[] Load(string filename)
-        {
-            var filepath = filename;
-            if (!File.Exists(filepath))
-            {
-                filepath = RcDirectory.SearchFile($"resources/{filename}");
-            }
-            
-            using var fs = new FileStream(filepath, FileMode.Open, FileAccess.Read, FileShare.Read);
-            byte[] buffer = new byte[fs.Length];
-            fs.Read(buffer, 0, buffer.Length);
-
-            return buffer;
-        }
-    }
-}

src/DotRecast.Core/RcScopedTimer.cs

@@ -1,4 +1,4 @@
-using System;
+using System;
 
 namespace DotRecast.Core
 {

src/DotRecast.Core/RcSegmentVert.cs

@@ -1,4 +1,4 @@
-using DotRecast.Core.Numerics;
+using DotRecast.Core.Numerics;
 
 namespace DotRecast.Core
 {

src/DotRecast.Core/RcSpans.cs

@@ -0,0 +1,36 @@
+using System;
+using System.Runtime.CompilerServices;
+
+namespace DotRecast.Core
+{
+    public static class RcSpans
+    {
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static void Copy<T>(Span<T> src, Span<T> dst)
+        {
+            src.CopyTo(dst);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static void Copy<T>(Span<T> src, int srcIdx, Span<T> dst, int dstIdx, int length)
+        {
+            var slicedSrc = src.Slice(srcIdx, length);
+            var slicedDst = dst.Slice(dstIdx);
+            slicedSrc.CopyTo(slicedDst);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static void Move<T>(Span<T> src, int srcIdx, int dstIdx, int length)
+        {
+            var slicedSrc = src.Slice(srcIdx, length);
+            var slicedDst = src.Slice(dstIdx, length);
+            slicedSrc.CopyTo(slicedDst);
+        }
+        
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static void Fill<T>(Span<T> span, T value, int start, int count)
+        {
+            span.Slice(start, count).Fill(value);
+        }
+    }
+}

src/DotRecast.Core/RcTelemetryTick.cs

@@ -1,4 +1,4 @@
-using System;
+using System;
 
 namespace DotRecast.Core
 {

src/DotRecast.Core/RcThrowHelper.cs

@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Runtime.CompilerServices;
 using DotRecast.Core.Collections;
 
@@ -15,6 +15,12 @@ namespace DotRecast.Core
             }
         }
         
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static void ThrowArgumentOutOfRangeException(string argument)
+        {
+            throw new ArgumentOutOfRangeException(argument);
+        }
+        
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static void StackOverflow()
         {

src/DotRecast.Core/RcTimerLabel.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Core
+namespace DotRecast.Core
 {
     /// Recast performance timer categories.
     /// @see rcContext

src/DotRecast.Detour.Crowd/DtCrowd.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -20,8 +20,9 @@ freely, subject to the following restrictions:
 
 using System;
 using System.Collections.Generic;
-using System.Threading.Tasks;
+using System.Diagnostics;
 using DotRecast.Core;
+using DotRecast.Core.Buffers;
 using DotRecast.Core.Collections;
 using DotRecast.Core.Numerics;
 
@@ -120,15 +121,16 @@ namespace DotRecast.Detour.Crowd
     /// @ingroup crowd
     public class DtCrowd
     {
-        private readonly RcAtomicInteger _agentId = new RcAtomicInteger();
-        private readonly List<DtCrowdAgent> _agents;
+        private readonly RcAtomicInteger _agentIdx;
+        private readonly Dictionary<int, DtCrowdAgent> _agents;
+        private readonly List<DtCrowdAgent> _activeAgents;
 
         private readonly DtPathQueue _pathQ;
 
         private readonly DtObstacleAvoidanceParams[] _obstacleQueryParams;
         private readonly DtObstacleAvoidanceQuery _obstacleQuery;
 
-        private DtProximityGrid _grid;
+        private readonly DtProximityGrid _grid;
 
         private int _maxPathResult;
         private readonly RcVec3f _agentPlacementHalfExtents;
@@ -170,7 +172,10 @@ namespace DotRecast.Detour.Crowd
             // Allocate temp buffer for merging paths.
             _maxPathResult = DtCrowdConst.MAX_PATH_RESULT;
             _pathQ = new DtPathQueue(config);
-            _agents = new List<DtCrowdAgent>();
+            _agentIdx = new RcAtomicInteger(0);
+            _agents = new Dictionary<int, DtCrowdAgent>();
+            _activeAgents = new List<DtCrowdAgent>();
+            _grid = new DtProximityGrid(_config.maxAgentRadius * 3);
 
             // The navQuery is mostly used for local searches, no need for large node pool.
             SetNavMesh(nav);
@@ -235,11 +240,10 @@ namespace DotRecast.Detour.Crowd
         /// @return The index of the agent in the agent pool. Or -1 if the agent could not be added.
         public DtCrowdAgent AddAgent(RcVec3f pos, DtCrowdAgentParams option)
         {
-            int idx = _agentId.GetAndIncrement();
+            int idx = _agentIdx.GetAndIncrement();
             DtCrowdAgent ag = new DtCrowdAgent(idx);
             ag.corridor.Init(_maxPathResult);
-            _agents.Add(ag);
-
+            AddAgent(ag);
             UpdateAgentParameters(ag, option);
 
             // Find nearest position on navmesh and place the agent there.
@@ -256,6 +260,7 @@ namespace DotRecast.Detour.Crowd
 
             ag.topologyOptTime = 0;
             ag.targetReplanTime = 0;
+            ag.nneis = 0;
 
             ag.dvel = RcVec3f.Zero;
             ag.nvel = RcVec3f.Zero;
@@ -278,15 +283,27 @@ namespace DotRecast.Detour.Crowd
             return ag;
         }
 
-        /**
-     * Removes the agent from the crowd.
-     *
-     * @param agent
-     *            Agent to be removed
-     */
+        public DtCrowdAgent GetAgent(int idx)
+        {
+            return _agents.GetValueOrDefault(idx);
+        }
+
+        // Add the agent from the crowd.
+        public void AddAgent(DtCrowdAgent agent)
+        {
+            if (_agents.TryAdd(agent.idx, agent))
+            {
+                _activeAgents.Add(agent);
+            }
+        }
+
+        // Removes the agent from the crowd.
         public void RemoveAgent(DtCrowdAgent agent)
         {
-            _agents.Remove(agent);
+            if (_agents.Remove(agent.idx))
+            {
+                _activeAgents.Remove(agent);
+            }
         }
 
         private bool RequestMoveTargetReplan(DtCrowdAgent ag, long refs, RcVec3f pos)
@@ -358,7 +375,7 @@ namespace DotRecast.Detour.Crowd
      */
         public IList<DtCrowdAgent> GetActiveAgents()
         {
-            return _agents;
+            return _activeAgents;
         }
 
         public RcVec3f GetQueryExtents()
@@ -549,14 +566,18 @@ namespace DotRecast.Detour.Crowd
             }
         }
 
+        private readonly RcSortedQueue<DtCrowdAgent> UpdateMoveRequest_queue = new RcSortedQueue<DtCrowdAgent>((a1, a2) => a2.targetReplanTime.CompareTo(a1.targetReplanTime));
+        private readonly List<long> UpdateMoveRequest_reqPath = new List<long>();
         private void UpdateMoveRequest(IList<DtCrowdAgent> agents, float dt)
         {
             using var timer = _telemetry.ScopedTimer(DtCrowdTimerLabel.UpdateMoveRequest);
 
-            RcSortedQueue<DtCrowdAgent> queue = new RcSortedQueue<DtCrowdAgent>((a1, a2) => a2.targetReplanTime.CompareTo(a1.targetReplanTime));
+            RcSortedQueue<DtCrowdAgent> queue = UpdateMoveRequest_queue;
+            queue.Clear();
 
             // Fire off new requests.
-            List<long> reqPath = new List<long>();
+            List<long> reqPath = UpdateMoveRequest_reqPath;
+            reqPath.Clear();
             for (var i = 0; i < agents.Count; i++)
             {
                 var ag = agents[i];
@@ -589,7 +610,7 @@ namespace DotRecast.Detour.Crowd
                     if (ag.targetReplan) // && npath > 10)
                     {
                         // Try to use existing steady path during replan if possible.
-                        status = _navQuery.FinalizeSlicedFindPathPartial(path, ref reqPath);
+                        status = _navQuery.FinalizeSlicedFindPathPartial(path, path.Count, ref reqPath);
                     }
                     else
                     {
@@ -849,7 +870,7 @@ namespace DotRecast.Detour.Crowd
         {
             using var timer = _telemetry.ScopedTimer(DtCrowdTimerLabel.BuildProximityGrid);
 
-            _grid = new DtProximityGrid(_config.maxAgentRadius * 3);
+            _grid.Clear();
 
             for (var i = 0; i < agents.Count; i++)
             {
@@ -875,7 +896,7 @@ namespace DotRecast.Detour.Crowd
                 // Update the collision boundary after certain distance has been passed or
                 // if it has become invalid.
                 float updateThr = ag.option.collisionQueryRange * 0.25f;
-                if (RcVecUtils.Dist2DSqr(ag.npos, ag.boundary.GetCenter()) > RcMath.Sqr(updateThr)
+                if (RcVec.Dist2DSqr(ag.npos, ag.boundary.GetCenter()) > RcMath.Sqr(updateThr)
                     || !ag.boundary.IsValid(_navQuery, _filters[ag.option.queryFilterType]))
                 {
                     ag.boundary.Update(ag.corridor.GetFirstPoly(), ag.npos, ag.option.collisionQueryRange, _navQuery,
@@ -883,21 +904,66 @@ namespace DotRecast.Detour.Crowd
                 }
 
                 // Query neighbour agents
-                GetNeighbours(ag.npos, ag.option.height, ag.option.collisionQueryRange, ag, ref ag.neis, _grid);
+                ag.nneis = GetNeighbours(ag.npos, ag.option.height, ag.option.collisionQueryRange, ag, ag.neis, DtCrowdConst.DT_CROWDAGENT_MAX_NEIGHBOURS, _grid);
             }
         }
 
-
-        private int GetNeighbours(RcVec3f pos, float height, float range, DtCrowdAgent skip, ref List<DtCrowdNeighbour> result, DtProximityGrid grid)
+        public static int AddNeighbour(DtCrowdAgent idx, float dist, Span<DtCrowdNeighbour> neis, int nneis, int maxNeis)
         {
-            result.Clear();
+            // Insert neighbour based on the distance.
+            int nei = 0;
+            if (0 == nneis)
+            {
+                nei = nneis;
+            }
+            else if (dist >= neis[nneis - 1].dist)
+            {
+                if (nneis >= maxNeis)
+                    return nneis;
+                nei = nneis;
+            }
+            else
+            {
+                int i;
+                for (i = 0; i < nneis; ++i)
+                {
+                    if (dist <= neis[i].dist)
+                    {
+                        break;
+                    }
+                }
+
+                int tgt = i + 1;
+                int n = Math.Min(nneis - i, maxNeis - tgt);
+                
+                Debug.Assert(tgt + n <= maxNeis);
+
+                if (n > 0)
+                {
+                    RcSpans.Move(neis, i, tgt, n);
+                }
+
+                nei = i;
+            }
+
+            neis[nei] = new DtCrowdNeighbour(idx, dist);
+
+            return Math.Min(nneis + 1, maxNeis);
+        }
+
+        private int GetNeighbours(RcVec3f pos, float height, float range, DtCrowdAgent skip, DtCrowdNeighbour[] result, int maxResult, DtProximityGrid grid)
+        {
+            int n = 0;
+
+            const int MAX_NEIS = 32;
+            Span<int> ids = stackalloc int[MAX_NEIS];
+            int nids = grid.QueryItems(pos.X - range, pos.Z - range,
+                pos.X + range, pos.Z + range,
+                ids, ids.Length);
 
-            int MAX_NEIS = 32;
-            var ids = new DtCrowdAgent[MAX_NEIS];
-            int nids = grid.QueryItems(pos.X - range, pos.Z - range, pos.X + range, pos.Z + range, ids, ids.Length);
             for (int i = 0; i < nids; ++i)
             {
-                var ag = ids[i];
+                var ag = GetAgent(ids[i]);
                 if (ag == skip)
                 {
                     continue;
@@ -917,11 +983,10 @@ namespace DotRecast.Detour.Crowd
                     continue;
                 }
 
-                result.Add(new DtCrowdNeighbour(ag, distSqr));
+                n = AddNeighbour(ag, distSqr, result, n, maxResult);
             }
 
-            result.Sort((o1, o2) => o1.dist.CompareTo(o2.dist));
-            return result.Count;
+            return n;
         }
 
         private void FindCorners(IList<DtCrowdAgent> agents, DtCrowdAgentDebugInfo debug)
@@ -944,13 +1009,13 @@ namespace DotRecast.Detour.Crowd
                 }
 
                 // Find corners for steering
-                ag.corridor.FindCorners(ref ag.corners, DtCrowdConst.DT_CROWDAGENT_MAX_CORNERS, _navQuery, _filters[ag.option.queryFilterType]);
+                ag.ncorners = ag.corridor.FindCorners(ag.corners, DtCrowdConst.DT_CROWDAGENT_MAX_CORNERS, _navQuery, _filters[ag.option.queryFilterType]);
 
                 // Check to see if the corner after the next corner is directly visible,
                 // and short cut to there.
-                if ((ag.option.updateFlags & DtCrowdAgentUpdateFlags.DT_CROWD_OPTIMIZE_VIS) != 0 && ag.corners.Count > 0)
+                if ((ag.option.updateFlags & DtCrowdAgentUpdateFlags.DT_CROWD_OPTIMIZE_VIS) != 0 && ag.ncorners > 0)
                 {
-                    RcVec3f target = ag.corners[Math.Min(1, ag.corners.Count - 1)].pos;
+                    RcVec3f target = ag.corners[Math.Min(1, ag.ncorners - 1)].pos;
                     ag.corridor.OptimizePathVisibility(target, ag.option.pathOptimizationRange, _navQuery,
                         _filters[ag.option.queryFilterType]);
 
@@ -992,7 +1057,7 @@ namespace DotRecast.Detour.Crowd
                 }
 
                 // Check
-                float triggerRadius = ag.option.radius * 2.25f;
+                float triggerRadius = ag.option.radius * 0.25f;//todo make parameterizable
                 if (ag.OverOffmeshConnection(triggerRadius))
                 {
                     // Prepare to off-mesh connection.
@@ -1000,18 +1065,18 @@ namespace DotRecast.Detour.Crowd
 
                     // Adjust the path over the off-mesh connection.
                     long[] refs = new long[2];
-                    if (ag.corridor.MoveOverOffmeshConnection(ag.corners[ag.corners.Count - 1].refs, refs, ref anim.startPos,
+                    if (ag.corridor.MoveOverOffmeshConnection(ag.corners[ag.ncorners - 1].refs, refs, ref anim.startPos,
                             ref anim.endPos, _navQuery))
                     {
                         anim.initPos = ag.npos;
                         anim.polyRef = refs[1];
                         anim.active = true;
                         anim.t = 0.0f;
-                        anim.tmax = (RcVecUtils.Dist2D(anim.startPos, anim.endPos) / ag.option.maxSpeed) * 0.5f;
+                        anim.tmax = (RcVec.Dist2D(anim.startPos, anim.endPos) / ag.option.maxSpeed) * 0.5f;
 
                         ag.state = DtCrowdAgentState.DT_CROWDAGENT_STATE_OFFMESH;
-                        ag.corners.Clear();
-                        ag.neis.Clear();
+                        ag.ncorners = 0;
+                        ag.nneis = 0;
                         continue;
                     }
                     else
@@ -1063,7 +1128,7 @@ namespace DotRecast.Detour.Crowd
                     float speedScale = ag.GetDistanceToGoal(slowDownRadius) / slowDownRadius;
 
                     ag.desiredSpeed = ag.option.maxSpeed;
-                    dvel = dvel.Scale(ag.desiredSpeed * speedScale);
+                    dvel = dvel * (ag.desiredSpeed * speedScale);
                 }
 
                 // Separation
@@ -1076,7 +1141,7 @@ namespace DotRecast.Detour.Crowd
                     float w = 0;
                     RcVec3f disp = new RcVec3f();
 
-                    for (int j = 0; j < ag.neis.Count; ++j)
+                    for (int j = 0; j < ag.nneis; ++j)
                     {
                         DtCrowdAgent nei = ag.neis[j].agent;
 
@@ -1097,20 +1162,20 @@ namespace DotRecast.Detour.Crowd
                         float dist = MathF.Sqrt(distSqr);
                         float weight = separationWeight * (1.0f - RcMath.Sqr(dist * invSeparationDist));
 
-                        disp = RcVecUtils.Mad(disp, diff, weight / dist);
+                        disp = RcVec.Mad(disp, diff, weight / dist);
                         w += 1.0f;
                     }
 
                     if (w > 0.0001f)
                     {
                         // Adjust desired velocity.
-                        dvel = RcVecUtils.Mad(dvel, disp, 1.0f / w);
+                        dvel = RcVec.Mad(dvel, disp, 1.0f / w);
                         // Clamp desired velocity to desired speed.
                         float speedSqr = dvel.LengthSquared();
                         float desiredSqr = RcMath.Sqr(ag.desiredSpeed);
                         if (speedSqr > desiredSqr)
                         {
-                            dvel = dvel.Scale(desiredSqr / speedSqr);
+                            dvel = dvel * (desiredSqr / speedSqr);
                         }
                     }
                 }
@@ -1138,9 +1203,12 @@ namespace DotRecast.Detour.Crowd
                     _obstacleQuery.Reset();
 
                     // Add neighbours as obstacles.
-                    for (int j = 0; j < ag.neis.Count; ++j)
+                    for (int j = 0; j < ag.nneis; ++j)
                     {
                         DtCrowdAgent nei = ag.neis[j].agent;
+                        if(!nei.option.contributeObstacleAvoidance || nei.option.obstacleAvoidanceWeight < ag.option.obstacleAvoidanceWeight)
+                            continue;
+                        
                         _obstacleQuery.AddCircle(nei.npos, nei.option.radius, nei.vel, nei.dvel);
                     }
 
@@ -1226,7 +1294,7 @@ namespace DotRecast.Detour.Crowd
 
                     float w = 0;
 
-                    for (int j = 0; j < ag.neis.Count; ++j)
+                    for (int j = 0; j < ag.nneis; ++j)
                     {
                         DtCrowdAgent nei = ag.neis[j].agent;
                         long idx1 = nei.idx;
@@ -1260,7 +1328,7 @@ namespace DotRecast.Detour.Crowd
                             pen = (1.0f / dist) * (pen * 0.5f) * _config.collisionResolveFactor;
                         }
 
-                        ag.disp = RcVecUtils.Mad(ag.disp, diff, pen);
+                        ag.disp = RcVec.Mad(ag.disp, diff, pen);
 
                         w += 1.0f;
                     }
@@ -1268,7 +1336,7 @@ namespace DotRecast.Detour.Crowd
                     if (w > 0.0001f)
                     {
                         float iw = 1.0f / w;
-                        ag.disp = ag.disp.Scale(iw);
+                        ag.disp = ag.disp * iw;
                     }
                 }
 

src/DotRecast.Detour.Crowd/DtCrowdAgent.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -28,7 +28,7 @@ namespace DotRecast.Detour.Crowd
     /// @ingroup crowd
     public class DtCrowdAgent
     {
-        public readonly long idx;
+        public readonly int idx;
 
         /// The type of mesh polygon the agent is traversing. (See: #CrowdAgentState)
         public DtCrowdAgentState state;
@@ -37,16 +37,19 @@ namespace DotRecast.Detour.Crowd
         public bool partial;
 
         /// The path corridor the agent is using.
-        public DtPathCorridor corridor;
+        public readonly DtPathCorridor corridor;
 
         /// The local boundary data for the agent.
-        public DtLocalBoundary boundary;
+        public readonly DtLocalBoundary boundary;
 
         /// Time since the agent's path corridor was optimized.
         public float topologyOptTime;
 
         /// The known neighbors of the agent.
-        public List<DtCrowdNeighbour> neis = new List<DtCrowdNeighbour>();
+        public readonly DtCrowdNeighbour[] neis = new DtCrowdNeighbour[DtCrowdConst.DT_CROWDAGENT_MAX_NEIGHBOURS];
+        
+        /// The number of neighbors.
+        public int nneis;
 
         /// The desired speed.
         public float desiredSpeed;
@@ -61,7 +64,10 @@ namespace DotRecast.Detour.Crowd
         public DtCrowdAgentParams option;
 
         /// The local path corridor corners for the agent.
-        public List<DtStraightPath> corners = new List<DtStraightPath>();
+        public DtStraightPath[] corners = new DtStraightPath[DtCrowdConst.DT_CROWDAGENT_MAX_CORNERS];
+
+        /// The number of corners.
+        public int ncorners;
 
         public DtMoveRequestState targetState; // < State of the movement request.
         public long targetRef; // < Target polyref of the movement request.
@@ -88,28 +94,28 @@ namespace DotRecast.Detour.Crowd
             RcVec3f dv = RcVec3f.Subtract(nvel, vel);
             float ds = dv.Length();
             if (ds > maxDelta)
-                dv = dv.Scale(maxDelta / ds);
+                dv = dv * (maxDelta / ds);
             vel = RcVec3f.Add(vel, dv);
 
             // Integrate
             if (vel.Length() > 0.0001f)
-                npos = RcVecUtils.Mad(npos, vel, dt);
+                npos = RcVec.Mad(npos, vel, dt);
             else
                 vel = RcVec3f.Zero;
         }
 
         public bool OverOffmeshConnection(float radius)
         {
-            if (0 == corners.Count)
+            if (0 == ncorners)
                 return false;
 
-            bool offMeshConnection = ((corners[corners.Count - 1].flags
+            bool offMeshConnection = ((corners[ncorners - 1].flags
                                        & DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0)
                 ? true
                 : false;
             if (offMeshConnection)
             {
-                float distSq = RcVecUtils.Dist2DSqr(npos, corners[corners.Count - 1].pos);
+                float distSq = RcVec.Dist2DSqr(npos, corners[ncorners - 1].pos);
                 if (distSq < radius * radius)
                     return true;
             }
@@ -119,12 +125,12 @@ namespace DotRecast.Detour.Crowd
 
         public float GetDistanceToGoal(float range)
         {
-            if (0 == corners.Count)
+            if (0 == ncorners)
                 return range;
 
-            bool endOfPath = ((corners[corners.Count - 1].flags & DtStraightPathFlags.DT_STRAIGHTPATH_END) != 0) ? true : false;
+            bool endOfPath = ((corners[ncorners - 1].flags & DtStraightPathFlags.DT_STRAIGHTPATH_END) != 0) ? true : false;
             if (endOfPath)
-                return Math.Min(RcVecUtils.Dist2D(npos, corners[corners.Count - 1].pos), range);
+                return Math.Min(RcVec.Dist2D(npos, corners[ncorners - 1].pos), range);
 
             return range;
         }
@@ -132,10 +138,10 @@ namespace DotRecast.Detour.Crowd
         public RcVec3f CalcSmoothSteerDirection()
         {
             RcVec3f dir = new RcVec3f();
-            if (0 < corners.Count)
+            if (0 < ncorners)
             {
                 int ip0 = 0;
-                int ip1 = Math.Min(1, corners.Count - 1);
+                int ip1 = Math.Min(1, ncorners - 1);
                 var p0 = corners[ip0].pos;
                 var p1 = corners[ip1].pos;
 
@@ -147,7 +153,7 @@ namespace DotRecast.Detour.Crowd
                 float len0 = dir0.Length();
                 float len1 = dir1.Length();
                 if (len1 > 0.001f)
-                    dir1 = dir1.Scale(1.0f / len1);
+                    dir1 = dir1 * (1.0f / len1);
 
                 dir.X = dir0.X - dir1.X * len0 * 0.5f;
                 dir.Y = 0;
@@ -161,7 +167,7 @@ namespace DotRecast.Detour.Crowd
         public RcVec3f CalcStraightSteerDirection()
         {
             RcVec3f dir = new RcVec3f();
-            if (0 < corners.Count)
+            if (0 < ncorners)
             {
                 dir = RcVec3f.Subtract(corners[0].pos, npos);
                 dir.Y = 0;

src/DotRecast.Detour.Crowd/DtCrowdAgentAnimation.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.Crowd/DtCrowdAgentConfig.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Detour.Crowd
+namespace DotRecast.Detour.Crowd
 {
     public class DtCrowdAgentConfig
     {

src/DotRecast.Detour.Crowd/DtCrowdAgentDebugInfo.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.Crowd/DtCrowdAgentParams.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -24,23 +24,15 @@ namespace DotRecast.Detour.Crowd
     /// @ingroup crowd
     public class DtCrowdAgentParams
     {
-        /// < Agent radius. [Limit: >= 0]
-        public float radius;
-
-        /// < Agent height. [Limit: > 0]
-        public float height;
-
-        /// < Maximum allowed acceleration. [Limit: >= 0]
-        public float maxAcceleration;
-
-        /// < Maximum allowed speed. [Limit: >= 0]
-        public float maxSpeed;
+        public float radius; // < Agent radius. [Limit: >= 0]
+        public float height; // < Agent height. [Limit: > 0]
+        public float maxAcceleration; // < Maximum allowed acceleration. [Limit: >= 0]
+        public float maxSpeed; // < Maximum allowed speed. [Limit: >= 0]
 
         /// Defines how close a collision element must be before it is considered for steering behaviors. [Limits: > 0]
         public float collisionQueryRange;
 
-        /// < The path visibility optimization range. [Limit: > 0]
-        public float pathOptimizationRange;
+        public float pathOptimizationRange; // < The path visibility optimization range. [Limit: > 0]
 
         /// How aggresive the agent manager should be at avoiding collisions with this agent. [Limit: >= 0]
         public float separationWeight;
@@ -53,6 +45,9 @@ namespace DotRecast.Detour.Crowd
         /// [Limits: 0 <= value < #DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS]
         public int obstacleAvoidanceType;
 
+        public bool contributeObstacleAvoidance;
+        public float obstacleAvoidanceWeight;
+
         /// The index of the query filter used by this agent.
         public int queryFilterType;
 

src/DotRecast.Detour.Crowd/DtCrowdAgentState.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Detour.Crowd
+namespace DotRecast.Detour.Crowd
 {
     /// The type of navigation mesh polygon the agent is currently traversing.
     /// @ingroup crowd

src/DotRecast.Detour.Crowd/DtCrowdAgentUpdateFlags.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Detour.Crowd
+namespace DotRecast.Detour.Crowd
 {
     /// Crowd agent update flags.
     /// @ingroup crowd

src/DotRecast.Detour.Crowd/DtCrowdConfig.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.Crowd/DtCrowdConst.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Detour.Crowd
+namespace DotRecast.Detour.Crowd
 {
     public static class DtCrowdConst
     {

src/DotRecast.Detour.Crowd/DtCrowdNeighbour.cs

@@ -1,16 +1,13 @@
-namespace DotRecast.Detour.Crowd
+namespace DotRecast.Detour.Crowd
 {
     /// Provides neighbor data for agents managed by the crowd.
     /// @ingroup crowd
     /// @see dtCrowdAgent::neis, dtCrowd
     public readonly struct DtCrowdNeighbour
     {
-        public readonly DtCrowdAgent agent;
+        public readonly DtCrowdAgent agent; // < The index of the neighbor in the crowd.
+        public readonly float dist; // < The distance between the current agent and the neighbor.
         
-        /// < The index of the neighbor in the crowd.
-        public readonly float dist;
-
-        /// < The distance between the current agent and the neighbor.
         public DtCrowdNeighbour(DtCrowdAgent agent, float dist)
         {
             this.agent = agent;

src/DotRecast.Detour.Crowd/DtCrowdScopedTimer.cs

@@ -1,4 +1,4 @@
-using System;
+using System;
 
 namespace DotRecast.Detour.Crowd
 {

src/DotRecast.Detour.Crowd/DtCrowdTelemetry.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.Crowd/DtCrowdTimerLabel.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Detour.Crowd
+namespace DotRecast.Detour.Crowd
 {
     public class DtCrowdTimerLabel
     {

src/DotRecast.Detour.Crowd/DtLocalBoundary.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -18,6 +18,7 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using System;
 using System.Collections.Generic;
 using DotRecast.Core;
 using DotRecast.Core.Numerics;
@@ -90,6 +91,8 @@ namespace DotRecast.Detour.Crowd
 
         public void Update(long startRef, RcVec3f pos, float collisionQueryRange, DtNavMeshQuery navquery, IDtQueryFilter filter)
         {
+            const int MAX_SEGS_PER_POLY = DtDetour.DT_VERTS_PER_POLYGON * 3;
+
             if (startRef == 0)
             {
                 Reset();
@@ -104,18 +107,17 @@ namespace DotRecast.Detour.Crowd
             {
                 // Secondly, store all polygon edges.
                 m_segs.Clear();
-
-                var segmentVerts = new List<RcSegmentVert>();
-                var segmentRefs = new List<long>();
+                Span<RcSegmentVert> segs = stackalloc RcSegmentVert[MAX_SEGS_PER_POLY];
+                int nsegs = 0;
 
                 for (int j = 0; j < m_polys.Count; ++j)
                 {
-                    var result = navquery.GetPolyWallSegments(m_polys[j], false, filter, ref segmentVerts, ref segmentRefs);
+                    var result = navquery.GetPolyWallSegments(m_polys[j], filter, segs, null, ref nsegs, MAX_SEGS_PER_POLY);
                     if (result.Succeeded())
                     {
-                        for (int k = 0; k < segmentRefs.Count; ++k)
+                        for (int k = 0; k < nsegs; ++k)
                         {
-                            RcSegmentVert s = segmentVerts[k];
+                            ref RcSegmentVert s = ref segs[k];
                             var s0 = s.vmin;
                             var s3 = s.vmax;
 

src/DotRecast.Detour.Crowd/DtMoveRequestState.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Detour.Crowd
+namespace DotRecast.Detour.Crowd
 {
     public enum DtMoveRequestState
     {

src/DotRecast.Detour.Crowd/DtObstacleAvoidanceDebugData.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.Crowd/DtObstacleAvoidanceParams.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Detour.Crowd
+namespace DotRecast.Detour.Crowd
 {
     public class DtObstacleAvoidanceParams
     {
@@ -8,18 +8,11 @@
         public float weightSide;
         public float weightToi;
         public float horizTime;
-        public int gridSize;
+        public int gridSize; // < grid
+        public int adaptiveDivs; // < adaptive
+        public int adaptiveRings; // < adaptive
+        public int adaptiveDepth; // < adaptive
 
-        /// < grid
-        public int adaptiveDivs;
-
-        /// < adaptive
-        public int adaptiveRings;
-
-        /// < adaptive
-        public int adaptiveDepth;
-
-        /// < adaptive
         public DtObstacleAvoidanceParams()
         {
             velBias = 0.4f;

src/DotRecast.Detour.Crowd/DtObstacleAvoidanceQuery.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -19,6 +19,7 @@ freely, subject to the following restrictions:
 */
 
 using System;
+using System.Runtime.CompilerServices;
 using DotRecast.Core;
 using DotRecast.Core.Numerics;
 
@@ -27,11 +28,9 @@ namespace DotRecast.Detour.Crowd
 {
     public class DtObstacleAvoidanceQuery
     {
-        public const int DT_MAX_PATTERN_DIVS = 32;
-
-        /// < Max numver of adaptive divs.
+        public const int DT_MAX_PATTERN_DIVS = 32; // < Max numver of adaptive divs.
         public const int DT_MAX_PATTERN_RINGS = 4;
-
+        public const float DT_PI = 3.14159265f;
 
         private DtObstacleAvoidanceParams m_params;
         private float m_invHorizTime;
@@ -187,16 +186,16 @@ namespace DotRecast.Detour.Crowd
         {
             RcVec3f v = RcVec3f.Subtract(bq, bp);
             RcVec3f w = RcVec3f.Subtract(ap, bp);
-            float d = RcVecUtils.Perp2D(u, v);
+            float d = RcVec.Perp2D(u, v);
             if (MathF.Abs(d) < 1e-6f)
                 return false;
 
             d = 1.0f / d;
-            t = RcVecUtils.Perp2D(v, w) * d;
+            t = RcVec.Perp2D(v, w) * d;
             if (t < 0 || t > 1)
                 return false;
 
-            float s = RcVecUtils.Perp2D(u, w) * d;
+            float s = RcVec.Perp2D(u, w) * d;
             if (s < 0 || s > 1)
                 return false;
 
@@ -217,8 +216,8 @@ namespace DotRecast.Detour.Crowd
             float minPenalty, DtObstacleAvoidanceDebugData debug)
         {
             // penalty for straying away from the desired and current velocities
-            float vpen = m_params.weightDesVel * (RcVecUtils.Dist2D(vcand, dvel) * m_invVmax);
-            float vcpen = m_params.weightCurVel * (RcVecUtils.Dist2D(vcand, vel) * m_invVmax);
+            float vpen = m_params.weightDesVel * (RcVec.Dist2D(vcand, dvel) * m_invVmax);
+            float vcpen = m_params.weightCurVel * (RcVec.Dist2D(vcand, vel) * m_invVmax);
 
             // find the threshold hit time to bail out based on the early out penalty
             // (see how the penalty is calculated below to understand)
@@ -237,7 +236,7 @@ namespace DotRecast.Detour.Crowd
                 DtObstacleCircle cir = m_circles[i];
 
                 // RVO
-                RcVec3f vab = vcand.Scale(2);
+                RcVec3f vab = vcand * 2;
                 vab = RcVec3f.Subtract(vab, vel);
                 vab = RcVec3f.Subtract(vab, cir.vel);
 
@@ -362,7 +361,8 @@ namespace DotRecast.Detour.Crowd
         }
 
         // vector normalization that ignores the y-component.
-        void DtNormalize2D(float[] v)
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        void DtNormalize2D(Span<float> v)
         {
             float d = MathF.Sqrt(v[0] * v[0] + v[2] * v[2]);
             if (d == 0)
@@ -373,7 +373,8 @@ namespace DotRecast.Detour.Crowd
         }
 
         // vector normalization that ignores the y-component.
-        RcVec3f DtRotate2D(float[] v, float ang)
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        RcVec3f DtRotate2D(Span<float> v, float ang)
         {
             RcVec3f dest = new RcVec3f();
             float c = MathF.Cos(ang);
@@ -384,7 +385,6 @@ namespace DotRecast.Detour.Crowd
             return dest;
         }
 
-        static readonly float DT_PI = 3.14159265f;
 
         public int SampleVelocityAdaptive(RcVec3f pos, float rad, float vmax, RcVec3f vel, RcVec3f dvel, out RcVec3f nvel,
             DtObstacleAvoidanceParams option,
@@ -402,7 +402,7 @@ 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];
+            Span<float> pat = stackalloc float[(DT_MAX_PATTERN_DIVS * DT_MAX_PATTERN_RINGS + 1) * 2];
             int npat = 0;
 
             int ndivs = m_params.adaptiveDivs;
@@ -416,7 +416,7 @@ namespace DotRecast.Detour.Crowd
             float sa = MathF.Sin(da);
 
             // desired direction
-            float[] ddir = new float[6];
+            Span<float> ddir = stackalloc float[6];
             ddir[0] = dvel.X;
             ddir[1] = dvel.Y;
             ddir[2] = dvel.Z;

src/DotRecast.Detour.Crowd/DtObstacleCircle.cs

@@ -1,4 +1,4 @@
-using DotRecast.Core.Numerics;
+using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour.Crowd
 {

src/DotRecast.Detour.Crowd/DtObstacleSegment.cs

@@ -1,4 +1,4 @@
-using DotRecast.Core.Numerics;
+using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour.Crowd
 {

src/DotRecast.Detour.Crowd/DtPathCorridor.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -33,7 +33,8 @@ namespace DotRecast.Detour.Crowd
         private RcVec3f m_pos;
         private RcVec3f m_target;
 
-        private List<long> m_path;
+        private List<long> m_path = new List<long>();
+        private int m_npath;
         private int m_maxPath;
 
         /**
@@ -88,7 +89,9 @@ namespace DotRecast.Detour.Crowd
         /// @return True if the initialization succeeded.
         public bool Init(int maxPath)
         {
-            m_path = new List<long>();
+            if (m_path.Capacity < maxPath)
+                m_path.Capacity = maxPath;
+            m_npath = 0;
             m_maxPath = maxPath;
             return true;
         }
@@ -107,6 +110,7 @@ namespace DotRecast.Detour.Crowd
             m_target = pos;
             m_path.Clear();
             m_path.Add(refs);
+            m_npath = 1;
         }
 
         /**
@@ -130,42 +134,42 @@ namespace DotRecast.Detour.Crowd
         ///  @param[in]		navquery		The query object used to build the corridor.
         ///  @param[in]		filter			The filter to apply to the operation.
         /// @return The number of corners returned in the corner buffers. [0 <= value <= @p maxCorners]
-        public int FindCorners(ref List<DtStraightPath> corners, int maxCorners, DtNavMeshQuery navquery, IDtQueryFilter filter)
+        public int FindCorners(Span<DtStraightPath> corners, int maxCorners, DtNavMeshQuery navquery, IDtQueryFilter filter)
         {
             const float MIN_TARGET_DIST = 0.01f;
 
-            var result = navquery.FindStraightPath(m_pos, m_target, m_path, ref corners, maxCorners, 0);
-            if (result.Succeeded())
-            {
+            int ncorners = 0;
+            navquery.FindStraightPath(m_pos, m_target, m_path, m_npath, corners, out ncorners, maxCorners, 0);
+
             // Prune points in the beginning of the path which are too close.
-                int start = 0;
-                foreach (DtStraightPath spi in corners)
+            while (0 < ncorners)
             {
-                    if ((spi.flags & DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0
-                        || RcVecUtils.Dist2DSqr(spi.pos, m_pos) > RcMath.Sqr(MIN_TARGET_DIST))
+                if ((corners[0].flags & DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0 ||
+                    RcVec.Dist2DSqr(corners[0].pos, m_pos) > RcMath.Sqr(MIN_TARGET_DIST))
                 {
                     break;
                 }
 
-                    start++;
+                ncorners--;
+                if (0 < ncorners)
+                {
+                    RcSpans.Move(corners, 1, 0, 3);
+                }
             }
 
-                int end = corners.Count;
+
             // Prune points after an off-mesh connection.
-                for (int i = start; i < corners.Count; i++)
+            for (int i = 0; i < ncorners; ++i)
             {
-                    DtStraightPath spi = corners[i];
-                    if ((spi.flags & DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0)
+                if ((corners[i].flags & DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0)
                 {
-                        end = i + 1;
+                    ncorners = i + 1;
                     break;
                 }
             }
 
-                corners = corners.GetRange(start, end - start);
-            }
 
-            return corners.Count;
+            return ncorners;
         }
 
         /**
@@ -194,7 +198,7 @@ namespace DotRecast.Detour.Crowd
         public void OptimizePathVisibility(RcVec3f next, float pathOptimizationRange, DtNavMeshQuery navquery, IDtQueryFilter filter)
         {
             // Clamp the ray to max distance.
-            float dist = RcVecUtils.Dist2D(m_pos, next);
+            float dist = RcVec.Dist2D(m_pos, next);
 
             // If too close to the goal, do not try to optimize.
             if (dist < 0.01f)
@@ -207,7 +211,7 @@ namespace DotRecast.Detour.Crowd
 
             // Adjust ray length.
             var delta = RcVec3f.Subtract(next, m_pos);
-            RcVec3f goal = RcVecUtils.Mad(m_pos, delta, pathOptimizationRange / dist);
+            RcVec3f goal = RcVec.Mad(m_pos, delta, pathOptimizationRange / dist);
 
             var res = new List<long>();
             var status = navquery.Raycast(m_path[0], m_pos, goal, filter, out var t, out var norm, ref res);
@@ -215,7 +219,7 @@ namespace DotRecast.Detour.Crowd
             {
                 if (res.Count > 1 && t > 0.99f)
                 {
-                    m_path = DtPathUtils.MergeCorridorStartShortcut(m_path, m_path.Count, m_maxPath, res);
+                    m_npath = DtPathUtils.MergeCorridorStartShortcut(m_path, m_npath, m_maxPath, res, res.Count);
                 }
             }
         }
@@ -235,7 +239,7 @@ namespace DotRecast.Detour.Crowd
         ///  @param[in]		filter		The filter to apply to the operation.	
         public bool OptimizePathTopology(DtNavMeshQuery navquery, IDtQueryFilter filter, int maxIterations)
         {
-            if (m_path.Count < 3)
+            if (m_npath < 3)
             {
                 return false;
             }
@@ -243,11 +247,11 @@ namespace DotRecast.Detour.Crowd
             var res = new List<long>();
             navquery.InitSlicedFindPath(m_path[0], m_path[^1], m_pos, m_target, filter, 0);
             navquery.UpdateSlicedFindPath(maxIterations, out var _);
-            var status = navquery.FinalizeSlicedFindPathPartial(m_path, ref res);
+            var status = navquery.FinalizeSlicedFindPathPartial(m_path, m_npath, ref res);
 
             if (status.Succeeded() && res.Count > 0)
             {
-                m_path = DtPathUtils.MergeCorridorStartShortcut(m_path, m_path.Count, m_maxPath, res);
+                m_npath = DtPathUtils.MergeCorridorStartShortcut(m_path, m_npath, m_maxPath, res, res.Count);
                 return true;
             }
 
@@ -259,21 +263,23 @@ namespace DotRecast.Detour.Crowd
             // Advance the path up to and over the off-mesh connection.
             long prevRef = 0, polyRef = m_path[0];
             int npos = 0;
-            while (npos < m_path.Count && polyRef != offMeshConRef)
+            while (npos < m_npath && polyRef != offMeshConRef)
             {
                 prevRef = polyRef;
                 polyRef = m_path[npos];
                 npos++;
             }
 
-            if (npos == m_path.Count)
+            if (npos == m_npath)
             {
                 // Could not find offMeshConRef
                 return false;
             }
 
             // Prune path
-            m_path = m_path.GetRange(npos, m_path.Count - npos);
+            m_path.RemoveRange(0, npos);
+            m_npath -= npos;
+
             refs[0] = prevRef;
             refs[1] = polyRef;
 
@@ -312,11 +318,12 @@ namespace DotRecast.Detour.Crowd
         public bool MovePosition(RcVec3f npos, DtNavMeshQuery navquery, IDtQueryFilter filter)
         {
             // Move along navmesh and update new position.
-            var visited = new List<long>();
-            var status = navquery.MoveAlongSurface(m_path[0], m_pos, npos, filter, out var result, ref visited);
+            const int MAX_VISITED = 16;
+            Span<long> visited = stackalloc long[MAX_VISITED];
+            var status = navquery.MoveAlongSurface(m_path[0], m_pos, npos, filter, out var result, visited, out var nvisited, MAX_VISITED);
             if (status.Succeeded())
             {
-                m_path = DtPathUtils.MergeCorridorStartMoved(m_path, m_path.Count, m_maxPath, visited);
+                m_npath = DtPathUtils.MergeCorridorStartMoved(m_path, m_npath, m_maxPath, visited, nvisited);
 
                 // Adjust the position to stay on top of the navmesh.
                 m_pos = result;
@@ -354,11 +361,14 @@ namespace DotRecast.Detour.Crowd
         public bool MoveTargetPosition(RcVec3f npos, DtNavMeshQuery navquery, IDtQueryFilter filter)
         {
             // Move along navmesh and update new position.
-            var visited = new List<long>();
-            var status = navquery.MoveAlongSurface(m_path[^1], m_target, npos, filter, out var result, ref visited);
+            const int MAX_VISITED = 16;
+            Span<long> visited = stackalloc long[MAX_VISITED];
+            int nvisited = 0;
+            var status = navquery.MoveAlongSurface(m_path[^1], m_target, npos, filter, out var result, visited, out nvisited, MAX_VISITED);
             if (status.Succeeded())
             {
-                m_path = DtPathUtils.MergeCorridorEndMoved(m_path, m_path.Count, m_maxPath, visited);
+                m_npath = DtPathUtils.MergeCorridorEndMoved(m_path, m_npath, m_maxPath, visited, nvisited);
+
                 // TODO: should we do that?
                 // Adjust the position to stay on top of the navmesh.
                 /*
@@ -385,25 +395,32 @@ namespace DotRecast.Detour.Crowd
         public void SetCorridor(RcVec3f target, List<long> path)
         {
             m_target = target;
-            m_path = new List<long>(path);
+            if(path != m_path)
+            {
+                m_path.Clear();
+                m_path.AddRange(path);
+            }
+            m_npath = path.Count;
         }
 
         public void FixPathStart(long safeRef, RcVec3f safePos)
         {
             m_pos = safePos;
-            if (m_path.Count < 3 && m_path.Count > 0)
+            if (m_npath < 3 && m_npath > 0)
             {
-                long p = m_path[m_path.Count - 1];
+                long p = m_path[m_npath - 1];
                 m_path.Clear();
                 m_path.Add(safeRef);
                 m_path.Add(0L);
                 m_path.Add(p);
+                m_npath = 3;
             }
             else
             {
                 m_path.Clear();
                 m_path.Add(safeRef);
                 m_path.Add(0L);
+                m_npath = 2;
             }
         }
 
@@ -411,12 +428,12 @@ namespace DotRecast.Detour.Crowd
         {
             // Keep valid path as far as possible.
             int n = 0;
-            while (n < m_path.Count && navquery.IsValidPolyRef(m_path[n], filter))
+            while (n < m_npath && navquery.IsValidPolyRef(m_path[n], filter))
             {
                 n++;
             }
 
-            if (m_path.Count == n)
+            if (m_npath == n)
             {
                 // All valid, no need to fix.
                 return true;
@@ -424,18 +441,20 @@ namespace DotRecast.Detour.Crowd
             else if (n == 0)
             {
                 // The first polyref is bad, use current safe values.
-                m_pos = RcVecUtils.Create(safePos);
+                m_pos = new RcVec3f(safePos);
                 m_path.Clear();
                 m_path.Add(safeRef);
+                m_npath = 1;
             }
-            else if (n < m_path.Count)
+            else if (n < m_npath)
             {
                 // The path is partially usable.
-                m_path = m_path.GetRange(0, n);
+                m_path.RemoveRange(n, m_path.Count - n);
+                m_npath = n;
             }
 
             // Clamp target pos to last poly
-            navquery.ClosestPointOnPolyBoundary(m_path[m_path.Count - 1], m_target, out m_target);
+            navquery.ClosestPointOnPolyBoundary(m_path[m_npath - 1], m_target, out m_target);
             return true;
         }
 
@@ -451,7 +470,7 @@ namespace DotRecast.Detour.Crowd
         public bool IsValid(int maxLookAhead, DtNavMeshQuery navquery, IDtQueryFilter filter)
         {
             // Check that all polygons still pass query filter.
-            int n = Math.Min(m_path.Count, maxLookAhead);
+            int n = Math.Min(m_npath, maxLookAhead);
             for (int i = 0; i < n; ++i)
             {
                 if (!navquery.IsValidPolyRef(m_path[i], filter))
@@ -481,14 +500,14 @@ namespace DotRecast.Detour.Crowd
         /// @return The polygon reference id of the first polygon in the corridor. (Or zero if there is no path.)
         public long GetFirstPoly()
         {
-            return 0 == m_path.Count ? 0 : m_path[0];
+            return 0 == m_npath ? 0 : m_path[0];
         }
 
         /// The polygon reference id of the last polygon in the corridor, the polygon containing the target.
         /// @return The polygon reference id of the last polygon in the corridor. (Or zero if there is no path.)
         public long GetLastPoly()
         {
-            return 0 == m_path.Count ? 0 : m_path[m_path.Count - 1];
+            return 0 == m_npath ? 0 : m_path[m_npath - 1];
         }
 
         /// The corridor's path.
@@ -502,7 +521,7 @@ namespace DotRecast.Detour.Crowd
         /// @return The number of polygons in the current corridor path.
         public int GetPathCount()
         {
-            return m_path.Count;
+            return m_npath;
         }
     }
 }

src/DotRecast.Detour.Crowd/DtPathQuery.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.Crowd/DtPathQueryResult.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.Crowd/DtPathQueue.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.Crowd/DtProximityGrid.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -22,6 +22,7 @@ using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Runtime.CompilerServices;
+using DotRecast.Core.Buffers;
 
 namespace DotRecast.Detour.Crowd
 {
@@ -30,12 +31,14 @@ namespace DotRecast.Detour.Crowd
         private readonly float _cellSize;
         private readonly float _invCellSize;
         private readonly Dictionary<long, List<DtCrowdAgent>> _items;
+        private readonly RcObjectPool<List<DtCrowdAgent>> _listPool;
 
         public DtProximityGrid(float cellSize)
         {
             _cellSize = cellSize;
             _invCellSize = 1.0f / cellSize;
             _items = new Dictionary<long, List<DtCrowdAgent>>();
+            _listPool = new RcObjectPool<List<DtCrowdAgent>>(() => new List<DtCrowdAgent>());
         }
 
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
@@ -57,6 +60,8 @@ namespace DotRecast.Detour.Crowd
 
         public void Clear()
         {
+            foreach (var pair in _items)
+                _listPool.Return(pair.Value);
             _items.Clear();
         }
 
@@ -74,7 +79,8 @@ namespace DotRecast.Detour.Crowd
                     long key = CombineKey(x, y);
                     if (!_items.TryGetValue(key, out var ids))
                     {
-                        ids = new List<DtCrowdAgent>();
+                        ids = _listPool.Get();
+                        ids.Clear();
                         _items.Add(key, ids);
                     }
 
@@ -83,7 +89,7 @@ namespace DotRecast.Detour.Crowd
             }
         }
 
-        public int QueryItems(float minx, float miny, float maxx, float maxy, DtCrowdAgent[] ids, int maxIds)
+        public int QueryItems(float minx, float miny, float maxx, float maxy, Span<int> ids, int maxIds)
         {
             int iminx = (int)MathF.Floor(minx * _invCellSize);
             int iminy = (int)MathF.Floor(miny * _invCellSize);
@@ -110,7 +116,7 @@ namespace DotRecast.Detour.Crowd
                         // Check if the id exists already.
                         int end = n;
                         int i = 0;
-                        while (i != end && ids[i] != item)
+                        while (i != end && ids[i] != item.idx)
                         {
                             ++i;
                         }
@@ -118,7 +124,7 @@ namespace DotRecast.Detour.Crowd
                         // Item not found, add it.
                         if (i == n)
                         {
-                            ids[n++] = item;
+                            ids[n++] = item.idx;
 
                             if (n >= maxIds)
                                 return n;

src/DotRecast.Detour.Crowd/DtSegment.cs

@@ -1,4 +1,4 @@
-using DotRecast.Core.Numerics;
+using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour.Crowd
 {

src/DotRecast.Detour.Dynamic/Colliders/DtBoxCollider.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.Dynamic/Colliders/DtCapsuleCollider.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.Dynamic/Colliders/DtCollider.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.Dynamic/Colliders/DtCompositeCollider.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.Dynamic/Colliders/DtConvexTrimeshCollider.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.Dynamic/Colliders/DtCylinderCollider.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.Dynamic/Colliders/DtSphereCollider.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.Dynamic/Colliders/DtTrimeshCollider.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.Dynamic/Colliders/IDtCollider.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.Dynamic/DtDynamicNavMesh.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -23,6 +23,7 @@ using System.Collections.Generic;
 using System.Linq;
 using System.Threading.Tasks;
 using DotRecast.Core;
+using DotRecast.Core.Collections;
 using DotRecast.Detour.Dynamic.Colliders;
 using DotRecast.Detour.Dynamic.Io;
 using DotRecast.Recast;
@@ -40,7 +41,7 @@ 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)
         {
@@ -62,8 +63,8 @@ namespace DotRecast.Detour.Dynamic
             navMeshParams.orig.X = voxelFile.bounds[0];
             navMeshParams.orig.Y = voxelFile.bounds[1];
             navMeshParams.orig.Z = voxelFile.bounds[2];
-            navMeshParams.tileWidth = voxelFile.cellSize * voxelFile.tileSizeX;
-            navMeshParams.tileHeight = voxelFile.cellSize * voxelFile.tileSizeZ;
+            navMeshParams.tileWidth = voxelFile.useTiles ? voxelFile.cellSize * voxelFile.tileSizeX : voxelFile.bounds[3] - voxelFile.bounds[0];
+            navMeshParams.tileHeight = voxelFile.useTiles ? voxelFile.cellSize * voxelFile.tileSizeZ : voxelFile.bounds[5] - voxelFile.bounds[2];
             navMeshParams.maxTiles = voxelFile.tiles.Count;
             navMeshParams.maxPolys = 0x8000;
             foreach (var t in voxelFile.tiles)
@@ -105,29 +106,6 @@ 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 +137,49 @@ namespace DotRecast.Detour.Dynamic
             }
         }
 
-        /**
-     * Perform full build concurrently using the given {@link ExecutorService}
-     */
-        public Task<bool> Build(TaskFactory executor)
+        // Perform full build of the navmesh
+        public void Build()
+        {
+            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}
-     */
-        public Task<bool> Update(TaskFactory executor)
+
+        // Perform incremental update of the navmesh
+        public bool Update()
+        {
+            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();
-            return Task.WhenAll(tasks).ContinueWith(k => UpdateNavMesh());
+            foreach (var tile in tiles)
+                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)
@@ -189,17 +189,17 @@ namespace DotRecast.Detour.Dynamic
                 return _tiles.Values;
             }
 
-            int minx = (int)MathF.Floor((bounds[0] - navMeshParams.orig.X) / navMeshParams.tileWidth);
-            int minz = (int)MathF.Floor((bounds[2] - navMeshParams.orig.Z) / navMeshParams.tileHeight);
-            int maxx = (int)MathF.Floor((bounds[3] - navMeshParams.orig.X) / navMeshParams.tileWidth);
-            int maxz = (int)MathF.Floor((bounds[5] - navMeshParams.orig.Z) / navMeshParams.tileHeight);
+            int minx = (int)MathF.Floor((bounds[0] - navMeshParams.orig.X) / navMeshParams.tileWidth) - 1;
+            int minz = (int)MathF.Floor((bounds[2] - navMeshParams.orig.Z) / navMeshParams.tileHeight) - 1;
+            int maxx = (int)MathF.Floor((bounds[3] - navMeshParams.orig.X) / navMeshParams.tileWidth) + 1;
+            int maxz = (int)MathF.Floor((bounds[5] - navMeshParams.orig.Z) / navMeshParams.tileHeight) + 1;
             List<DtDynamicTile> tiles = new List<DtDynamicTile>();
             for (int z = minz; z <= maxz; ++z)
             {
                 for (int x = minx; x <= maxx; ++x)
                 {
                     DtDynamicTile tile = GetTileAt(x, z);
-                    if (tile != null)
+                    if (tile != null && IntersectsXZ(tile, bounds))
                     {
                         tiles.Add(tile);
                     }
@@ -209,6 +209,12 @@ namespace DotRecast.Detour.Dynamic
             return tiles;
         }
 
+        private bool IntersectsXZ(DtDynamicTile tile, float[] bounds)
+        {
+            return tile.voxelTile.boundsMin.X <= bounds[3] && tile.voxelTile.boundsMax.X >= bounds[0] &&
+                   tile.voxelTile.boundsMin.Z <= bounds[5] && tile.voxelTile.boundsMax.Z >= bounds[2];
+        }
+
         private List<DtDynamicTile> GetTilesByCollider(long cid)
         {
             return _tiles.Values.Where(t => t.ContainsCollider(cid)).ToList();
@@ -218,19 +224,24 @@ 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);
+                _dirty = false;
 
-                this._navMesh = navMesh;
-                dirty = false;
+                DtNavMesh navMesh = new DtNavMesh();
+                navMesh.Init(navMeshParams, MAX_VERTS_PER_POLY);
+
+                foreach (var t in _tiles.Values)
+                {
+                    t.AddTo(navMesh);
+                }
+
+                _navMesh = navMesh;
                 return true;
             }
 
@@ -258,5 +269,21 @@ namespace DotRecast.Detour.Dynamic
         {
             return _tiles.Values.Select(t => t.recastResult).ToList();
         }
+
+        public void NavMesh(DtNavMesh mesh)
+        {
+            _tiles.Values.ForEach(t =>
+            {
+                const int MAX_NEIS = 32;
+                DtMeshTile[] tiles = new DtMeshTile[MAX_NEIS];
+                int nneis = mesh.GetTilesAt(t.voxelTile.tileX, t.voxelTile.tileZ, tiles, MAX_NEIS);
+                if (0 < nneis)
+                {
+                    t.SetMeshData(tiles[0].data);
+                }
+            });
+            _navMesh = mesh;
+            _dirty = false;
+        }
     }
 }

src/DotRecast.Detour.Dynamic/DtDynamicNavMeshConfig.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.Dynamic/DtDynamicTile.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -100,7 +100,7 @@ namespace DotRecast.Detour.Dynamic
                 Math.Min(DtDynamicNavMesh.MAX_VERTS_PER_POLY, config.vertsPerPoly),
                 config.detailSampleDistance, config.detailSampleMaxError,
                 true, true, true, default, true);
-            RcBuilderResult r = builder.Build(context, vt.tileX, vt.tileZ, null, rcConfig, heightfield);
+            RcBuilderResult r = builder.Build(context, vt.tileX, vt.tileZ, null, rcConfig, heightfield, false);
             if (config.keepIntermediateResults)
             {
                 recastResult = r;
@@ -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();
-            RcPolyMeshDetail m_dmesh = rcResult.GetMeshDetail();
+            RcPolyMesh m_pmesh = rcResult.Mesh;
+            RcPolyMeshDetail m_dmesh = rcResult.MeshDetail;
             DtNavMeshCreateParams option = new DtNavMeshCreateParams();
             for (int i = 0; i < m_pmesh.npolys; ++i)
             {
@@ -168,12 +168,12 @@ namespace DotRecast.Detour.Dynamic
             option.buildBvTree = true;
 
             option.offMeshConCount = 0;
-            option.offMeshConVerts = new float[0];
-            option.offMeshConRad = new float[0];
-            option.offMeshConDir = new int[0];
-            option.offMeshConAreas = new int[0];
-            option.offMeshConFlags = new int[0];
-            option.offMeshConUserID = new int[0];
+            option.offMeshConVerts = Array.Empty<float>();
+            option.offMeshConRad = Array.Empty<float>();
+            option.offMeshConDir = Array.Empty<int>();
+            option.offMeshConAreas = Array.Empty<int>();
+            option.offMeshConFlags = Array.Empty<int>();
+            option.offMeshConUserID = Array.Empty<int>();
             return option;
         }
 
@@ -181,7 +181,7 @@ namespace DotRecast.Detour.Dynamic
         {
             if (meshData != null)
             {
-                id = navMesh.AddTile(meshData, 0, 0);
+                navMesh.AddTile(meshData, 0, 0, out var id);
             }
             else
             {
@@ -189,5 +189,10 @@ namespace DotRecast.Detour.Dynamic
                 id = 0;
             }
         }
+
+        public void SetMeshData(DtMeshData data)
+        {
+            this.meshData = data;
+        }
     }
 }

src/DotRecast.Detour.Dynamic/DtDynamicTileCheckpoint.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.Dynamic/DtDynamicTileColliderAdditionJob.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.Dynamic/DtDynamicTileColliderRemovalJob.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.Dynamic/DtVoxelQuery.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.Dynamic/IDtDaynmicTileJob.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

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

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -78,7 +78,7 @@ namespace DotRecast.Detour.Dynamic.Io
                 walkbableAreaMod, buildMeshDetail);
         }
 
-        public static DtVoxelFile From(RcConfig config, List<RcBuilderResult> results)
+        public static DtVoxelFile From(RcConfig config, IList<RcBuilderResult> results)
         {
             DtVoxelFile f = new DtVoxelFile();
             f.version = 1;
@@ -109,13 +109,14 @@ namespace DotRecast.Detour.Dynamic.Io
             };
             foreach (RcBuilderResult r in results)
             {
-                f.tiles.Add(new DtVoxelTile(r.tileX, r.tileZ, r.GetSolidHeightfield()));
-                f.bounds[0] = Math.Min(f.bounds[0], r.GetSolidHeightfield().bmin.X);
-                f.bounds[1] = Math.Min(f.bounds[1], r.GetSolidHeightfield().bmin.Y);
-                f.bounds[2] = Math.Min(f.bounds[2], r.GetSolidHeightfield().bmin.Z);
-                f.bounds[3] = Math.Max(f.bounds[3], r.GetSolidHeightfield().bmax.X);
-                f.bounds[4] = Math.Max(f.bounds[4], r.GetSolidHeightfield().bmax.Y);
-                f.bounds[5] = Math.Max(f.bounds[5], r.GetSolidHeightfield().bmax.Z);
+                float pad = r.SolidHeightfiled.borderSize * r.SolidHeightfiled.cs;
+                f.tiles.Add(new DtVoxelTile(r.TileX, r.TileZ, r.SolidHeightfiled));
+                f.bounds[0] = Math.Min(f.bounds[0], r.SolidHeightfiled.bmin.X + pad);
+                f.bounds[1] = Math.Min(f.bounds[1], r.SolidHeightfiled.bmin.Y);
+                f.bounds[2] = Math.Min(f.bounds[2], r.SolidHeightfiled.bmin.Z + pad);
+                f.bounds[3] = Math.Max(f.bounds[3], r.SolidHeightfiled.bmax.X - pad);
+                f.bounds[4] = Math.Max(f.bounds[4], r.SolidHeightfiled.bmax.Y);
+                f.bounds[5] = Math.Max(f.bounds[5], r.SolidHeightfiled.bmax.Z - pad);
             }
 
             return f;
@@ -155,12 +156,13 @@ namespace DotRecast.Detour.Dynamic.Io
             {
                 RcHeightfield heightfield = vt.Heightfield();
                 f.tiles.Add(new DtVoxelTile(vt.tileX, vt.tileZ, heightfield));
-                f.bounds[0] = Math.Min(f.bounds[0], vt.boundsMin.X);
+                float pad = vt.borderSize * vt.cellSize;
+                f.bounds[0] = Math.Min(f.bounds[0], vt.boundsMin.X + pad);
                 f.bounds[1] = Math.Min(f.bounds[1], vt.boundsMin.Y);
-                f.bounds[2] = Math.Min(f.bounds[2], vt.boundsMin.Z);
-                f.bounds[3] = Math.Max(f.bounds[3], vt.boundsMax.X);
+                f.bounds[2] = Math.Min(f.bounds[2], vt.boundsMin.Z + pad);
+                f.bounds[3] = Math.Max(f.bounds[3], vt.boundsMax.X - pad);
                 f.bounds[4] = Math.Max(f.bounds[4], vt.boundsMax.Y);
-                f.bounds[5] = Math.Max(f.bounds[5], vt.boundsMax.Z);
+                f.bounds[5] = Math.Max(f.bounds[5], vt.boundsMax.Z - pad);
             }
 
             return f;

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

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -35,12 +35,12 @@ namespace DotRecast.Detour.Dynamic.Io
 
         public DtVoxelFile Read(BinaryReader stream)
         {
-            RcByteBuffer buf = IOUtils.ToByteBuffer(stream);
+            RcByteBuffer buf = RcIO.ToByteBuffer(stream);
             DtVoxelFile file = new DtVoxelFile();
             int magic = buf.GetInt();
             if (magic != DtVoxelFile.MAGIC)
             {
-                magic = IOUtils.SwapEndianness(magic);
+                magic = RcIO.SwapEndianness(magic);
                 if (magic != DtVoxelFile.MAGIC)
                 {
                     throw new IOException("Invalid magic");

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

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -19,12 +19,11 @@ freely, subject to the following restrictions:
 
 using System.IO;
 using DotRecast.Core;
-using DotRecast.Core.Numerics;
 using DotRecast.Detour.Io;
 
 namespace DotRecast.Detour.Dynamic.Io
 {
-    public class DtVoxelFileWriter : DtWriter
+    public class DtVoxelFileWriter
     {
         private readonly IRcCompressor _compressor;
 
@@ -40,34 +39,34 @@ namespace DotRecast.Detour.Dynamic.Io
 
         public void Write(BinaryWriter stream, DtVoxelFile f, RcByteOrder byteOrder, bool compression)
         {
-            Write(stream, DtVoxelFile.MAGIC, byteOrder);
-            Write(stream, DtVoxelFile.VERSION_EXPORTER_RECAST4J | (compression ? DtVoxelFile.VERSION_COMPRESSION_LZ4 : 0), byteOrder);
-            Write(stream, f.walkableRadius, byteOrder);
-            Write(stream, f.walkableHeight, byteOrder);
-            Write(stream, f.walkableClimb, byteOrder);
-            Write(stream, f.walkableSlopeAngle, byteOrder);
-            Write(stream, f.cellSize, byteOrder);
-            Write(stream, f.maxSimplificationError, byteOrder);
-            Write(stream, f.maxEdgeLen, byteOrder);
-            Write(stream, f.minRegionArea, byteOrder);
-            Write(stream, f.regionMergeArea, byteOrder);
-            Write(stream, f.vertsPerPoly, byteOrder);
-            Write(stream, f.buildMeshDetail);
-            Write(stream, f.detailSampleDistance, byteOrder);
-            Write(stream, f.detailSampleMaxError, byteOrder);
-            Write(stream, f.useTiles);
-            Write(stream, f.tileSizeX, byteOrder);
-            Write(stream, f.tileSizeZ, byteOrder);
-            Write(stream, f.rotation.X, byteOrder);
-            Write(stream, f.rotation.Y, byteOrder);
-            Write(stream, f.rotation.Z, byteOrder);
-            Write(stream, f.bounds[0], byteOrder);
-            Write(stream, f.bounds[1], byteOrder);
-            Write(stream, f.bounds[2], byteOrder);
-            Write(stream, f.bounds[3], byteOrder);
-            Write(stream, f.bounds[4], byteOrder);
-            Write(stream, f.bounds[5], byteOrder);
-            Write(stream, f.tiles.Count, byteOrder);
+            RcIO.Write(stream, DtVoxelFile.MAGIC, byteOrder);
+            RcIO.Write(stream, DtVoxelFile.VERSION_EXPORTER_RECAST4J | (compression ? DtVoxelFile.VERSION_COMPRESSION_LZ4 : 0), byteOrder);
+            RcIO.Write(stream, f.walkableRadius, byteOrder);
+            RcIO.Write(stream, f.walkableHeight, byteOrder);
+            RcIO.Write(stream, f.walkableClimb, byteOrder);
+            RcIO.Write(stream, f.walkableSlopeAngle, byteOrder);
+            RcIO.Write(stream, f.cellSize, byteOrder);
+            RcIO.Write(stream, f.maxSimplificationError, byteOrder);
+            RcIO.Write(stream, f.maxEdgeLen, byteOrder);
+            RcIO.Write(stream, f.minRegionArea, byteOrder);
+            RcIO.Write(stream, f.regionMergeArea, byteOrder);
+            RcIO.Write(stream, f.vertsPerPoly, byteOrder);
+            RcIO.Write(stream, f.buildMeshDetail);
+            RcIO.Write(stream, f.detailSampleDistance, byteOrder);
+            RcIO.Write(stream, f.detailSampleMaxError, byteOrder);
+            RcIO.Write(stream, f.useTiles);
+            RcIO.Write(stream, f.tileSizeX, byteOrder);
+            RcIO.Write(stream, f.tileSizeZ, byteOrder);
+            RcIO.Write(stream, f.rotation.X, byteOrder);
+            RcIO.Write(stream, f.rotation.Y, byteOrder);
+            RcIO.Write(stream, f.rotation.Z, byteOrder);
+            RcIO.Write(stream, f.bounds[0], byteOrder);
+            RcIO.Write(stream, f.bounds[1], byteOrder);
+            RcIO.Write(stream, f.bounds[2], byteOrder);
+            RcIO.Write(stream, f.bounds[3], byteOrder);
+            RcIO.Write(stream, f.bounds[4], byteOrder);
+            RcIO.Write(stream, f.bounds[5], byteOrder);
+            RcIO.Write(stream, f.tiles.Count, byteOrder);
             foreach (DtVoxelTile t in f.tiles)
             {
                 WriteTile(stream, t, byteOrder, compression);
@@ -76,26 +75,26 @@ namespace DotRecast.Detour.Dynamic.Io
 
         public void WriteTile(BinaryWriter stream, DtVoxelTile tile, RcByteOrder byteOrder, bool compression)
         {
-            Write(stream, tile.tileX, byteOrder);
-            Write(stream, tile.tileZ, byteOrder);
-            Write(stream, tile.width, byteOrder);
-            Write(stream, tile.depth, byteOrder);
-            Write(stream, tile.borderSize, byteOrder);
-            Write(stream, tile.boundsMin.X, byteOrder);
-            Write(stream, tile.boundsMin.Y, byteOrder);
-            Write(stream, tile.boundsMin.Z, byteOrder);
-            Write(stream, tile.boundsMax.X, byteOrder);
-            Write(stream, tile.boundsMax.Y, byteOrder);
-            Write(stream, tile.boundsMax.Z, byteOrder);
-            Write(stream, tile.cellSize, byteOrder);
-            Write(stream, tile.cellHeight, byteOrder);
+            RcIO.Write(stream, tile.tileX, byteOrder);
+            RcIO.Write(stream, tile.tileZ, byteOrder);
+            RcIO.Write(stream, tile.width, byteOrder);
+            RcIO.Write(stream, tile.depth, byteOrder);
+            RcIO.Write(stream, tile.borderSize, byteOrder);
+            RcIO.Write(stream, tile.boundsMin.X, byteOrder);
+            RcIO.Write(stream, tile.boundsMin.Y, byteOrder);
+            RcIO.Write(stream, tile.boundsMin.Z, byteOrder);
+            RcIO.Write(stream, tile.boundsMax.X, byteOrder);
+            RcIO.Write(stream, tile.boundsMax.Y, byteOrder);
+            RcIO.Write(stream, tile.boundsMax.Z, byteOrder);
+            RcIO.Write(stream, tile.cellSize, byteOrder);
+            RcIO.Write(stream, tile.cellHeight, byteOrder);
             byte[] bytes = tile.spanData;
             if (compression)
             {
                 bytes = _compressor.Compress(bytes);
             }
 
-            Write(stream, bytes.Length, byteOrder);
+            RcIO.Write(stream, bytes.Length, byteOrder);
             stream.Write(bytes);
         }
     }

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

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.Extras/BVTreeBuilder.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -40,20 +40,20 @@ namespace DotRecast.Detour.Extras
                 BVItem it = new BVItem();
                 items[i] = it;
                 it.i = i;
-                RcVec3f bmin = RcVecUtils.Create(data.verts, data.polys[i].verts[0] * 3);
-                RcVec3f bmax = RcVecUtils.Create(data.verts, data.polys[i].verts[0] * 3);
+                RcVec3f bmin = RcVec.Create(data.verts, data.polys[i].verts[0] * 3);
+                RcVec3f bmax = RcVec.Create(data.verts, data.polys[i].verts[0] * 3);
                 for (int j = 1; j < data.polys[i].vertCount; j++)
                 {
-                    bmin = RcVecUtils.Min(bmin, data.verts, data.polys[i].verts[j] * 3);
-                    bmax = RcVecUtils.Max(bmax, data.verts, data.polys[i].verts[j] * 3);
+                    bmin = RcVec3f.Min(bmin, RcVec.Create(data.verts, data.polys[i].verts[j] * 3));
+                    bmax = RcVec3f.Max(bmax, RcVec.Create(data.verts, data.polys[i].verts[j] * 3));
                 }
 
-                it.bmin[0] = Math.Clamp((int)((bmin.X - data.header.bmin.X) * quantFactor), 0, 0x7fffffff);
-                it.bmin[1] = Math.Clamp((int)((bmin.Y - data.header.bmin.Y) * quantFactor), 0, 0x7fffffff);
-                it.bmin[2] = Math.Clamp((int)((bmin.Z - data.header.bmin.Z) * quantFactor), 0, 0x7fffffff);
-                it.bmax[0] = Math.Clamp((int)((bmax.X - data.header.bmin.X) * quantFactor), 0, 0x7fffffff);
-                it.bmax[1] = Math.Clamp((int)((bmax.Y - data.header.bmin.Y) * quantFactor), 0, 0x7fffffff);
-                it.bmax[2] = Math.Clamp((int)((bmax.Z - data.header.bmin.Z) * quantFactor), 0, 0x7fffffff);
+                it.bmin.X = Math.Clamp((int)((bmin.X - data.header.bmin.X) * quantFactor), 0, 0x7fffffff);
+                it.bmin.Y = Math.Clamp((int)((bmin.Y - data.header.bmin.Y) * quantFactor), 0, 0x7fffffff);
+                it.bmin.Z = Math.Clamp((int)((bmin.Z - data.header.bmin.Z) * quantFactor), 0, 0x7fffffff);
+                it.bmax.X = Math.Clamp((int)((bmax.X - data.header.bmin.X) * quantFactor), 0, 0x7fffffff);
+                it.bmax.Y = Math.Clamp((int)((bmax.Y - data.header.bmin.Y) * quantFactor), 0, 0x7fffffff);
+                it.bmax.Z = Math.Clamp((int)((bmax.Z - data.header.bmin.Z) * quantFactor), 0, 0x7fffffff);
             }
 
             return DtNavMeshBuilder.Subdivide(items, data.header.polyCount, 0, data.header.polyCount, 0, nodes);

src/DotRecast.Detour.Extras/DtPolyUtils.cs

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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

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

@@ -11,7 +11,7 @@ namespace DotRecast.Detour.Extras.Jumplink
         protected void SampleGround(JumpLinkBuilderConfig acfg, EdgeSampler es, ComputeNavMeshHeight heightFunc)
         {
             float cs = acfg.cellSize;
-            float dist = MathF.Sqrt(RcVecUtils.Dist2DSqr(es.start.p, es.start.q));
+            float dist = MathF.Sqrt(RcVec.Dist2DSqr(es.start.p, es.start.q));
             int ngsamples = Math.Max(2, (int)MathF.Ceiling(dist / cs));
 
             SampleGroundSegment(heightFunc, es.start, ngsamples);

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

@@ -1,17 +1,18 @@
 using System;
+using DotRecast.Core;
 using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour.Extras.Jumplink
 {
-    public class ClimbTrajectory : Trajectory
+    public class ClimbTrajectory : ITrajectory
     {
-        public override RcVec3f Apply(RcVec3f start, RcVec3f end, float u)
+        public RcVec3f Apply(RcVec3f start, RcVec3f end, float u)
         {
             return new RcVec3f()
             {
-                X = Lerp(start.X, end.X, Math.Min(2f * u, 1f)),
-                Y = Lerp(start.Y, end.Y, Math.Max(0f, 2f * u - 1f)),
-                Z = Lerp(start.Z, end.Z, Math.Min(2f * u, 1f))
+                X = RcMath.Lerp(start.X, end.X, Math.Min(2f * u, 1f)),
+                Y = RcMath.Lerp(start.Y, end.Y, Math.Max(0f, 2f * u - 1f)),
+                Z = RcMath.Lerp(start.Z, end.Z, Math.Min(2f * u, 1f))
             };
         }
     }

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

@@ -1,11 +1,11 @@
 using System.Collections.Generic;
 using DotRecast.Core.Numerics;
 using DotRecast.Recast;
-using static DotRecast.Recast.RcConstants;
-
 
 namespace DotRecast.Detour.Extras.Jumplink
 {
+    using static RcRecast;
+
     public class EdgeExtractor
     {
         public JumpEdge[] ExtractEdges(RcPolyMesh mesh)

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

@@ -7,13 +7,13 @@ namespace DotRecast.Detour.Extras.Jumplink
     {
         public readonly GroundSegment start = new GroundSegment();
         public readonly List<GroundSegment> end = new List<GroundSegment>();
-        public readonly Trajectory trajectory;
+        public readonly ITrajectory trajectory;
 
         public readonly RcVec3f ax = new RcVec3f();
         public readonly RcVec3f ay = new RcVec3f();
         public readonly RcVec3f az = new RcVec3f();
 
-        public EdgeSampler(JumpEdge edge, Trajectory trajectory)
+        public EdgeSampler(JumpEdge edge, ITrajectory trajectory)
         {
             this.trajectory = trajectory;
             ax = RcVec3f.Subtract(edge.sq, edge.sp);

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

@@ -3,7 +3,7 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour.Extras.Jumplink
 {
-    class EdgeSamplerFactory
+    public class EdgeSamplerFactory
     {
         public EdgeSampler Get(JumpLinkBuilderConfig acfg, JumpLinkType type, JumpEdge edge)
         {

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

@@ -4,7 +4,7 @@ namespace DotRecast.Detour.Extras.Jumplink
 {
     public class GroundSample
     {
-        public RcVec3f p = new RcVec3f();
+        public RcVec3f p;
         public bool validTrajectory;
         public bool validHeight;
     }

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

@@ -4,8 +4,8 @@ namespace DotRecast.Detour.Extras.Jumplink
 {
     public class GroundSegment
     {
-        public RcVec3f p = new RcVec3f();
-        public RcVec3f q = new RcVec3f();
+        public RcVec3f p;
+        public RcVec3f q;
         public GroundSample[] gsamples;
         public float height;
     }

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

@@ -0,0 +1,10 @@
+using System;
+using DotRecast.Core.Numerics;
+
+namespace DotRecast.Detour.Extras.Jumplink
+{
+    public interface ITrajectory
+    {
+        RcVec3f Apply(RcVec3f start, RcVec3f end, float u);
+    }
+}

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

@@ -10,6 +10,6 @@ namespace DotRecast.Detour.Extras.Jumplink
         public GroundSample[] endSamples;
         public GroundSegment start;
         public GroundSegment end;
-        public Trajectory trajectory;
+        public ITrajectory trajectory;
     }
 }

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);
         }
@@ -59,7 +59,7 @@ namespace DotRecast.Detour.Extras.Jumplink
                 GroundSegment end = es.end[js.groundSegment];
                 RcVec3f ep = end.gsamples[js.startSample].p;
                 RcVec3f eq = end.gsamples[js.startSample + js.samples - 1].p;
-                float d = Math.Min(RcVecUtils.Dist2DSqr(sp, sq), RcVecUtils.Dist2DSqr(ep, eq));
+                float d = Math.Min(RcVec.Dist2DSqr(sp, sq), RcVec.Dist2DSqr(ep, eq));
                 if (d >= 4 * acfg.agentRadius * acfg.agentRadius)
                 {
                     JumpLink link = new JumpLink();

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

@@ -4,7 +4,7 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.Extras.Jumplink
 {
-    class JumpSegmentBuilder
+    public class JumpSegmentBuilder
     {
         public JumpSegment[] Build(JumpLinkBuilderConfig acfg, EdgeSampler es)
         {

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

@@ -1,9 +1,10 @@
 using System;
+using DotRecast.Core;
 using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour.Extras.Jumplink
 {
-    public class JumpTrajectory : Trajectory
+    public class JumpTrajectory : ITrajectory
     {
         private readonly float jumpHeight;
 
@@ -12,13 +13,13 @@ namespace DotRecast.Detour.Extras.Jumplink
             this.jumpHeight = jumpHeight;
         }
 
-        public override RcVec3f Apply(RcVec3f start, RcVec3f end, float u)
+        public RcVec3f Apply(RcVec3f start, RcVec3f end, float u)
         {
             return new RcVec3f
             {
-                X = Lerp(start.X, end.X, u), 
+                X = RcMath.Lerp(start.X, end.X, u),
                 Y = InterpolateHeight(start.Y, end.Y, u),
-                Z = Lerp(start.Z, end.Z, u)
+                Z = RcMath.Lerp(start.Z, end.Z, u)
             };
         }
 

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

@@ -1,11 +1,10 @@
 using DotRecast.Core;
 using DotRecast.Core.Numerics;
-
 using DotRecast.Recast;
 
 namespace DotRecast.Detour.Extras.Jumplink
 {
-    class NavMeshGroundSampler : AbstractGroundSampler
+    public class NavMeshGroundSampler : AbstractGroundSampler
     {
         public override void Sample(JumpLinkBuilderConfig acfg, RcBuilderResult result, EdgeSampler es)
         {
@@ -16,27 +15,34 @@ 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.vertCount = r.GetMesh().nverts;
-            option.polys = r.GetMesh().polys;
-            option.polyAreas = r.GetMesh().areas;
-            option.polyFlags = r.GetMesh().flags;
-            option.polyCount = r.GetMesh().npolys;
-            option.nvp = r.GetMesh().nvp;
-            option.detailMeshes = r.GetMeshDetail().meshes;
-            option.detailVerts = r.GetMeshDetail().verts;
-            option.detailVertsCount = r.GetMeshDetail().nverts;
-            option.detailTris = r.GetMeshDetail().tris;
-            option.detailTriCount = r.GetMeshDetail().ntris;
+            option.verts = r.Mesh.verts;
+            option.vertCount = r.Mesh.nverts;
+            option.polys = r.Mesh.polys;
+            option.polyAreas = r.Mesh.areas;
+            option.polyFlags = r.Mesh.flags;
+            option.polyCount = r.Mesh.npolys;
+            option.nvp = r.Mesh.nvp;
+            option.detailMeshes = r.MeshDetail.meshes;
+            option.detailVerts = r.MeshDetail.verts;
+            option.detailVertsCount = r.MeshDetail.nverts;
+            option.detailTris = r.MeshDetail.tris;
+            option.detailTriCount = r.MeshDetail.ntris;
             option.walkableRadius = agentRadius;
             option.walkableHeight = agentHeight;
             option.walkableClimb = agentClimb;
-            option.bmin = r.GetMesh().bmin;
-            option.bmax = r.GetMesh().bmax;
-            option.cs = r.GetMesh().cs;
-            option.ch = r.GetMesh().ch;
+            option.bmin = r.Mesh.bmin;
+            option.bmax = r.Mesh.bmax;
+            option.cs = r.Mesh.cs;
+            option.ch = r.Mesh.ch;
             option.buildBvTree = true;
-            return new DtNavMeshQuery(new DtNavMesh(DtNavMeshBuilder.CreateNavMeshData(option), option.nvp, 0));
+            var mesh = new DtNavMesh();
+            var status = mesh.Init(DtNavMeshBuilder.CreateNavMeshData(option), option.nvp, 0);
+            if (status.Failed())
+            {
+                return null;
+            }
+
+            return new DtNavMeshQuery(mesh);
         }
 
 
@@ -46,25 +52,12 @@ namespace DotRecast.Detour.Extras.Jumplink
 
             RcVec3f halfExtents = new RcVec3f { X = cs, Y = heightRange, Z = cs };
             float maxHeight = pt.Y + heightRange;
-            RcAtomicBoolean found = new RcAtomicBoolean();
-            RcAtomicFloat minHeight = new RcAtomicFloat(pt.Y);
+            var query = new DtHeightSamplePolyQuery(navMeshQuery, pt, pt.Y, maxHeight);
+            navMeshQuery.QueryPolygons(pt, halfExtents, DtQueryNoOpFilter.Shared, ref query);
 
-            navMeshQuery.QueryPolygons(pt, halfExtents, DtQueryNoOpFilter.Shared, new PolyQueryInvoker((tile, poly, refs) =>
+            if (query.Found)
             {
-                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();
+                height = query.MinHeight;
                 return true;
             }
 

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

@@ -1,19 +0,0 @@
-using System;
-
-namespace DotRecast.Detour.Extras.Jumplink
-{
-    public class PolyQueryInvoker : IDtPolyQuery
-    {
-        public readonly Action<DtMeshTile, DtPoly, long> _callback;
-
-        public PolyQueryInvoker(Action<DtMeshTile, DtPoly, long> callback)
-        {
-            _callback = callback;
-        }
-
-        public void Process(DtMeshTile tile, DtPoly poly, long refs)
-        {
-            _callback?.Invoke(tile, poly, refs);
-        }
-    }
-}

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

@@ -1,18 +0,0 @@
-using System;
-using DotRecast.Core.Numerics;
-
-namespace DotRecast.Detour.Extras.Jumplink
-{
-    public class Trajectory
-    {
-        public float Lerp(float f, float g, float u)
-        {
-            return u * g + (1f - u) * f;
-        }
-
-        public virtual RcVec3f Apply(RcVec3f start, RcVec3f end, float u)
-        {
-            throw new NotImplementedException();
-        }
-    }
-}

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

@@ -5,7 +5,7 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.Extras.Jumplink
 {
-    class TrajectorySampler
+    public class TrajectorySampler
     {
         public void Sample(JumpLinkBuilderConfig acfg, RcHeightfield heightfield, EdgeSampler es)
         {
@@ -32,10 +32,10 @@ namespace DotRecast.Detour.Extras.Jumplink
             }
         }
 
-        private bool SampleTrajectory(JumpLinkBuilderConfig acfg, RcHeightfield solid, RcVec3f pa, RcVec3f pb, Trajectory tra)
+        private bool SampleTrajectory(JumpLinkBuilderConfig acfg, RcHeightfield solid, RcVec3f pa, RcVec3f pb, ITrajectory tra)
         {
             float cs = Math.Min(acfg.cellSize, acfg.cellHeight);
-            float d = RcVecUtils.Dist2D(pa, pb) + MathF.Abs(pa.Y - pb.Y);
+            float d = RcVec.Dist2D(pa, pb) + MathF.Abs(pa.Y - pb.Y);
             int nsamples = Math.Max(2, (int)MathF.Ceiling(d / cs));
             for (int i = 0; i < nsamples; ++i)
             {

src/DotRecast.Detour.Extras/ObjExporter.cs

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.Extras/Unity/Astar/BVTreeCreator.cs

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.Extras/Unity/Astar/GraphConnectionReader.cs

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.Extras/Unity/Astar/GraphData.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.Extras/Unity/Astar/GraphMeshData.cs

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.Extras/Unity/Astar/GraphMeshDataReader.cs

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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
@@ -22,6 +23,8 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.Extras.Unity.Astar
 {
+    using static DtDetour;
+
     public class GraphMeshDataReader : ZipBinaryReader
     {
         public const float INT_PRECISION_FACTOR = 1000f;
@@ -76,7 +79,7 @@ namespace DotRecast.Detour.Extras.Unity.Astar
                     int nodeCount = buffer.GetInt();
                     DtPoly[] nodes = new DtPoly[nodeCount];
                     DtPolyDetail[] detailNodes = new DtPolyDetail[nodeCount];
-                    float[] detailVerts = new float[0];
+                    float[] detailVerts = Array.Empty<float>();
                     int[] detailTris = new int[4 * nodeCount];
                     int vertMask = GetVertMask(vertsCount);
                     float ymin = float.PositiveInfinity;
@@ -98,9 +101,9 @@ namespace DotRecast.Detour.Extras.Unity.Astar
                         ymax = Math.Max(ymax, verts[nodes[i].verts[1] * 3 + 1]);
                         ymax = Math.Max(ymax, verts[nodes[i].verts[2] * 3 + 1]);
                         int vertBase = 0;
-                        int vertCount = 0;
+                        byte vertCount = 0;
                         int triBase = i;
-                        int triCount = 1;
+                        byte triCount = 1;
                         detailNodes[i] = new DtPolyDetail(vertBase, triBase, vertCount, triCount);
                         detailTris[4 * i] = 0;
                         detailTris[4 * i + 1] = 1;
@@ -116,15 +119,15 @@ namespace DotRecast.Detour.Extras.Unity.Astar
                     tiles[tileIndex].detailVerts = detailVerts;
                     tiles[tileIndex].detailTris = detailTris;
                     DtMeshHeader header = new DtMeshHeader();
-                    header.magic = DtNavMesh.DT_NAVMESH_MAGIC;
-                    header.version = DtNavMesh.DT_NAVMESH_VERSION;
+                    header.magic = DT_NAVMESH_MAGIC;
+                    header.version = DT_NAVMESH_VERSION;
                     header.x = x;
                     header.y = z;
                     header.polyCount = nodeCount;
                     header.vertCount = vertsCount;
                     header.detailMeshCount = nodeCount;
                     header.detailTriCount = nodeCount;
-                    header.maxLinkCount = nodeCount * 3 * 2; // XXX: Needed by Recast, not needed by recast4j
+                    header.maxLinkCount = nodeCount * 3 * 2; // needed by Recast, not needed by recast4j, needed by DotRecast
                     header.bmin.X = meta.forcedBoundsCenter.x - 0.5f * meta.forcedBoundsSize.x +
                                     meta.cellSize * meta.tileSizeX * x;
                     header.bmin.Y = ymin;

src/DotRecast.Detour.Extras/Unity/Astar/GraphMeta.cs

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.Extras/Unity/Astar/GraphMetaReader.cs

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.Extras/Unity/Astar/LinkBuilder.cs

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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
@@ -21,6 +22,8 @@ using System.Collections.Generic;
 
 namespace DotRecast.Detour.Extras.Unity.Astar
 {
+    using static DtDetour;
+
     public class LinkBuilder
     {
         // Process connections and transform them into recast neighbour flags
@@ -65,19 +68,19 @@ namespace DotRecast.Detour.Extras.Unity.Astar
         {
             if (neighbourTile.header.bmin.X > tile.header.bmin.X)
             {
-                node.neis[DtPolyUtils.FindEdge(node, tile, neighbourTile.header.bmin.X, 0)] = DtNavMesh.DT_EXT_LINK;
+                node.neis[DtPolyUtils.FindEdge(node, tile, neighbourTile.header.bmin.X, 0)] = DT_EXT_LINK;
             }
             else if (neighbourTile.header.bmin.X < tile.header.bmin.X)
             {
-                node.neis[DtPolyUtils.FindEdge(node, tile, tile.header.bmin.X, 0)] = DtNavMesh.DT_EXT_LINK | 4;
+                node.neis[DtPolyUtils.FindEdge(node, tile, tile.header.bmin.X, 0)] = DT_EXT_LINK | 4;
             }
             else if (neighbourTile.header.bmin.Z > tile.header.bmin.Z)
             {
-                node.neis[DtPolyUtils.FindEdge(node, tile, neighbourTile.header.bmin.Z, 2)] = DtNavMesh.DT_EXT_LINK | 2;
+                node.neis[DtPolyUtils.FindEdge(node, tile, neighbourTile.header.bmin.Z, 2)] = DT_EXT_LINK | 2;
             }
             else
             {
-                node.neis[DtPolyUtils.FindEdge(node, tile, tile.header.bmin.Z, 2)] = DtNavMesh.DT_EXT_LINK | 6;
+                node.neis[DtPolyUtils.FindEdge(node, tile, tile.header.bmin.Z, 2)] = DT_EXT_LINK | 6;
             }
         }
     }

src/DotRecast.Detour.Extras/Unity/Astar/Meta.cs

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.Extras/Unity/Astar/MetaReader.cs

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.Extras/Unity/Astar/NodeIndexReader.cs

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.Extras/Unity/Astar/NodeLink2.cs

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.Extras/Unity/Astar/NodeLink2Reader.cs

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.Extras/Unity/Astar/OffMeshLinkCreator.cs

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.Extras/Unity/Astar/UnityAStarPathfindingImporter.cs

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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
@@ -65,10 +66,11 @@ namespace DotRecast.Detour.Extras.Unity.Astar
                 option.orig.X = -0.5f * graphMeta.forcedBoundsSize.x + graphMeta.forcedBoundsCenter.x;
                 option.orig.Y = -0.5f * graphMeta.forcedBoundsSize.y + graphMeta.forcedBoundsCenter.y;
                 option.orig.Z = -0.5f * graphMeta.forcedBoundsSize.z + graphMeta.forcedBoundsCenter.z;
-                DtNavMesh mesh = new DtNavMesh(option, 3);
+                DtNavMesh mesh = new DtNavMesh();
+                mesh.Init(option, 3);
                 foreach (DtMeshData t in graphMeshData.tiles)
                 {
-                    mesh.AddTile(t, 0, 0);
+                    mesh.AddTile(t, 0, 0, out _);
                 }
 
                 meshes[graphIndex] = mesh;

src/DotRecast.Detour.Extras/Unity/Astar/UnityAStarPathfindingReader.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.Extras/Unity/Astar/ZipBinaryReader.cs

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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
@@ -31,7 +32,7 @@ namespace DotRecast.Detour.Extras.Unity.Astar
             ZipArchiveEntry graphReferences = file.GetEntry(filename);
             using var entryStream = graphReferences.Open();
             using var br = new BinaryReader(entryStream);
-            RcByteBuffer buffer = IOUtils.ToByteBuffer(br);
+            RcByteBuffer buffer = RcIO.ToByteBuffer(br);
             buffer.Order(RcByteOrder.LITTLE_ENDIAN);
             return buffer;
         }

src/DotRecast.Detour.TileCache/DtCompressedTile.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.TileCache/DtCompressedTileFlags.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Detour.TileCache
+namespace DotRecast.Detour.TileCache
 {
     /// Flags for addTile
     public class DtCompressedTileFlags

src/DotRecast.Detour.TileCache/DtLayerMonotoneRegion.cs

@@ -1,4 +1,4 @@
-using System.Collections.Generic;
+using System.Collections.Generic;
 
 namespace DotRecast.Detour.TileCache
 {
@@ -7,8 +7,9 @@ namespace DotRecast.Detour.TileCache
         public const int DT_LAYER_MAX_NEIS = 16;
 
         public int area;
-        public List<int> neis = new List<int>(DT_LAYER_MAX_NEIS);
-        public int regId;
-        public int areaId;
+        public byte[] neis = new byte[DT_LAYER_MAX_NEIS];
+        public byte nneis;
+        public byte regId;
+        public byte areaId;
     };
 }

src/DotRecast.Detour.TileCache/DtObstacleBox.cs

@@ -0,0 +1,10 @@
+using DotRecast.Core.Numerics;
+
+namespace DotRecast.Detour.TileCache
+{
+    public class DtObstacleBox
+    {
+        public RcVec3f bmin;
+        public RcVec3f bmax;
+    }
+}

src/DotRecast.Detour.TileCache/DtObstacleCylinder.cs

@@ -0,0 +1,11 @@
+using DotRecast.Core.Numerics;
+
+namespace DotRecast.Detour.TileCache
+{
+    public class DtObstacleCylinder
+    {
+        public RcVec3f pos;
+        public float radius;
+        public float height;
+    }
+}

src/DotRecast.Detour.TileCache/DtObstacleOrientedBox.cs

@@ -0,0 +1,11 @@
+using DotRecast.Core.Numerics;
+
+namespace DotRecast.Detour.TileCache
+{
+    public class DtObstacleOrientedBox
+    {
+        public RcVec3f center;
+        public RcVec3f extents;
+        public readonly float[] rotAux = new float[2]; // { Cos(0.5f*angle)*Sin(-0.5f*angle); Cos(0.5f*angle)*Cos(0.5f*angle) - 0.5 } 
+    }
+}

src/DotRecast.Detour.TileCache/DtObstacleRequest.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.TileCache/DtObstacleRequestAction.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.TileCache/DtObstacleState.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.TileCache/DtTempContour.cs

@@ -1,4 +1,4 @@
-using System.Collections.Generic;
+using System.Collections.Generic;
 
 namespace DotRecast.Detour.TileCache
 {

src/DotRecast.Detour.TileCache/DtTileCache.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -26,6 +26,8 @@ using DotRecast.Detour.TileCache.Io;
 
 namespace DotRecast.Detour.TileCache
 {
+    using static DtDetour;
+
     public class DtTileCache
     {
         private int m_tileLutSize; // < Tile hash lookup size (must be pot).
@@ -51,9 +53,6 @@ namespace DotRecast.Detour.TileCache
         private readonly List<DtObstacleRequest> m_reqs = new List<DtObstacleRequest>();
         private readonly List<long> m_update = new List<long>();
 
-        private readonly DtTileCacheBuilder builder = new DtTileCacheBuilder();
-        private readonly DtTileCacheLayerHeaderReader tileReader = new DtTileCacheLayerHeaderReader();
-
         public DtTileCache(DtTileCacheParams option, DtTileCacheStorageParams storageParams, DtNavMesh navmesh, IRcCompressor tcomp, IDtTileCacheMeshProcess tmprocs)
         {
             m_params = option;
@@ -160,7 +159,7 @@ namespace DotRecast.Detour.TileCache
             List<long> tiles = new List<long>();
 
             // Find tile based on hash.
-            int h = DtNavMesh.ComputeTileHash(tx, ty, m_tileLutMask);
+            int h = ComputeTileHash(tx, ty, m_tileLutMask);
             DtCompressedTile tile = m_posLookup[h];
             while (tile != null)
             {
@@ -178,7 +177,7 @@ namespace DotRecast.Detour.TileCache
         DtCompressedTile GetTileAt(int tx, int ty, int tlayer)
         {
             // Find tile based on hash.
-            int h = DtNavMesh.ComputeTileHash(tx, ty, m_tileLutMask);
+            int h = ComputeTileHash(tx, ty, m_tileLutMask);
             DtCompressedTile tile = m_posLookup[h];
             while (tile != null)
             {
@@ -243,7 +242,7 @@ namespace DotRecast.Detour.TileCache
             // Make sure the data is in right format.
             RcByteBuffer buf = new RcByteBuffer(data);
             buf.Order(m_storageParams.Order);
-            DtTileCacheLayerHeader header = tileReader.Read(buf, m_storageParams.Compatibility);
+            DtTileCacheLayerHeader header = DtTileCacheLayerHeaderReader.Read(buf, m_storageParams.Compatibility);
             // Make sure the location is free.
             if (GetTileAt(header.tx, header.ty, header.tlayer) != null)
             {
@@ -266,7 +265,7 @@ namespace DotRecast.Detour.TileCache
             }
 
             // Insert tile into the position lut.
-            int h = DtNavMesh.ComputeTileHash(header.tx, header.ty, m_tileLutMask);
+            int h = ComputeTileHash(header.tx, header.ty, m_tileLutMask);
             tile.next = m_posLookup[h];
             m_posLookup[h] = tile;
 
@@ -305,7 +304,7 @@ namespace DotRecast.Detour.TileCache
             }
 
             // Remove tile from hash lookup.
-            int h = DtNavMesh.ComputeTileHash(tile.header.tx, tile.header.ty, m_tileLutMask);
+            int h = ComputeTileHash(tile.header.tx, tile.header.ty, m_tileLutMask);
             DtCompressedTile prev = null;
             DtCompressedTile cur = m_posLookup[h];
             while (cur != null)
@@ -349,11 +348,11 @@ namespace DotRecast.Detour.TileCache
         public long AddObstacle(RcVec3f pos, float radius, float height)
         {
             DtTileCacheObstacle ob = AllocObstacle();
-            ob.type = DtTileCacheObstacleType.CYLINDER;
+            ob.type = DtTileCacheObstacleType.DT_OBSTACLE_CYLINDER;
 
-            ob.pos = pos;
-            ob.radius = radius;
-            ob.height = height;
+            ob.cylinder.pos = pos;
+            ob.cylinder.radius = radius;
+            ob.cylinder.height = height;
 
             return AddObstacleRequest(ob).refs;
         }
@@ -362,10 +361,10 @@ namespace DotRecast.Detour.TileCache
         public long AddBoxObstacle(RcVec3f bmin, RcVec3f bmax)
         {
             DtTileCacheObstacle ob = AllocObstacle();
-            ob.type = DtTileCacheObstacleType.BOX;
+            ob.type = DtTileCacheObstacleType.DT_OBSTACLE_BOX;
 
-            ob.bmin = bmin;
-            ob.bmax = bmax;
+            ob.box.bmin = bmin;
+            ob.box.bmax = bmax;
 
             return AddObstacleRequest(ob).refs;
         }
@@ -374,13 +373,13 @@ namespace DotRecast.Detour.TileCache
         public long AddBoxObstacle(RcVec3f center, RcVec3f extents, float yRadians)
         {
             DtTileCacheObstacle ob = AllocObstacle();
-            ob.type = DtTileCacheObstacleType.ORIENTED_BOX;
-            ob.center = center;
-            ob.extents = extents;
+            ob.type = DtTileCacheObstacleType.DT_OBSTACLE_ORIENTED_BOX;
+            ob.orientedBox.center = center;
+            ob.orientedBox.extents = extents;
             float coshalf = MathF.Cos(0.5f * yRadians);
             float sinhalf = MathF.Sin(-0.5f * yRadians);
-            ob.rotAux[0] = coshalf * sinhalf;
-            ob.rotAux[1] = coshalf * coshalf - 0.5f;
+            ob.orientedBox.rotAux[0] = coshalf * sinhalf;
+            ob.orientedBox.rotAux[1] = coshalf * coshalf - 0.5f;
             return AddObstacleRequest(ob).refs;
         }
 
@@ -613,26 +612,26 @@ namespace DotRecast.Detour.TileCache
 
                 if (Contains(ob.touched, refs))
                 {
-                    if (ob.type == DtTileCacheObstacleType.CYLINDER)
+                    if (ob.type == DtTileCacheObstacleType.DT_OBSTACLE_CYLINDER)
                     {
-                        builder.MarkCylinderArea(layer, tile.header.bmin, m_params.cs, m_params.ch, ob.pos, ob.radius, ob.height, 0);
+                        DtTileCacheBuilder.MarkCylinderArea(layer, tile.header.bmin, m_params.cs, m_params.ch, ob.cylinder.pos, ob.cylinder.radius, ob.cylinder.height, 0);
                     }
-                    else if (ob.type == DtTileCacheObstacleType.BOX)
+                    else if (ob.type == DtTileCacheObstacleType.DT_OBSTACLE_BOX)
                     {
-                        builder.MarkBoxArea(layer, tile.header.bmin, m_params.cs, m_params.ch, ob.bmin, ob.bmax, 0);
+                        DtTileCacheBuilder.MarkBoxArea(layer, tile.header.bmin, m_params.cs, m_params.ch, ob.box.bmin, ob.box.bmax, 0);
                     }
-                    else if (ob.type == DtTileCacheObstacleType.ORIENTED_BOX)
+                    else if (ob.type == DtTileCacheObstacleType.DT_OBSTACLE_ORIENTED_BOX)
                     {
-                        builder.MarkBoxArea(layer, tile.header.bmin, m_params.cs, m_params.ch, ob.center, ob.extents, ob.rotAux, 0);
+                        DtTileCacheBuilder.MarkBoxArea(layer, tile.header.bmin, m_params.cs, m_params.ch, ob.orientedBox.center, ob.orientedBox.extents, ob.orientedBox.rotAux, 0);
                     }
                 }
             }
 
             // Build navmesh
-            builder.BuildTileCacheRegions(layer, walkableClimbVx);
-            DtTileCacheContourSet lcset = builder.BuildTileCacheContours(layer, walkableClimbVx,
-                m_params.maxSimplificationError);
-            DtTileCachePolyMesh polyMesh = builder.BuildTileCachePolyMesh(lcset, m_navmesh.GetMaxVertsPerPoly());
+            DtTileCacheBuilder.BuildTileCacheRegions(layer, walkableClimbVx);
+            DtTileCacheContourSet lcset = DtTileCacheBuilder.BuildTileCacheContours(layer, walkableClimbVx, m_params.maxSimplificationError);
+            DtTileCachePolyMesh polyMesh = DtTileCacheBuilder.BuildTileCachePolyMesh(lcset, m_navmesh.GetMaxVertsPerPoly());
+
             // Early out if the mesh tile is empty.
             if (polyMesh.npolys == 0)
             {
@@ -670,13 +669,13 @@ namespace DotRecast.Detour.TileCache
             // Add new tile, or leave the location empty. if (navData) { // Let the
             if (meshData != null)
             {
-                m_navmesh.AddTile(meshData, 0, 0);
+                m_navmesh.AddTile(meshData, 0, 0, out var result);
             }
         }
 
         public DtTileCacheLayer DecompressTile(DtCompressedTile tile)
         {
-            DtTileCacheLayer layer = builder.DecompressTileCacheLayer(m_tcomp, tile.data, m_storageParams.Order, m_storageParams.Compatibility);
+            DtTileCacheLayer layer = DtTileCacheBuilder.DecompressTileCacheLayer(m_tcomp, tile.data, m_storageParams.Order, m_storageParams.Compatibility);
             return layer;
         }
 
@@ -693,29 +692,29 @@ namespace DotRecast.Detour.TileCache
 
         public void GetObstacleBounds(DtTileCacheObstacle ob, ref RcVec3f bmin, ref RcVec3f bmax)
         {
-            if (ob.type == DtTileCacheObstacleType.CYLINDER)
+            if (ob.type == DtTileCacheObstacleType.DT_OBSTACLE_CYLINDER)
             {
-                bmin.X = ob.pos.X - ob.radius;
-                bmin.Y = ob.pos.Y;
-                bmin.Z = ob.pos.Z - ob.radius;
-                bmax.X = ob.pos.X + ob.radius;
-                bmax.Y = ob.pos.Y + ob.height;
-                bmax.Z = ob.pos.Z + ob.radius;
+                bmin.X = ob.cylinder.pos.X - ob.cylinder.radius;
+                bmin.Y = ob.cylinder.pos.Y;
+                bmin.Z = ob.cylinder.pos.Z - ob.cylinder.radius;
+                bmax.X = ob.cylinder.pos.X + ob.cylinder.radius;
+                bmax.Y = ob.cylinder.pos.Y + ob.cylinder.height;
+                bmax.Z = ob.cylinder.pos.Z + ob.cylinder.radius;
             }
-            else if (ob.type == DtTileCacheObstacleType.BOX)
+            else if (ob.type == DtTileCacheObstacleType.DT_OBSTACLE_BOX)
             {
-                bmin = ob.bmin;
-                bmax = ob.bmax;
+                bmin = ob.box.bmin;
+                bmax = ob.box.bmax;
             }
-            else if (ob.type == DtTileCacheObstacleType.ORIENTED_BOX)
+            else if (ob.type == DtTileCacheObstacleType.DT_OBSTACLE_ORIENTED_BOX)
             {
-                float maxr = 1.41f * Math.Max(ob.extents.X, ob.extents.Z);
-                bmin.X = ob.center.X - maxr;
-                bmax.X = ob.center.X + maxr;
-                bmin.Y = ob.center.Y - ob.extents.Y;
-                bmax.Y = ob.center.Y + ob.extents.Y;
-                bmin.Z = ob.center.Z - maxr;
-                bmax.Z = ob.center.Z + maxr;
+                float maxr = 1.41f * Math.Max(ob.orientedBox.extents.X, ob.orientedBox.extents.Z);
+                bmin.X = ob.orientedBox.center.X - maxr;
+                bmax.X = ob.orientedBox.center.X + maxr;
+                bmin.Y = ob.orientedBox.center.Y - ob.orientedBox.extents.Y;
+                bmax.Y = ob.orientedBox.center.Y + ob.orientedBox.extents.Y;
+                bmin.Z = ob.orientedBox.center.Z - maxr;
+                bmax.Z = ob.orientedBox.center.Z + maxr;
             }
         }
 

src/DotRecast.Detour.TileCache/DtTileCacheBuilder.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -29,22 +29,21 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.TileCache
 {
-    public class DtTileCacheBuilder
+    public static class DtTileCacheBuilder
     {
-        public const int DT_TILECACHE_NULL_AREA = 0;
-        public const int DT_TILECACHE_WALKABLE_AREA = 63;
+        public const byte DT_TILECACHE_NULL_AREA = 0;
+        public const byte DT_TILECACHE_WALKABLE_AREA = 63;
         public const int DT_TILECACHE_NULL_IDX = 0xffff;
+
         private static readonly int[] DirOffsetX = { -1, 0, 1, 0, };
         private static readonly int[] DirOffsetY = { 0, 1, 0, -1 };
 
-        private readonly DtTileCacheLayerHeaderReader reader = new DtTileCacheLayerHeaderReader();
-
-        public void BuildTileCacheRegions(DtTileCacheLayer layer, int walkableClimb)
+        public static void BuildTileCacheRegions(DtTileCacheLayer layer, int walkableClimb)
         {
             int w = layer.header.width;
             int h = layer.header.height;
 
-            Array.Fill(layer.regs, (short)0x00FF);
+            Array.Fill(layer.regs, (byte)0xFF);
             int nsweeps = w;
             RcLayerSweepSpan[] sweeps = new RcLayerSweepSpan[nsweeps];
             for (int i = 0; i < sweeps.Length; i++)
@@ -53,14 +52,14 @@ namespace DotRecast.Detour.TileCache
             }
 
             // Partition walkable area into monotone regions.
-            int[] prevCount = new int[256];
-            int regId = 0;
+            Span<byte> prevCount = stackalloc byte[256];
+            byte regId = 0;
 
             for (int y = 0; y < h; ++y)
             {
                 if (regId > 0)
                 {
-                    Array.Fill(prevCount, 0, 0, regId);
+                    RcSpans.Fill<byte>(prevCount, 0, 0, regId);
                 }
 
                 // Memset(prevCount,0,Sizeof(char)*regId);
@@ -93,7 +92,7 @@ namespace DotRecast.Detour.TileCache
                     int yidx = x + (y - 1) * w;
                     if (y > 0 && IsConnected(layer, idx, yidx, walkableClimb))
                     {
-                        int nr = layer.regs[yidx];
+                        byte nr = layer.regs[yidx];
                         if (nr != 0xff)
                         {
                             // Set neighbour when first valid neighbour is
@@ -147,12 +146,12 @@ namespace DotRecast.Detour.TileCache
                 {
                     int idx = x + y * w;
                     if (layer.regs[idx] != 0xff)
-                        layer.regs[idx] = (short)sweeps[layer.regs[idx]].id;
+                        layer.regs[idx] = sweeps[layer.regs[idx]].id;
                 }
             }
 
             // Allocate and init layer regions.
-            int nregs = regId;
+            byte nregs = regId;
             DtLayerMonotoneRegion[] regs = new DtLayerMonotoneRegion[nregs];
 
             for (int i = 0; i < nregs; ++i)
@@ -167,7 +166,7 @@ namespace DotRecast.Detour.TileCache
                 for (int x = 0; x < w; ++x)
                 {
                     int idx = x + y * w;
-                    int ri = layer.regs[idx];
+                    byte ri = layer.regs[idx];
                     if (ri == 0xff)
                         continue;
 
@@ -179,17 +178,17 @@ namespace DotRecast.Detour.TileCache
                     int ymi = x + (y - 1) * w;
                     if (y > 0 && IsConnected(layer, idx, ymi, walkableClimb))
                     {
-                        int rai = layer.regs[ymi];
+                        byte rai = layer.regs[ymi];
                         if (rai != 0xff && rai != ri)
                         {
-                            AddUniqueLast(regs[ri].neis, rai);
-                            AddUniqueLast(regs[rai].neis, ri);
+                            AddUniqueLast(regs[ri].neis, ref regs[ri].nneis, rai);
+                            AddUniqueLast(regs[rai].neis, ref regs[rai].nneis, ri);
                         }
                     }
                 }
             }
 
-            for (int i = 0; i < nregs; ++i)
+            for (byte i = 0; i < nregs; ++i)
                 regs[i].regId = i;
 
             for (int i = 0; i < nregs; ++i)
@@ -198,8 +197,9 @@ namespace DotRecast.Detour.TileCache
 
                 int merge = -1;
                 int mergea = 0;
-                foreach (int nei in reg.neis)
+                for (int j = 0; j < reg.nneis; ++j)
                 {
+                    byte nei = reg.neis[j];
                     DtLayerMonotoneRegion regn = regs[nei];
                     if (reg.regId == regn.regId)
                         continue;
@@ -218,7 +218,7 @@ namespace DotRecast.Detour.TileCache
                 if (merge != -1)
                 {
                     int oldId = reg.regId;
-                    int newId = regs[merge].regId;
+                    byte newId = regs[merge].regId;
                     for (int j = 0; j < nregs; ++j)
                         if (regs[j].regId == oldId)
                             regs[j].regId = newId;
@@ -226,7 +226,7 @@ namespace DotRecast.Detour.TileCache
             }
 
             // Compact ids.
-            int[] remap = new int[256];
+            Span<byte> remap = stackalloc byte[256];
             // Find number of unique regions.
             regId = 0;
             for (int i = 0; i < nregs; ++i)
@@ -243,19 +243,20 @@ namespace DotRecast.Detour.TileCache
             for (int i = 0; i < w * h; ++i)
             {
                 if (layer.regs[i] != 0xff)
-                    layer.regs[i] = (short)regs[layer.regs[i]].regId;
+                    layer.regs[i] = regs[layer.regs[i]].regId;
             }
         }
 
-        void AddUniqueLast(List<int> a, int v)
+        public static void AddUniqueLast(byte[] a, ref byte an, byte v)
         {
-            int n = a.Count;
+            int n = an;
             if (n > 0 && a[n - 1] == v)
                 return;
-            a.Add(v);
+            a[an] = v;
+            an++;
         }
 
-        bool IsConnected(DtTileCacheLayer layer, int ia, int ib, int walkableClimb)
+        public static bool IsConnected(DtTileCacheLayer layer, int ia, int ib, int walkableClimb)
         {
             if (layer.areas[ia] != layer.areas[ib])
                 return false;
@@ -264,7 +265,7 @@ namespace DotRecast.Detour.TileCache
             return true;
         }
 
-        bool CanMerge(int oldRegId, int newRegId, DtLayerMonotoneRegion[] regs, int nregs)
+        public static bool CanMerge(int oldRegId, int newRegId, DtLayerMonotoneRegion[] regs, int nregs)
         {
             int count = 0;
             for (int i = 0; i < nregs; ++i)
@@ -272,9 +273,11 @@ namespace DotRecast.Detour.TileCache
                 DtLayerMonotoneRegion reg = regs[i];
                 if (reg.regId != oldRegId)
                     continue;
-                foreach (int nei in reg.neis)
+
+                int nnei = reg.nneis;
+                for (int j = 0; j < nnei ; ++j)
                 {
-                    if (regs[nei].regId == newRegId)
+                    if (regs[reg.neis[j]].regId == newRegId)
                         count++;
                 }
             }
@@ -282,7 +285,7 @@ namespace DotRecast.Detour.TileCache
             return count == 1;
         }
 
-        private void AppendVertex(DtTempContour cont, int x, int y, int z, int r)
+        public static void AppendVertex(DtTempContour cont, int x, int y, int z, int r)
         {
             // Try to merge with existing segments.
             if (cont.nverts > 1)
@@ -316,7 +319,7 @@ namespace DotRecast.Detour.TileCache
             cont.nverts++;
         }
 
-        private int GetNeighbourReg(DtTileCacheLayer layer, int ax, int ay, int dir)
+        public static int GetNeighbourReg(DtTileCacheLayer layer, int ax, int ay, int dir)
         {
             int w = layer.header.width;
             int ia = ax + ay * w;
@@ -339,17 +342,17 @@ namespace DotRecast.Detour.TileCache
             return layer.regs[ib];
         }
 
-        private int GetDirOffsetX(int dir)
+        public static int GetDirOffsetX(int dir)
         {
             return DirOffsetX[dir & 0x03];
         }
 
-        private int GetDirOffsetY(int dir)
+        public static int GetDirOffsetY(int dir)
         {
             return DirOffsetY[dir & 0x03];
         }
 
-        private void WalkContour(DtTileCacheLayer layer, int x, int y, DtTempContour cont)
+        public static void WalkContour(DtTileCacheLayer layer, int x, int y, DtTempContour cont)
         {
             int w = layer.header.width;
             int h = layer.header.height;
@@ -434,7 +437,7 @@ namespace DotRecast.Detour.TileCache
                 cont.nverts--;
         }
 
-        private float DistancePtSeg(int x, int z, int px, int pz, int qx, int qz)
+        public static float DistancePtSeg(int x, int z, int px, int pz, int qx, int qz)
         {
             float pqx = qx - px;
             float pqz = qz - pz;
@@ -455,7 +458,7 @@ namespace DotRecast.Detour.TileCache
             return dx * dx + dz * dz;
         }
 
-        private void SimplifyContour(DtTempContour cont, float maxError)
+        public static void SimplifyContour(DtTempContour cont, float maxError)
         {
             cont.poly.Clear();
 
@@ -584,7 +587,7 @@ namespace DotRecast.Detour.TileCache
             }
         }
 
-        static int GetCornerHeight(DtTileCacheLayer layer, int x, int y, int z, int walkableClimb, out bool shouldRemove)
+        public static int GetCornerHeight(DtTileCacheLayer layer, int x, int y, int z, int walkableClimb, out bool shouldRemove)
         {
             int w = layer.header.width;
             int h = layer.header.height;
@@ -634,7 +637,7 @@ namespace DotRecast.Detour.TileCache
         }
 
         // TODO: move this somewhere else, once the layer meshing is done.
-        public DtTileCacheContourSet BuildTileCacheContours(DtTileCacheLayer layer, int walkableClimb, float maxError)
+        public static DtTileCacheContourSet BuildTileCacheContours(DtTileCacheLayer layer, int walkableClimb, float maxError)
         {
             int w = layer.header.width;
             int h = layer.header.height;
@@ -656,7 +659,7 @@ namespace DotRecast.Detour.TileCache
                 for (int x = 0; x < w; ++x)
                 {
                     int idx = x + y * w;
-                    int ri = layer.regs[idx];
+                    byte ri = layer.regs[idx];
                     if (ri == 0xff)
                         continue;
 
@@ -711,7 +714,7 @@ namespace DotRecast.Detour.TileCache
 
         const uint VERTEX_BUCKET_COUNT2 = (1 << 8);
 
-        private int ComputeVertexHash2(int x, int y, int z)
+        public static int ComputeVertexHash2(int x, int y, int z)
         {
             uint h1 = 0x8da6b343; // Large multiplicative constants;
             uint h2 = 0xd8163841; // here arbitrarily chosen primes
@@ -720,7 +723,7 @@ namespace DotRecast.Detour.TileCache
             return (int)(n & (VERTEX_BUCKET_COUNT2 - 1));
         }
 
-        private int AddVertex(int x, int y, int z, int[] verts, int[] firstVert, int[] nextVert, int nv)
+        public static int AddVertex(int x, int y, int z, int[] verts, int[] firstVert, int[] nextVert, int nv)
         {
             int bucket = ComputeVertexHash2(x, 0, z);
             int i = firstVert[bucket];
@@ -743,7 +746,7 @@ namespace DotRecast.Detour.TileCache
             return i;
         }
 
-        private void BuildMeshAdjacency(int[] polys, int npolys, int[] verts, int nverts, DtTileCacheContourSet lcset,
+        public static void BuildMeshAdjacency(int[] polys, int npolys, int[] verts, int nverts, DtTileCacheContourSet lcset,
             int maxVertsPerPoly)
         {
             // Based on code by Eric Lengyel from:
@@ -954,22 +957,22 @@ namespace DotRecast.Detour.TileCache
             }
         }
 
-        private bool OverlapRangeExl(int amin, int amax, int bmin, int bmax)
+        public static bool OverlapRangeExl(int amin, int amax, int bmin, int bmax)
         {
             return (amin >= bmax || amax <= bmin) ? false : true;
         }
 
-        private int Prev(int i, int n)
+        public static int Prev(int i, int n)
         {
             return i - 1 >= 0 ? i - 1 : n - 1;
         }
 
-        private int Next(int i, int n)
+        public static int Next(int i, int n)
         {
             return i + 1 < n ? i + 1 : 0;
         }
 
-        private int Area2(int[] verts, int a, int b, int c)
+        public static int Area2(int[] verts, int a, int b, int c)
         {
             return (verts[b] - verts[a]) * (verts[c + 2] - verts[a + 2])
                    - (verts[c] - verts[a]) * (verts[b + 2] - verts[a + 2]);
@@ -977,17 +980,17 @@ namespace DotRecast.Detour.TileCache
 
         // Returns true iff c is strictly to the left of the directed
         // line through a to b.
-        private bool Left(int[] verts, int a, int b, int c)
+        public static bool Left(int[] verts, int a, int b, int c)
         {
             return Area2(verts, a, b, c) < 0;
         }
 
-        private bool LeftOn(int[] verts, int a, int b, int c)
+        public static bool LeftOn(int[] verts, int a, int b, int c)
         {
             return Area2(verts, a, b, c) <= 0;
         }
 
-        private bool Collinear(int[] verts, int a, int b, int c)
+        public static bool Collinear(int[] verts, int a, int b, int c)
         {
             return Area2(verts, a, b, c) == 0;
         }
@@ -995,7 +998,7 @@ namespace DotRecast.Detour.TileCache
         // Returns true iff ab properly intersects cd: they share
         // a point interior to both segments. The properness of the
         // intersection is ensured by using strict leftness.
-        private bool IntersectProp(int[] verts, int a, int b, int c, int d)
+        public static bool IntersectProp(int[] verts, int a, int b, int c, int d)
         {
             // Eliminate improper cases.
             if (Collinear(verts, a, b, c) || Collinear(verts, a, b, d) || Collinear(verts, c, d, a)
@@ -1007,7 +1010,7 @@ namespace DotRecast.Detour.TileCache
 
         // Returns T iff (a,b,c) are collinear and point c lies
         // on the closed segment ab.
-        private bool Between(int[] verts, int a, int b, int c)
+        public static bool Between(int[] verts, int a, int b, int c)
         {
             if (!Collinear(verts, a, b, c))
                 return false;
@@ -1021,7 +1024,7 @@ namespace DotRecast.Detour.TileCache
         }
 
         // Returns true iff segments ab and cd intersect, properly or improperly.
-        private bool Intersect(int[] verts, int a, int b, int c, int d)
+        public static bool Intersect(int[] verts, int a, int b, int c, int d)
         {
             if (IntersectProp(verts, a, b, c, d))
                 return true;
@@ -1032,14 +1035,14 @@ namespace DotRecast.Detour.TileCache
                 return false;
         }
 
-        private bool Vequal(int[] verts, int a, int b)
+        public static bool Vequal(int[] verts, int a, int b)
         {
             return verts[a] == verts[b] && verts[a + 2] == verts[b + 2];
         }
 
         // Returns T iff (v_i, v_j) is a proper internal *or* external
         // diagonal of P, *ignoring edges incident to v_i and v_j*.
-        private bool Diagonalie(int i, int j, int n, int[] verts, int[] indices)
+        public static bool Diagonalie(int i, int j, int n, int[] verts, int[] indices)
         {
             int d0 = (indices[i] & 0x7fff) * 4;
             int d1 = (indices[j] & 0x7fff) * 4;
@@ -1067,7 +1070,7 @@ namespace DotRecast.Detour.TileCache
 
         // Returns true iff the diagonal (i,j) is strictly internal to the
         // polygon P in the neighborhood of the i endpoint.
-        private bool InCone(int i, int j, int n, int[] verts, int[] indices)
+        public static bool InCone(int i, int j, int n, int[] verts, int[] indices)
         {
             int pi = (indices[i] & 0x7fff) * 4;
             int pj = (indices[j] & 0x7fff) * 4;
@@ -1084,12 +1087,12 @@ namespace DotRecast.Detour.TileCache
 
         // Returns T iff (v_i, v_j) is a proper internal
         // diagonal of P.
-        private bool Diagonal(int i, int j, int n, int[] verts, int[] indices)
+        public static bool Diagonal(int i, int j, int n, int[] verts, int[] indices)
         {
             return InCone(i, j, n, verts, indices) && Diagonalie(i, j, n, verts, indices);
         }
 
-        private int Triangulate(int n, int[] verts, int[] indices, int[] tris)
+        public static int Triangulate(int n, int[] verts, int[] indices, int[] tris)
         {
             int ntris = 0;
             int dst = 0; // tris;
@@ -1174,7 +1177,7 @@ namespace DotRecast.Detour.TileCache
             return ntris;
         }
 
-        private int CountPolyVerts(int[] polys, int p, int maxVertsPerPoly)
+        public static int CountPolyVerts(int[] polys, int p, int maxVertsPerPoly)
         {
             for (int i = 0; i < maxVertsPerPoly; ++i)
                 if (polys[p + i] == DT_TILECACHE_NULL_IDX)
@@ -1182,13 +1185,13 @@ namespace DotRecast.Detour.TileCache
             return maxVertsPerPoly;
         }
 
-        private bool Uleft(int[] verts, int a, int b, int c)
+        public static bool Uleft(int[] verts, int a, int b, int c)
         {
             return (verts[b] - verts[a]) * (verts[c + 2] - verts[a + 2])
                 - (verts[c] - verts[a]) * (verts[b + 2] - verts[a + 2]) < 0;
         }
 
-        private int GetPolyMergeValue(int[] polys, int pa, int pb, int[] verts, out int ea, out int eb, int maxVertsPerPoly)
+        public static int GetPolyMergeValue(int[] polys, int pa, int pb, int[] verts, out int ea, out int eb, int maxVertsPerPoly)
         {
             ea = 0;
             eb = 0;
@@ -1259,7 +1262,7 @@ namespace DotRecast.Detour.TileCache
             return (dx * dx) + (dy * dy);
         }
 
-        private void MergePolys(int[] polys, int pa, int pb, int ea, int eb, int maxVertsPerPoly)
+        public static void MergePolys(int[] polys, int pa, int pb, int ea, int eb, int maxVertsPerPoly)
         {
             int[] tmp = new int[maxVertsPerPoly * 2];
 
@@ -1278,19 +1281,19 @@ namespace DotRecast.Detour.TileCache
             RcArrays.Copy(tmp, 0, polys, pa, maxVertsPerPoly);
         }
 
-        private int PushFront(int v, List<int> arr)
+        public static int PushFront(int v, List<int> arr)
         {
             arr.Insert(0, v);
             return arr.Count;
         }
 
-        private int PushBack(int v, List<int> arr)
+        public static int PushBack(int v, List<int> arr)
         {
             arr.Add(v);
             return arr.Count;
         }
 
-        private bool CanRemoveVertex(DtTileCachePolyMesh mesh, int rem)
+        public static bool CanRemoveVertex(DtTileCachePolyMesh mesh, int rem)
         {
             // Count number of polygons to remove.
             int maxVertsPerPoly = mesh.nvp;
@@ -1388,7 +1391,7 @@ namespace DotRecast.Detour.TileCache
             return true;
         }
 
-        private void RemoveVertex(DtTileCachePolyMesh mesh, int rem, int maxTris)
+        public static void RemoveVertex(DtTileCachePolyMesh mesh, int rem, int maxTris)
         {
             // Count number of polygons to remove.
             int maxVertsPerPoly = mesh.nvp;
@@ -1627,7 +1630,7 @@ namespace DotRecast.Detour.TileCache
             }
         }
 
-        public DtTileCachePolyMesh BuildTileCachePolyMesh(DtTileCacheContourSet lcset, int maxVertsPerPoly)
+        public static DtTileCachePolyMesh BuildTileCachePolyMesh(DtTileCacheContourSet lcset, int maxVertsPerPoly)
         {
             int maxVertices = 0;
             int maxTris = 0;
@@ -1801,7 +1804,7 @@ namespace DotRecast.Detour.TileCache
             return mesh;
         }
 
-        public void MarkCylinderArea(DtTileCacheLayer layer, RcVec3f orig, float cs, float ch, RcVec3f pos, float radius, float height, int areaId)
+        public static void MarkCylinderArea(DtTileCacheLayer layer, RcVec3f orig, float cs, float ch, RcVec3f pos, float radius, float height, byte areaId)
         {
             RcVec3f bmin = new RcVec3f();
             RcVec3f bmax = new RcVec3f();
@@ -1857,12 +1860,12 @@ namespace DotRecast.Detour.TileCache
                     int y = layer.heights[x + z * w];
                     if (y < miny || y > maxy)
                         continue;
-                    layer.areas[x + z * w] = (short)areaId;
+                    layer.areas[x + z * w] = areaId;
                 }
             }
         }
 
-        public void MarkBoxArea(DtTileCacheLayer layer, RcVec3f orig, float cs, float ch, RcVec3f bmin, RcVec3f bmax, int areaId)
+        public static void MarkBoxArea(DtTileCacheLayer layer, RcVec3f orig, float cs, float ch, RcVec3f bmin, RcVec3f bmax, byte areaId)
         {
             int w = layer.header.width;
             int h = layer.header.height;
@@ -1901,12 +1904,12 @@ namespace DotRecast.Detour.TileCache
                     int y = layer.heights[x + z * w];
                     if (y < miny || y > maxy)
                         continue;
-                    layer.areas[x + z * w] = (short)areaId;
+                    layer.areas[x + z * w] = areaId;
                 }
             }
         }
 
-        public byte[] CompressTileCacheLayer(IRcCompressor comp, DtTileCacheLayer layer, RcByteOrder order, bool cCompatibility)
+        public static byte[] CompressTileCacheLayer(IRcCompressor comp, DtTileCacheLayer layer, RcByteOrder order, bool cCompatibility)
         {
             using var ms = new MemoryStream();
             using var bw = new BinaryWriter(ms);
@@ -1933,7 +1936,7 @@ namespace DotRecast.Detour.TileCache
             }
         }
 
-        public byte[] CompressTileCacheLayer(DtTileCacheLayerHeader header, int[] heights, int[] areas, int[] cons, RcByteOrder order, bool cCompatibility, IRcCompressor comp)
+        public static byte[] CompressTileCacheLayer(DtTileCacheLayerHeader header, int[] heights, int[] areas, int[] cons, RcByteOrder order, bool cCompatibility, IRcCompressor comp)
         {
             using var ms = new MemoryStream();
             using var bw = new BinaryWriter(ms);
@@ -1960,14 +1963,14 @@ namespace DotRecast.Detour.TileCache
             }
         }
 
-        public DtTileCacheLayer DecompressTileCacheLayer(IRcCompressor comp, byte[] compressed, RcByteOrder order, bool cCompatibility)
+        public static DtTileCacheLayer DecompressTileCacheLayer(IRcCompressor comp, byte[] compressed, RcByteOrder order, bool cCompatibility)
         {
             RcByteBuffer buf = new RcByteBuffer(compressed);
             buf.Order(order);
             DtTileCacheLayer layer = new DtTileCacheLayer();
             try
             {
-                layer.header = reader.Read(buf, cCompatibility);
+                layer.header = DtTileCacheLayerHeaderReader.Read(buf, cCompatibility);
             }
             catch (IOException e)
             {
@@ -1976,22 +1979,22 @@ namespace DotRecast.Detour.TileCache
 
             int gridSize = layer.header.width * layer.header.height;
             byte[] grids = comp.Decompress(compressed, buf.Position(), compressed.Length - buf.Position(), gridSize * 3);
-            layer.heights = new short[gridSize];
-            layer.areas = new short[gridSize];
-            layer.cons = new short[gridSize];
-            layer.regs = new short[gridSize];
+            layer.heights = new byte[gridSize];
+            layer.areas = new byte[gridSize];
+            layer.cons = new byte[gridSize];
+            layer.regs = new byte[gridSize];
             for (int i = 0; i < gridSize; i++)
             {
-                layer.heights[i] = (short)(grids[i] & 0xFF);
-                layer.areas[i] = (short)(grids[i + gridSize] & 0xFF);
-                layer.cons[i] = (short)(grids[i + gridSize * 2] & 0xFF);
+                layer.heights[i] = (byte)(grids[i] & 0xFF);
+                layer.areas[i] = (byte)(grids[i + gridSize] & 0xFF);
+                layer.cons[i] = (byte)(grids[i + gridSize * 2] & 0xFF);
             }
 
             return layer;
         }
 
-        public void MarkBoxArea(DtTileCacheLayer layer, RcVec3f orig, float cs, float ch, RcVec3f center, RcVec3f extents,
-            float[] rotAux, int areaId)
+        public static void MarkBoxArea(DtTileCacheLayer layer, RcVec3f orig, float cs, float ch, RcVec3f center, RcVec3f extents,
+            float[] rotAux, byte areaId)
         {
             int w = layer.header.width;
             int h = layer.header.height;
@@ -2044,7 +2047,7 @@ namespace DotRecast.Detour.TileCache
                     int y = layer.heights[x + z * w];
                     if (y < miny || y > maxy)
                         continue;
-                    layer.areas[x + z * w] = (short)areaId;
+                    layer.areas[x + z * w] = areaId;
                 }
             }
         }

src/DotRecast.Detour.TileCache/DtTileCacheContour.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -24,7 +24,7 @@ namespace DotRecast.Detour.TileCache
     {
         public int nverts;
         public int[] verts;
-        public int reg;
-        public int area;
+        public byte reg;
+        public byte area;
     }
 }

src/DotRecast.Detour.TileCache/DtTileCacheContourSet.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.TileCache/DtTileCacheLayer.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -23,13 +23,10 @@ namespace DotRecast.Detour.TileCache
     public class DtTileCacheLayer
     {
         public DtTileCacheLayerHeader header;
-        public int regCount;
-
-        /// < Region count.
-        public short[] heights; // char
-
-        public short[] areas; // char
-        public short[] cons; // char
-        public short[] regs; // char
+        public byte regCount; // < Region count.
+        public byte[] heights; // unsigned char
+        public byte[] areas; // unsigned char
+        public byte[] cons; // unsigned char
+        public byte[] regs; // unsigned char
     }
 }

src/DotRecast.Detour.TileCache/DtTileCacheLayerBuildResult.cs

@@ -1,4 +1,4 @@
-using System.Collections.Generic;
+using System.Collections.Generic;
 using System.Threading.Tasks;
 
 namespace DotRecast.Detour.TileCache

src/DotRecast.Detour.TileCache/DtTileCacheLayerBuilder.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -100,7 +100,6 @@ namespace DotRecast.Detour.TileCache
             List<byte[]> result = new List<byte[]>();
             if (lset != null)
             {
-                DtTileCacheBuilder builder = new DtTileCacheBuilder();
                 for (int i = 0; i < lset.layers.Length; ++i)
                 {
                     RcHeightfieldLayer layer = lset.layers[i];
@@ -128,7 +127,7 @@ namespace DotRecast.Detour.TileCache
                     header.hmax = layer.hmax;
 
                     var comp = _compFactory.Create(storageParams.Compatibility ? 0 : 1);
-                    var bytes = builder.CompressTileCacheLayer(header, layer.heights, layer.areas, layer.cons, storageParams.Order, storageParams.Compatibility, comp);
+                    var bytes = DtTileCacheBuilder.CompressTileCacheLayer(header, layer.heights, layer.areas, layer.cons, storageParams.Order, storageParams.Compatibility, comp);
                     result.Add(bytes);
                 }
             }

src/DotRecast.Detour.TileCache/DtTileCacheLayerHeader.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.TileCache/DtTileCacheObstacle.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -19,32 +19,28 @@ freely, subject to the following restrictions:
 */
 
 using System.Collections.Generic;
-using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour.TileCache
 {
     public class DtTileCacheObstacle
     {
         public readonly int index;
-        public DtTileCacheObstacleType type;
-        public RcVec3f pos = new RcVec3f();
-        public RcVec3f bmin = new RcVec3f();
-        public RcVec3f bmax = new RcVec3f();
-        public float radius, height;
-        public RcVec3f center = new RcVec3f();
-        public RcVec3f extents = new RcVec3f();
-        public readonly float[] rotAux = new float[2]; // { Cos(0.5f*angle)*Sin(-0.5f*angle); Cos(0.5f*angle)*Cos(0.5f*angle) - 0.5 }
+
+        public DtObstacleCylinder cylinder = new DtObstacleCylinder();
+        public DtObstacleBox box = new DtObstacleBox();
+        public DtObstacleOrientedBox orientedBox = new DtObstacleOrientedBox();
 
         public List<long> touched = new List<long>();
         public readonly List<long> pending = new List<long>();
         public int salt;
+        public DtTileCacheObstacleType type;
         public DtObstacleState state = DtObstacleState.DT_OBSTACLE_EMPTY;
         public DtTileCacheObstacle next;
 
         public DtTileCacheObstacle(int index)
         {
-            salt = 1;
             this.index = index;
+            salt = 1;
         }
     }
 }

src/DotRecast.Detour.TileCache/DtTileCacheObstacleType.cs

@@ -1,9 +1,9 @@
-namespace DotRecast.Detour.TileCache
+namespace DotRecast.Detour.TileCache
 {
     public enum DtTileCacheObstacleType
     {
-        CYLINDER,
-        BOX,
-        ORIENTED_BOX
+        DT_OBSTACLE_CYLINDER,
+        DT_OBSTACLE_BOX, // AABB
+        DT_OBSTACLE_ORIENTED_BOX // OBB
     };
 }

src/DotRecast.Detour.TileCache/DtTileCacheParams.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.TileCache/DtTileCachePolyMesh.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -23,24 +23,13 @@ namespace DotRecast.Detour.TileCache
     public class DtTileCachePolyMesh
     {
         public int nvp;
-        public int nverts;
+        public int nverts; // < Number of vertices.
+        public int npolys; // < Number of polygons.
+        public int[] verts; // < Vertices of the mesh, 3 elements per vertex.
+        public int[] polys; // < Polygons of the mesh, nvp*2 elements per polygon.
+        public int[] flags; // < Per polygon flags.
+        public int[] areas; // < Area ID of polygons.
 
-        /// < Number of vertices.
-        public int npolys;
-
-        /// < Number of polygons.
-        public int[] verts;
-
-        /// < Vertices of the mesh, 3 elements per vertex.
-        public int[] polys;
-
-        /// < Polygons of the mesh, nvp*2 elements per polygon.
-        public int[] flags;
-
-        /// < Per polygon flags.
-        public int[] areas;
-
-        /// < Area ID of polygons.
         public DtTileCachePolyMesh(int nvp)
         {
             this.nvp = nvp;

src/DotRecast.Detour.TileCache/DtTileCacheStorageParams.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.TileCache/IDtTileCacheMeshProcess.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.TileCache/Io/Compress/DtTileCacheCompressorFactory.cs

@@ -1,4 +1,4 @@
-using System.Collections.Generic;
+using System.Collections.Generic;
 using DotRecast.Core;
 
 namespace DotRecast.Detour.TileCache.Io.Compress

src/DotRecast.Detour.TileCache/Io/Compress/DtTileCacheFastLzCompressor.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.TileCache/Io/Compress/IDtTileCacheCompressorFactory.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.TileCache/Io/DtTileCacheLayerHeaderReader.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -23,9 +23,9 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.TileCache.Io
 {
-    public class DtTileCacheLayerHeaderReader
+    public static class DtTileCacheLayerHeaderReader
     {
-        public DtTileCacheLayerHeader Read(RcByteBuffer data, bool cCompatibility)
+        public static DtTileCacheLayerHeader Read(RcByteBuffer data, bool cCompatibility)
         {
             DtTileCacheLayerHeader header = new DtTileCacheLayerHeader();
             header.magic = data.GetInt();

src/DotRecast.Detour.TileCache/Io/DtTileCacheLayerHeaderWriter.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -24,34 +24,34 @@ using DotRecast.Detour.Io;
 
 namespace DotRecast.Detour.TileCache.Io
 {
-    public class DtTileCacheLayerHeaderWriter : DtWriter
+    public class DtTileCacheLayerHeaderWriter
     {
         public void Write(BinaryWriter stream, DtTileCacheLayerHeader header, RcByteOrder order, bool cCompatibility)
         {
-            Write(stream, header.magic, order);
-            Write(stream, header.version, order);
-            Write(stream, header.tx, order);
-            Write(stream, header.ty, order);
-            Write(stream, header.tlayer, order);
+            RcIO.Write(stream, header.magic, order);
+            RcIO.Write(stream, header.version, order);
+            RcIO.Write(stream, header.tx, order);
+            RcIO.Write(stream, header.ty, order);
+            RcIO.Write(stream, header.tlayer, order);
 
-            Write(stream, header.bmin.X, order);
-            Write(stream, header.bmin.Y, order);
-            Write(stream, header.bmin.Z, order);
-            Write(stream, header.bmax.X, order);
-            Write(stream, header.bmax.Y, order);
-            Write(stream, header.bmax.Z, order);
+            RcIO.Write(stream, header.bmin.X, order);
+            RcIO.Write(stream, header.bmin.Y, order);
+            RcIO.Write(stream, header.bmin.Z, order);
+            RcIO.Write(stream, header.bmax.X, order);
+            RcIO.Write(stream, header.bmax.Y, order);
+            RcIO.Write(stream, header.bmax.Z, order);
 
-            Write(stream, (short)header.hmin, order);
-            Write(stream, (short)header.hmax, order);
-            Write(stream, (byte)header.width);
-            Write(stream, (byte)header.height);
-            Write(stream, (byte)header.minx);
-            Write(stream, (byte)header.maxx);
-            Write(stream, (byte)header.miny);
-            Write(stream, (byte)header.maxy);
+            RcIO.Write(stream, (short)header.hmin, order);
+            RcIO.Write(stream, (short)header.hmax, order);
+            RcIO.Write(stream, (byte)header.width);
+            RcIO.Write(stream, (byte)header.height);
+            RcIO.Write(stream, (byte)header.minx);
+            RcIO.Write(stream, (byte)header.maxx);
+            RcIO.Write(stream, (byte)header.miny);
+            RcIO.Write(stream, (byte)header.maxy);
             if (cCompatibility)
             {
-                Write(stream, (short)0, order); // C struct padding
+                RcIO.Write(stream, (short)0, order); // C struct padding
             }
         }
     }

src/DotRecast.Detour.TileCache/Io/DtTileCacheReader.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -37,7 +37,7 @@ namespace DotRecast.Detour.TileCache.Io
 
         public DtTileCache Read(BinaryReader @is, int maxVertPerPoly, IDtTileCacheMeshProcess meshProcessor)
         {
-            RcByteBuffer bb = IOUtils.ToByteBuffer(@is);
+            RcByteBuffer bb = RcIO.ToByteBuffer(@is);
             return Read(bb, maxVertPerPoly, meshProcessor);
         }
 
@@ -47,7 +47,7 @@ namespace DotRecast.Detour.TileCache.Io
             header.magic = bb.GetInt();
             if (header.magic != DtTileCacheSetHeader.TILECACHESET_MAGIC)
             {
-                header.magic = IOUtils.SwapEndianness(header.magic);
+                header.magic = RcIO.SwapEndianness(header.magic);
                 if (header.magic != DtTileCacheSetHeader.TILECACHESET_MAGIC)
                 {
                     throw new IOException("Invalid magic");
@@ -69,7 +69,8 @@ namespace DotRecast.Detour.TileCache.Io
             header.numTiles = bb.GetInt();
             header.meshParams = paramReader.Read(bb);
             header.cacheParams = ReadCacheParams(bb, cCompatibility);
-            DtNavMesh mesh = new DtNavMesh(header.meshParams, maxVertPerPoly);
+            DtNavMesh mesh = new DtNavMesh();
+            mesh.Init(header.meshParams, maxVertPerPoly);
             IRcCompressor comp = _compFactory.Create(cCompatibility ? 0 : 1);
             DtTileCacheStorageParams storageParams = new DtTileCacheStorageParams(bb.Order(), cCompatibility);
             DtTileCache tc = new DtTileCache(header.cacheParams, storageParams, mesh, comp, meshProcessor);

src/DotRecast.Detour.TileCache/Io/DtTileCacheSetHeader.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour.TileCache/Io/DtTileCacheWriter.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -25,10 +25,9 @@ using DotRecast.Detour.TileCache.Io.Compress;
 
 namespace DotRecast.Detour.TileCache.Io
 {
-    public class DtTileCacheWriter : DtWriter
+    public class DtTileCacheWriter
     {
         private readonly DtNavMeshParamWriter paramWriter = new DtNavMeshParamWriter();
-        private readonly DtTileCacheBuilder builder = new DtTileCacheBuilder();
         private readonly IDtTileCacheCompressorFactory _compFactory;
 
         public DtTileCacheWriter(IDtTileCacheCompressorFactory compFactory)
@@ -39,8 +38,8 @@ namespace DotRecast.Detour.TileCache.Io
 
         public void Write(BinaryWriter stream, DtTileCache cache, RcByteOrder order, bool cCompatibility)
         {
-            Write(stream, DtTileCacheSetHeader.TILECACHESET_MAGIC, order);
-            Write(stream, cCompatibility
+            RcIO.Write(stream, DtTileCacheSetHeader.TILECACHESET_MAGIC, order);
+            RcIO.Write(stream, cCompatibility
                 ? DtTileCacheSetHeader.TILECACHESET_VERSION
                 : DtTileCacheSetHeader.TILECACHESET_VERSION_RECAST4J, order);
             int numTiles = 0;
@@ -52,7 +51,7 @@ namespace DotRecast.Detour.TileCache.Io
                 numTiles++;
             }
 
-            Write(stream, numTiles, order);
+            RcIO.Write(stream, numTiles, order);
             paramWriter.Write(stream, cache.GetNavMesh().GetParams(), order);
             WriteCacheParams(stream, cache.GetParams(), order);
             for (int i = 0; i < cache.GetTileCount(); i++)
@@ -60,32 +59,32 @@ namespace DotRecast.Detour.TileCache.Io
                 DtCompressedTile tile = cache.GetTile(i);
                 if (tile == null || tile.data == null)
                     continue;
-                Write(stream, (int)cache.GetTileRef(tile), order);
+                RcIO.Write(stream, (int)cache.GetTileRef(tile), order);
                 byte[] data = tile.data;
                 DtTileCacheLayer layer = cache.DecompressTile(tile);
                 var comp = _compFactory.Create(cCompatibility ? 0 : 1);
-                data = builder.CompressTileCacheLayer(comp, layer, order, cCompatibility);
-                Write(stream, data.Length, order);
+                data = DtTileCacheBuilder.CompressTileCacheLayer(comp, layer, order, cCompatibility);
+                RcIO.Write(stream, data.Length, order);
                 stream.Write(data);
             }
         }
 
         private void WriteCacheParams(BinaryWriter stream, DtTileCacheParams option, RcByteOrder order)
         {
-            Write(stream, option.orig.X, order);
-            Write(stream, option.orig.Y, order);
-            Write(stream, option.orig.Z, order);
+            RcIO.Write(stream, option.orig.X, order);
+            RcIO.Write(stream, option.orig.Y, order);
+            RcIO.Write(stream, option.orig.Z, order);
 
-            Write(stream, option.cs, order);
-            Write(stream, option.ch, order);
-            Write(stream, option.width, order);
-            Write(stream, option.height, order);
-            Write(stream, option.walkableHeight, order);
-            Write(stream, option.walkableRadius, order);
-            Write(stream, option.walkableClimb, order);
-            Write(stream, option.maxSimplificationError, order);
-            Write(stream, option.maxTiles, order);
-            Write(stream, option.maxObstacles, order);
+            RcIO.Write(stream, option.cs, order);
+            RcIO.Write(stream, option.ch, order);
+            RcIO.Write(stream, option.width, order);
+            RcIO.Write(stream, option.height, order);
+            RcIO.Write(stream, option.walkableHeight, order);
+            RcIO.Write(stream, option.walkableRadius, order);
+            RcIO.Write(stream, option.walkableClimb, order);
+            RcIO.Write(stream, option.maxSimplificationError, order);
+            RcIO.Write(stream, option.maxTiles, order);
+            RcIO.Write(stream, option.maxObstacles, order);
         }
     }
 }

src/DotRecast.Detour/BVItem.cs

@@ -1,9 +1,11 @@
-namespace DotRecast.Detour
+using DotRecast.Core.Numerics;
+
+namespace DotRecast.Detour
 {
     public class BVItem
     {
-        public readonly int[] bmin = new int[3];
-        public readonly int[] bmax = new int[3];
+        public RcVec3i bmin;
+        public RcVec3i bmax;
         public int i;
     };
 }

src/DotRecast.Detour/BVItemXComparer.cs

@@ -1,4 +1,4 @@
-using System.Collections.Generic;
+using System.Collections.Generic;
 
 namespace DotRecast.Detour
 {
@@ -12,7 +12,7 @@ namespace DotRecast.Detour
 
         public int Compare(BVItem a, BVItem b)
         {
-            return a.bmin[0].CompareTo(b.bmin[0]);
+            return a.bmin.X.CompareTo(b.bmin.X);
         }
     }
 }

src/DotRecast.Detour/BVItemYComparer.cs

@@ -1,4 +1,4 @@
-using System.Collections.Generic;
+using System.Collections.Generic;
 
 namespace DotRecast.Detour
 {
@@ -12,7 +12,7 @@ namespace DotRecast.Detour
 
         public int Compare(BVItem a, BVItem b)
         {
-            return a.bmin[1].CompareTo(b.bmin[1]);
+            return a.bmin.Y.CompareTo(b.bmin.Y);
         }
     }
 }

src/DotRecast.Detour/BVItemZComparer.cs

@@ -1,4 +1,4 @@
-using System.Collections.Generic;
+using System.Collections.Generic;
 
 namespace DotRecast.Detour
 {
@@ -12,7 +12,7 @@ namespace DotRecast.Detour
 
         public int Compare(BVItem a, BVItem b)
         {
-            return a.bmin[2].CompareTo(b.bmin[2]);
+            return a.bmin.Z.CompareTo(b.bmin.Z);
         }
     }
 }

src/DotRecast.Detour/DetourBuilder.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour/DtBVNode.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -18,23 +18,17 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using DotRecast.Core.Numerics;
+
 namespace DotRecast.Detour
 {
-    /**
- * Bounding volume node.
- *
- * @note This structure is rarely if ever used by the end user.
- * @see MeshTile
- */
+    /// Bounding volume node.
+    /// @note This structure is rarely if ever used by the end user.
+    /// @see dtMeshTile
     public class DtBVNode
     {
-        /** Minimum bounds of the node's AABB. [(x, y, z)] */
-        public int[] bmin = new int[3];
-
-        /** Maximum bounds of the node's AABB. [(x, y, z)] */
-        public int[] bmax = new int[3];
-
-        /** The node's index. (Negative for escape sequence.) */
-        public int i;
+        public RcVec3i bmin; //< Minimum bounds of the node's AABB. [(x, y, z)]
+        public RcVec3i bmax; //< Maximum bounds of the node's AABB. [(x, y, z)]
+        public int i; //< The node's index. (Negative for escape sequence.)
     }
 }

src/DotRecast.Detour/DtCallbackPolyQuery.cs

@@ -0,0 +1,22 @@
+using System;
+
+namespace DotRecast.Detour
+{
+    public struct DtCallbackPolyQuery : IDtPolyQuery
+    {
+        private readonly Action<DtMeshTile, DtPoly, long> _callback;
+
+        public DtCallbackPolyQuery(Action<DtMeshTile, DtPoly, long> callback)
+        {
+            _callback = callback;
+        }
+
+        public void Process(DtMeshTile tile, Span<DtPoly> poly, Span<long> refs, int count)
+        {
+            for (int i = 0; i < count; ++i)
+            {
+                _callback?.Invoke(tile, poly[i], refs[i]);
+            }
+        }
+    }
+}

src/DotRecast.Detour/DtCollectPolysQuery.cs

@@ -0,0 +1,43 @@
+using System;
+using DotRecast.Core;
+
+namespace DotRecast.Detour
+{
+    public class DtCollectPolysQuery : IDtPolyQuery
+    {
+        private long[] m_polys;
+        private int m_maxPolys;
+        private int m_numCollected;
+        private bool m_overflow;
+
+        public DtCollectPolysQuery(long[] polys, int maxPolys)
+        {
+            m_polys = polys;
+            m_maxPolys = maxPolys;
+        }
+
+        public int NumCollected()
+        {
+            return m_numCollected;
+        }
+
+        public bool Overflowed()
+        {
+            return m_overflow;
+        }
+
+        public void Process(DtMeshTile tile, Span<DtPoly> poly, Span<long> refs, int count)
+        {
+            int numLeft = m_maxPolys - m_numCollected;
+            int toCopy = count;
+            if (toCopy > numLeft)
+            {
+                m_overflow = true;
+                toCopy = numLeft;
+            }
+
+            RcSpans.Copy<long>(refs, 0, m_polys, m_numCollected, toCopy);
+            m_numCollected += toCopy;
+        }
+    }
+}

src/DotRecast.Detour/DtConnectPoly.cs

@@ -1,4 +1,4 @@
-using System.Runtime.InteropServices;
+using System.Runtime.InteropServices;
 
 namespace DotRecast.Detour
 {

src/DotRecast.Detour/DtConvexConvexInFlag.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Detour
+namespace DotRecast.Detour
 {
     public enum DtConvexConvexInFlag
     {

src/DotRecast.Detour/DtConvexConvexIntersection.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Detour
+namespace DotRecast.Detour
 {
     public enum DtConvexConvexIntersection
     {

src/DotRecast.Detour/DtConvexConvexIntersections.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -18,23 +18,20 @@ freely, subject to the following restrictions:
 */
 
 using System;
-using DotRecast.Core;
 using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {
-    /**
- * Convex-convex intersection based on "Computational Geometry in C" by Joseph O'Rourke
- */
+    // Convex-convex intersection based on "Computational Geometry in C" by Joseph O'Rourke
     public static class DtConvexConvexIntersections
     {
-        private static readonly float EPSILON = 0.0001f;
+        private const float EPSILON = 0.0001f;
 
-        public static float[] Intersect(float[] p, float[] q)
+        public static Span<float> Intersect(Span<float> p, Span<float> q, Span<float> buffer)
         {
             int n = p.Length / 3;
             int m = q.Length / 3;
-            float[] inters = new float[Math.Max(m, n) * 3 * 3];
+            Span<float> inters = stackalloc float[Math.Max(m, n) * 3 * 3];
             int ii = 0;
             /* Initialize variables. */
             RcVec3f a = new RcVec3f();
@@ -54,10 +51,10 @@ namespace DotRecast.Detour
 
             do
             {
-                a = RcVecUtils.Create(p, 3 * (ai % n));
-                b = RcVecUtils.Create(q, 3 * (bi % m));
-                a1 = RcVecUtils.Create(p, 3 * ((ai + n - 1) % n)); // prev a
-                b1 = RcVecUtils.Create(q, 3 * ((bi + m - 1) % m)); // prev b
+                a = RcVec.Create(p, 3 * (ai % n));
+                b = RcVec.Create(q, 3 * (bi % m));
+                a1 = RcVec.Create(p, 3 * ((ai + n - 1) % n)); // prev a
+                b1 = RcVec.Create(q, 3 * ((bi + m - 1) % m)); // prev b
 
                 RcVec3f A = RcVec3f.Subtract(a, a1);
                 RcVec3f B = RcVec3f.Subtract(b, b1);
@@ -98,7 +95,7 @@ namespace DotRecast.Detour
                 /* Special case: A & B parallel and separated. */
                 if (parallel && aHB < 0f && bHA < 0f)
                 {
-                    return null;
+                    return Span<float>.Empty;
                 }
                 /* Special case: A & B collinear. */
                 else if (parallel && MathF.Abs(aHB) < EPSILON && MathF.Abs(bHA) < EPSILON)
@@ -171,12 +168,12 @@ namespace DotRecast.Detour
                 return null;
             }
 
-            float[] copied = new float[ii];
-            RcArrays.Copy(inters, copied, ii);
-            return copied;
+            Span<float> result = buffer.Slice(0, ii);
+            inters.Slice(0, ii).CopyTo(result);
+            return result;
         }
 
-        private static int AddVertex(float[] inters, int ii, RcVec3f p)
+        private static int AddVertex(Span<float> inters, int ii, RcVec3f p)
         {
             if (ii > 0)
             {

src/DotRecast.Detour/DtDefaultQueryHeuristic.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour/DtDetailTriEdgeFlags.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Detour
+namespace DotRecast.Detour
 {
     public static class DtDetailTriEdgeFlags
     {

src/DotRecast.Detour/DtDetour.cs

@@ -0,0 +1,184 @@
+using DotRecast.Core.Numerics;
+
+namespace DotRecast.Detour
+{
+    public static class DtDetour
+    {
+        /// The maximum number of vertices per navigation polygon.
+        /// @ingroup detour
+        public const int DT_VERTS_PER_POLYGON = 6;
+        
+        /** A magic number used to detect compatibility of navigation tile data. */
+        public const int DT_NAVMESH_MAGIC = 'D' << 24 | 'N' << 16 | 'A' << 8 | 'V';
+
+        /** A version number used to detect compatibility of navigation tile data. */
+        public const int DT_NAVMESH_VERSION = 7;
+
+        public const int DT_NAVMESH_VERSION_RECAST4J_FIRST = 0x8807;
+        public const int DT_NAVMESH_VERSION_RECAST4J_NO_POLY_FIRSTLINK = 0x8808;
+        public const int DT_NAVMESH_VERSION_RECAST4J_32BIT_BVTREE = 0x8809;
+        public const int DT_NAVMESH_VERSION_RECAST4J_LAST = 0x8809;
+
+        /** A magic number used to detect the compatibility of navigation tile states. */
+        public const int DT_NAVMESH_STATE_MAGIC = 'D' << 24 | 'N' << 16 | 'M' << 8 | 'S';
+
+        /** A version number used to detect compatibility of navigation tile states. */
+        public const int DT_NAVMESH_STATE_VERSION = 1;
+
+        public const int DT_SALT_BITS = 16;
+        public const int DT_TILE_BITS = 28;
+        public const int DT_POLY_BITS = 20;
+
+        /// A flag that indicates that an entity links to an external entity.
+        /// (E.g. A polygon edge is a portal that links to another polygon.)
+        public const int DT_EXT_LINK = 0x8000;
+
+        /// A value that indicates the entity does not link to anything.
+        public const int DT_NULL_LINK = unchecked((int)0xffffffff);
+        
+        public const int DT_NODE_PARENT_BITS = 24;
+        public const int DT_NODE_STATE_BITS = 2;
+        public const int DT_MAX_STATES_PER_NODE = 1 << DT_NODE_STATE_BITS; // number of extra states per node. See dtNode::state
+        
+        /// A flag that indicates that an off-mesh connection can be traversed in
+        /// both directions. (Is bidirectional.)
+        public const int DT_OFFMESH_CON_BIDIR = 1;
+
+        /// The maximum number of user defined area ids.
+        public const int DT_MAX_AREAS = 64;
+
+        /// Limit raycasting during any angle pahfinding
+        /// The limit is given as a multiple of the character radius
+        public const float DT_RAY_CAST_LIMIT_PROPORTIONS = 50.0f;
+
+        /// @{
+        /// @name Encoding and Decoding
+        /// These functions are generally meant for internal use only.
+        /// Derives a standard polygon reference.
+        ///  @note This function is generally meant for internal use only.
+        ///  @param[in]	salt	The tile's salt value.
+        ///  @param[in]	it		The index of the tile.
+        ///  @param[in]	ip		The index of the polygon within the tile.
+        public static long EncodePolyId(int salt, int it, int ip)
+        {
+            return (((long)salt) << (DT_POLY_BITS + DT_TILE_BITS)) | ((long)it << DT_POLY_BITS) | (long)ip;
+        }
+
+        /// Decodes a standard polygon reference.
+        /// @note This function is generally meant for internal use only.
+        /// @param[in] ref The polygon reference to decode.
+        /// @param[out] salt The tile's salt value.
+        /// @param[out] it The index of the tile.
+        /// @param[out] ip The index of the polygon within the tile.
+        /// @see #encodePolyId
+        public static void DecodePolyId(long refs, out int salt, out int it, out int ip)
+        {
+            long saltMask = (1L << DT_SALT_BITS) - 1;
+            long tileMask = (1L << DT_TILE_BITS) - 1;
+            long polyMask = (1L << DT_POLY_BITS) - 1;
+            salt = (int)((refs >> (DT_POLY_BITS + DT_TILE_BITS)) & saltMask);
+            it = (int)((refs >> DT_POLY_BITS) & tileMask);
+            ip = (int)(refs & polyMask);
+        }
+
+        /// Extracts a tile's salt value from the specified polygon reference.
+        /// @note This function is generally meant for internal use only.
+        /// @param[in] ref The polygon reference.
+        /// @see #encodePolyId
+        public static int DecodePolyIdSalt(long refs)
+        {
+            long saltMask = (1L << DT_SALT_BITS) - 1;
+            return (int)((refs >> (DT_POLY_BITS + DT_TILE_BITS)) & saltMask);
+        }
+
+        /// Extracts the tile's index from the specified polygon reference.
+        /// @note This function is generally meant for internal use only.
+        /// @param[in] ref The polygon reference.
+        /// @see #encodePolyId
+        public static int DecodePolyIdTile(long refs)
+        {
+            long tileMask = (1L << DT_TILE_BITS) - 1;
+            return (int)((refs >> DT_POLY_BITS) & tileMask);
+        }
+
+        /// Extracts the polygon's index (within its tile) from the specified
+        /// polygon reference.
+        /// @note This function is generally meant for internal use only.
+        /// @param[in] ref The polygon reference.
+        /// @see #encodePolyId
+        public static int DecodePolyIdPoly(long refs)
+        {
+            long polyMask = (1L << DT_POLY_BITS) - 1;
+            return (int)(refs & polyMask);
+        }
+
+        public static int ComputeTileHash(int x, int y, int mask)
+        {
+            uint h1 = 0x8da6b343; // Large multiplicative constants;
+            uint h2 = 0xd8163841; // here arbitrarily chosen primes
+            uint n = h1 * (uint)x + h2 * (uint)y;
+            return (int)(n & mask);
+        }
+
+        public static float GetSlabCoord(float[] verts, int va, int side)
+        {
+            if (side == 0 || side == 4)
+            {
+                return verts[va];
+            }
+            else if (side == 2 || side == 6)
+            {
+                return verts[va + 2];
+            }
+
+            return 0;
+        }
+
+        public static void CalcSlabEndPoints(float[] verts, int va, int vb, ref RcVec2f bmin, ref RcVec2f bmax, int side)
+        {
+            if (side == 0 || side == 4)
+            {
+                if (verts[va + 2] < verts[vb + 2])
+                {
+                    bmin.X = verts[va + 2];
+                    bmin.Y = verts[va + 1];
+                    bmax.X = verts[vb + 2];
+                    bmax.Y = verts[vb + 1];
+                }
+                else
+                {
+                    bmin.X = verts[vb + 2];
+                    bmin.Y = verts[vb + 1];
+                    bmax.X = verts[va + 2];
+                    bmax.Y = verts[va + 1];
+                }
+            }
+            else if (side == 2 || side == 6)
+            {
+                if (verts[va + 0] < verts[vb + 0])
+                {
+                    bmin.X = verts[va + 0];
+                    bmin.Y = verts[va + 1];
+                    bmax.X = verts[vb + 0];
+                    bmax.Y = verts[vb + 1];
+                }
+                else
+                {
+                    bmin.X = verts[vb + 0];
+                    bmin.Y = verts[vb + 1];
+                    bmax.X = verts[va + 0];
+                    bmax.Y = verts[va + 1];
+                }
+            }
+        }
+
+        /// Get flags for edge in detail triangle.
+        /// @param[in]	triFlags		The flags for the triangle (last component of detail vertices above).
+        /// @param[in]	edgeIndex		The index of the first vertex of the edge. For instance, if 0,
+        ///								returns flags for edge AB.
+        public static int GetDetailTriEdgeFlags(int triFlags, int edgeIndex)
+        {
+            return (triFlags >> (edgeIndex * 2)) & 0x3;
+        }
+    }
+}

src/DotRecast.Detour/DtFindNearestPolyQuery.cs

@@ -3,31 +3,38 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {
-    public class DtFindNearestPolyQuery : IDtPolyQuery
+    public struct DtFindNearestPolyQuery : IDtPolyQuery
     {
         private readonly DtNavMeshQuery _query;
         private readonly RcVec3f _center;
-        private long _nearestRef;
-        private RcVec3f _nearestPt;
-        private bool _overPoly;
         private float _nearestDistanceSqr;
+        private long _nearestRef;
+        private RcVec3f _nearestPoint;
+        private bool _overPoly;
 
         public DtFindNearestPolyQuery(DtNavMeshQuery query, RcVec3f center)
         {
-            this._query = query;
-            this._center = center;
+            _query = query;
+            _center = center;
             _nearestDistanceSqr = float.MaxValue;
-            _nearestPt = center;
+            _nearestPoint = center;
+
+            _nearestRef = default;
+            _overPoly = default;
         }
 
-        public void Process(DtMeshTile tile, DtPoly poly, long refs)
+        public void Process(DtMeshTile tile, Span<DtPoly> poly, Span<long> refs, int count)
         {
+            for (int i = 0; i < count; ++i)
+            {
+                long polyRef = refs[i];
+                float d;
+                
                 // Find nearest polygon amongst the nearby polygons.
-            _query.ClosestPointOnPoly(refs, _center, out var closestPtPoly, out var posOverPoly);
+                _query.ClosestPointOnPoly(polyRef, _center, out var closestPtPoly, out var posOverPoly);
 
                 // If a point is directly over a polygon and closer than
                 // climb height, favor that instead of straight line nearest point.
-            float d = 0;
                 RcVec3f diff = RcVec3f.Subtract(_center, closestPtPoly);
                 if (posOverPoly)
                 {
@@ -41,12 +48,13 @@ namespace DotRecast.Detour
 
                 if (d < _nearestDistanceSqr)
                 {
-                _nearestPt = closestPtPoly;
+                    _nearestPoint = closestPtPoly;
                     _nearestDistanceSqr = d;
-                _nearestRef = refs;
+                    _nearestRef = polyRef;
                     _overPoly = posOverPoly;
                 }
             }
+        }
 
         public long NearestRef()
         {
@@ -55,7 +63,7 @@ namespace DotRecast.Detour
 
         public RcVec3f NearestPt()
         {
-            return _nearestPt;
+            return _nearestPoint;
         }
 
         public bool OverPoly()

src/DotRecast.Detour/DtFindPathOption.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Detour
+namespace DotRecast.Detour
 {
     public readonly struct DtFindPathOption
     {

src/DotRecast.Detour/DtFindPathOptions.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Detour
+namespace DotRecast.Detour
 {
     /// Options for dtNavMeshQuery::initSlicedFindPath and updateSlicedFindPath
     public static class DtFindPathOptions

src/DotRecast.Detour/DtHeightSamplePolyQuery.cs

@@ -0,0 +1,45 @@
+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/DtLink.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -18,32 +18,20 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using System;
+
 namespace DotRecast.Detour
 {
-    /**
- * Defines a link between polygons.
- *
- * @note This structure is rarely if ever used by the end user.
- * @see MeshTile
- */
+    /// Defines a link between polygons.
+    /// @note This structure is rarely if ever used by the end user.
+    /// @see dtMeshTile
     public class DtLink
     {
-        /** Neighbour reference. (The neighbor that is linked to.) */
-        public long refs;
-
-        /** Index of the next link. */
-        public int next;
-
-        /** Index of the polygon edge that owns this link. */
-        public int edge;
-
-        /** If a boundary link, defines on which side the link is. */
-        public int side;
-
-        /** If a boundary link, defines the minimum sub-edge area. */
-        public int bmin;
-
-        /** If a boundary link, defines the maximum sub-edge area. */
-        public int bmax;
+        public long refs; //< Neighbour reference. (The neighbor that is linked to.)
+        public int next; //< Index of the next link.
+        public byte edge; //< Index of the polygon edge that owns this link.
+        public byte side; //< If a boundary link, defines on which side the link is.
+        public byte bmin; //< If a boundary link, defines the minimum sub-edge area.
+        public byte bmax; //< If a boundary link, defines the maximum sub-edge area.
     }
 }

src/DotRecast.Detour/DtMeshData.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -18,37 +18,29 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using System;
+
 namespace DotRecast.Detour
 {
+    [Serializable]
     public class DtMeshData
     {
-        /** The tile header. */
-        public DtMeshHeader header;
+        public DtMeshHeader header; //< The tile header.
+        public DtPoly[] polys; //< The tile polygons. [Size: dtMeshHeader::polyCount]
+        public float[] verts; //< The tile vertices. [(x, y, z) * dtMeshHeader::vertCount] 
+        public DtPolyDetail[] detailMeshes; //< The tile's detail sub-meshes. [Size: dtMeshHeader::detailMeshCount]
 
-        /** The tile vertices. [Size: MeshHeader::vertCount] */
-        public float[] verts;
-
-        /** The tile polygons. [Size: MeshHeader::polyCount] */
-        public DtPoly[] polys;
-
-        /** The tile's detail sub-meshes. [Size: MeshHeader::detailMeshCount] */
-        public DtPolyDetail[] detailMeshes;
-
-        /** The detail mesh's unique vertices. [(x, y, z) * MeshHeader::detailVertCount] */
+        /// The detail mesh's unique vertices. [(x, y, z) * dtMeshHeader::detailVertCount]
         public float[] detailVerts;
 
-        /**
-         * The detail mesh's triangles. [(vertA, vertB, vertC) * MeshHeader::detailTriCount] See DetailTriEdgeFlags and
-         * NavMesh::getDetailTriEdgeFlags.
-         */
+        /// The detail mesh's triangles. [(vertA, vertB, vertC, triFlags) * dtMeshHeader::detailTriCount].
+        /// See dtDetailTriEdgeFlags and dtGetDetailTriEdgeFlags.
         public int[] detailTris;
 
-        /**
-         * The tile bounding volume nodes. [Size: MeshHeader::bvNodeCount] (Will be null if bounding volumes are disabled.)
-         */
+        /// The tile bounding volume nodes. [Size: dtMeshHeader::bvNodeCount]
+        /// (Will be null if bounding volumes are disabled.)
         public DtBVNode[] bvTree;
 
-        /** The tile off-mesh connections. [Size: MeshHeader::offMeshConCount] */
-        public DtOffMeshConnection[] offMeshCons;
+        public DtOffMeshConnection[] offMeshCons; //< The tile off-mesh connections. [Size: dtMeshHeader::offMeshConCount]
     }
 }

src/DotRecast.Detour/DtMeshHeader.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -18,11 +18,13 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using System;
 using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {
     /** Provides high level information related to a dtMeshTile object. */
+    [Serializable]
     public class DtMeshHeader
     {
         /** Tile magic number. (Used to identify the data format.) */

src/DotRecast.Detour/DtMeshTile.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -18,33 +18,22 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-using System.Collections.Generic;
-
 namespace DotRecast.Detour
 {
-    /**
-     * Defines a navigation mesh tile.
-     */
+    using static DtDetour;
+
+    /// Defines a navigation mesh tile.
+    /// @ingroup detour
     public class DtMeshTile
     {
-        public readonly int index;
+        public readonly int index; // DtNavMesh.m_tiles array index
+        public int linksFreeList = DT_NULL_LINK; //< Index to the next free link.
+        public int salt; //< Counter describing modifications to the tile.
+        public DtMeshData data; // The tile data.
+        public DtLink[] links; // The tile links. [Size: dtMeshHeader::maxLinkCount]
 
-        /** Counter describing modifications to the tile. */
-        public int salt;
-
-        /** The tile data. */
-        public DtMeshData data;
-
-        public int[] polyLinks;
-
-        /** The tile links. */
-        public readonly List<DtLink> links = new List<DtLink>();
-
-        /** Index to the next free link. */
-        public int linksFreeList = DtNavMesh.DT_NULL_LINK; // FIXME: Remove
-
-        /** Tile flags. (See: #dtTileFlags) */
-        public int flags;
+        public int flags; //< Tile flags. (See: #dtTileFlags)
+        public DtMeshTile next; //< The next free tile, or the next tile in the spatial grid.
 
         public DtMeshTile(int index)
         {

src/DotRecast.Detour/DtNavMesh.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -25,99 +25,66 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {
+    using static DtDetour;
+
+    /// A navigation mesh based on tiles of convex polygons.
+    /// @ingroup detour
     public class DtNavMesh
     {
-        /** A magic number used to detect compatibility of navigation tile data. */
-        public const int DT_NAVMESH_MAGIC = 'D' << 24 | 'N' << 16 | 'A' << 8 | 'V';
+        private DtNavMeshParams m_params; //< Current initialization params. TODO: do not store this info twice.
+        private RcVec3f m_orig; // < Origin of the tile (0,0)
+        private float m_tileWidth; // < Dimensions of each tile.
+        private float m_tileHeight; // < Dimensions of each tile.
+        private int m_maxTiles; // < Max number of tiles.
+        private int m_tileLutSize; //< Tile hash lookup size (must be pot).
+        private int m_tileLutMask; // < Tile hash lookup mask.
 
-        /** A version number used to detect compatibility of navigation tile data. */
-        public const int DT_NAVMESH_VERSION = 7;
+        private DtMeshTile[] m_posLookup; //< Tile hash lookup.
+        private DtMeshTile m_nextFree; //< Freelist of tiles.
+        private DtMeshTile[] m_tiles; //< List of tiles.
 
-        public const int DT_NAVMESH_VERSION_RECAST4J_FIRST = 0x8807;
-        public const int DT_NAVMESH_VERSION_RECAST4J_NO_POLY_FIRSTLINK = 0x8808;
-        public const int DT_NAVMESH_VERSION_RECAST4J_32BIT_BVTREE = 0x8809;
-        public const int DT_NAVMESH_VERSION_RECAST4J_LAST = 0x8809;
-
-        /** A magic number used to detect the compatibility of navigation tile states. */
-        public const int DT_NAVMESH_STATE_MAGIC = 'D' << 24 | 'N' << 16 | 'M' << 8 | 'S';
-
-        /** A version number used to detect compatibility of navigation tile states. */
-        public const int DT_NAVMESH_STATE_VERSION = 1;
-
-        public const int DT_SALT_BITS = 16;
-        public const int DT_TILE_BITS = 28;
-        public const int DT_POLY_BITS = 20;
-
-        /// A flag that indicates that an entity links to an external entity.
-        /// (E.g. A polygon edge is a portal that links to another polygon.)
-        public const int DT_EXT_LINK = 0x8000;
-
-        /// A value that indicates the entity does not link to anything.
-        public const int DT_NULL_LINK = unchecked((int)0xffffffff);
-
-        /// A flag that indicates that an off-mesh connection can be traversed in
-        /// both directions. (Is bidirectional.)
-        public const int DT_OFFMESH_CON_BIDIR = 1;
-
-        /// The maximum number of user defined area ids.
-        public const int DT_MAX_AREAS = 64;
-
-        /// Limit raycasting during any angle pahfinding
-        /// The limit is given as a multiple of the character radius
-        public const float DT_RAY_CAST_LIMIT_PROPORTIONS = 50.0f;
-
-        private readonly DtNavMeshParams m_params;
-
-        /// < Current initialization params. TODO: do not store this info twice.
-        private readonly RcVec3f m_orig;
-
-        /// < Origin of the tile (0,0)
-        // float m_orig[3]; ///< Origin of the tile (0,0)
-        private float m_tileWidth;
-
-        private float m_tileHeight;
-
-        /// < Dimensions of each tile.
-        int m_maxTiles;
-
-        /// < Max number of tiles.
-        private readonly int m_tileLutMask;
-
-        /// < Tile hash lookup mask.
-        private readonly Dictionary<int, List<DtMeshTile>> posLookup = new Dictionary<int, List<DtMeshTile>>();
-
-        private readonly LinkedList<DtMeshTile> availableTiles = new LinkedList<DtMeshTile>();
-        private readonly DtMeshTile[] m_tiles;
-
-        /// < List of tiles.
         /** The maximum number of vertices per navigation polygon. */
-        private readonly int m_maxVertPerPoly;
+        private int m_maxVertPerPoly;
 
         private int m_tileCount;
 
-        public DtNavMesh(DtMeshData data, int maxVertsPerPoly, int flags)
-            : this(GetNavMeshParams(data), maxVertsPerPoly)
+        public DtStatus Init(DtNavMeshParams param, int maxVertsPerPoly)
         {
-            AddTile(data, flags, 0);
-        }
+            m_params = param;
+            m_orig = param.orig;
+            m_tileWidth = param.tileWidth;
+            m_tileHeight = param.tileHeight;
 
-        public DtNavMesh(DtNavMeshParams option, int maxVertsPerPoly)
-        {
-            m_params = option;
-            m_orig = option.orig;
-            m_tileWidth = option.tileWidth;
-            m_tileHeight = option.tileHeight;
             // Init tiles
-            m_maxTiles = option.maxTiles;
             m_maxVertPerPoly = maxVertsPerPoly;
-            m_tileLutMask = Math.Max(1, DtUtils.NextPow2(option.maxTiles)) - 1;
+            m_maxTiles = param.maxTiles;
+            m_tileLutSize = DtUtils.NextPow2(param.maxTiles);
+            if (0 == m_tileLutSize)
+                m_tileLutSize = 1;
+            m_tileLutMask = m_tileLutSize - 1;
+
             m_tiles = new DtMeshTile[m_maxTiles];
-            for (int i = 0; i < m_maxTiles; i++)
+            m_posLookup = new DtMeshTile[m_tileLutSize];
+            m_nextFree = null;
+            for (int i = m_maxTiles - 1; i >= 0; --i)
             {
                 m_tiles[i] = new DtMeshTile(i);
                 m_tiles[i].salt = 1;
-                availableTiles.AddLast(m_tiles[i]);
+                m_tiles[i].next = m_nextFree;
+                m_nextFree = m_tiles[i];
             }
+
+            return DtStatus.DT_SUCCESS;
+        }
+
+        public DtStatus Init(DtMeshData data, int maxVertsPerPoly, int flags)
+        {
+            var option = GetNavMeshParams(data);
+            DtStatus status = Init(option, maxVertsPerPoly);
+            if (status.Failed())
+                return status;
+
+            return AddTile(data, flags, 0, out _);
         }
 
         private static DtNavMeshParams GetNavMeshParams(DtMeshData data)
@@ -168,76 +135,10 @@ namespace DotRecast.Detour
             return EncodePolyId(tile.salt, it, 0);
         }
 
-        /// @{
-        /// @name Encoding and Decoding
-        /// These functions are generally meant for internal use only.
-        /// Derives a standard polygon reference.
-        ///  @note This function is generally meant for internal use only.
-        ///  @param[in]	salt	The tile's salt value.
-        ///  @param[in]	it		The index of the tile.
-        ///  @param[in]	ip		The index of the polygon within the tile.
-        public static long EncodePolyId(int salt, int it, int ip)
-        {
-            return (((long)salt) << (DT_POLY_BITS + DT_TILE_BITS)) | ((long)it << DT_POLY_BITS) | (long)ip;
-        }
-
-        /// Decodes a standard polygon reference.
-        /// @note This function is generally meant for internal use only.
-        /// @param[in] ref The polygon reference to decode.
-        /// @param[out] salt The tile's salt value.
-        /// @param[out] it The index of the tile.
-        /// @param[out] ip The index of the polygon within the tile.
-        /// @see #encodePolyId
-        static void DecodePolyId(long refs, out int salt, out int it, out int ip)
-        {
-            long saltMask = (1L << DT_SALT_BITS) - 1;
-            long tileMask = (1L << DT_TILE_BITS) - 1;
-            long polyMask = (1L << DT_POLY_BITS) - 1;
-            salt = (int)((refs >> (DT_POLY_BITS + DT_TILE_BITS)) & saltMask);
-            it = (int)((refs >> DT_POLY_BITS) & tileMask);
-            ip = (int)(refs & polyMask);
-        }
-
-        /// Extracts a tile's salt value from the specified polygon reference.
-        /// @note This function is generally meant for internal use only.
-        /// @param[in] ref The polygon reference.
-        /// @see #encodePolyId
-        static int DecodePolyIdSalt(long refs)
-        {
-            long saltMask = (1L << DT_SALT_BITS) - 1;
-            return (int)((refs >> (DT_POLY_BITS + DT_TILE_BITS)) & saltMask);
-        }
-
-        /// Extracts the tile's index from the specified polygon reference.
-        /// @note This function is generally meant for internal use only.
-        /// @param[in] ref The polygon reference.
-        /// @see #encodePolyId
-        public static int DecodePolyIdTile(long refs)
-        {
-            long tileMask = (1L << DT_TILE_BITS) - 1;
-            return (int)((refs >> DT_POLY_BITS) & tileMask);
-        }
-
-        /// Extracts the polygon's index (within its tile) from the specified
-        /// polygon reference.
-        /// @note This function is generally meant for internal use only.
-        /// @param[in] ref The polygon reference.
-        /// @see #encodePolyId
-        static int DecodePolyIdPoly(long refs)
-        {
-            long polyMask = (1L << DT_POLY_BITS) - 1;
-            return (int)(refs & polyMask);
-        }
-
         private int AllocLink(DtMeshTile tile)
         {
             if (tile.linksFreeList == DT_NULL_LINK)
-            {
-                DtLink link = new DtLink();
-                link.next = DT_NULL_LINK;
-                tile.links.Add(link);
-                return tile.links.Count - 1;
-            }
+                return DT_NULL_LINK;
 
             int linkIdx = tile.linksFreeList;
             tile.linksFreeList = tile.links[linkIdx].next;
@@ -358,8 +259,8 @@ namespace DotRecast.Detour
                 var tbmax = tile.data.header.bmax;
                 float qfac = tile.data.header.bvQuantFactor;
                 // Calculate quantized box
-                int[] bmin = new int[3];
-                int[] bmax = new int[3];
+                RcVec3i bmin;
+                RcVec3i bmax;
                 // 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;
@@ -368,12 +269,12 @@ namespace DotRecast.Detour
                 float maxy = Math.Clamp(qmax.Y, tbmin.Y, tbmax.Y) - tbmin.Y;
                 float maxz = Math.Clamp(qmax.Z, tbmin.Z, tbmax.Z) - tbmin.Z;
                 // Quantize
-                bmin[0] = (int)(qfac * minx) & 0x7ffffffe;
-                bmin[1] = (int)(qfac * miny) & 0x7ffffffe;
-                bmin[2] = (int)(qfac * minz) & 0x7ffffffe;
-                bmax[0] = (int)(qfac * maxx + 1) | 1;
-                bmax[1] = (int)(qfac * maxy + 1) | 1;
-                bmax[2] = (int)(qfac * maxz + 1) | 1;
+                bmin.X = (int)(qfac * minx) & 0x7ffffffe;
+                bmin.Y = (int)(qfac * miny) & 0x7ffffffe;
+                bmin.Z = (int)(qfac * minz) & 0x7ffffffe;
+                bmax.X = (int)(qfac * maxx + 1) | 1;
+                bmax.Y = (int)(qfac * maxy + 1) | 1;
+                bmax.Z = (int)(qfac * maxz + 1) | 1;
 
                 // Traverse tree
                 long @base = GetPolyRefBase(tile);
@@ -381,7 +282,7 @@ namespace DotRecast.Detour
                 while (nodeIndex < end)
                 {
                     DtBVNode node = tile.data.bvTree[nodeIndex];
-                    bool overlap = DtUtils.OverlapQuantBounds(bmin, bmax, node.bmin, node.bmax);
+                    bool overlap = DtUtils.OverlapQuantBounds(ref bmin, ref bmax, ref node.bmin, ref node.bmax);
                     bool isLeafNode = node.i >= 0;
 
                     if (isLeafNode && overlap)
@@ -418,13 +319,13 @@ namespace DotRecast.Detour
 
                     // Calc polygon bounds.
                     int v = p.verts[0] * 3;
-                    bmin = RcVecUtils.Create(tile.data.verts, v);
-                    bmax = RcVecUtils.Create(tile.data.verts, v);
+                    bmin = RcVec.Create(tile.data.verts, v);
+                    bmax = RcVec.Create(tile.data.verts, v);
                     for (int j = 1; j < p.vertCount; ++j)
                     {
                         v = p.verts[j] * 3;
-                        bmin = RcVecUtils.Min(bmin, tile.data.verts, v);
-                        bmax = RcVecUtils.Max(bmax, tile.data.verts, v);
+                        bmin = RcVec3f.Min(bmin, RcVec.Create(tile.data.verts, v));
+                        bmax = RcVec3f.Max(bmax, RcVec.Create(tile.data.verts, v));
                     }
 
                     if (DtUtils.OverlapBounds(qmin, qmax, bmin, bmax))
@@ -437,30 +338,20 @@ namespace DotRecast.Detour
             }
         }
 
-        public long UpdateTile(DtMeshData data, int flags)
+        public DtStatus UpdateTile(DtMeshData data, int flags)
         {
             long refs = GetTileRefAt(data.header.x, data.header.y, data.header.layer);
             refs = RemoveTile(refs);
-            return AddTile(data, flags, refs);
+            return AddTile(data, flags, refs, out _);
         }
 
-        /// Adds a tile to the navigation mesh.
-        /// @param[in] data Data for the new tile mesh. (See: #dtCreateNavMeshData)
-        /// @param[in] dataSize Data size of the new tile mesh.
-        /// @param[in] flags Tile flags. (See: #dtTileFlags)
-        /// @param[in] lastRef The desired reference for the tile. (When reloading a
-        /// tile.) [opt] [Default: 0]
-        /// @param[out] result The tile reference. (If the tile was succesfully
-        /// added.) [opt]
-        /// @return The status flags for the operation.
         /// @par
         ///
-        /// The add operation will fail if the data is in the wrong format, the
-        /// allocated tile
+        /// The add operation will fail if the data is in the wrong format, the allocated tile
         /// space is full, or there is a tile already at the specified reference.
         ///
         /// The lastRef parameter is used to restore a tile with the same tile
-        /// reference it had previously used. In this case the #long's for the
+        /// reference it had previously used.  In this case the #dtPolyRef's for the
         /// tile will be restored to the same values they were before the tile was 
         /// removed.
         ///
@@ -470,64 +361,91 @@ namespace DotRecast.Detour
         /// removed from this nav mesh.
         ///
         /// @see dtCreateNavMeshData, #removeTile
-        public long AddTile(DtMeshData data, int flags, long lastRef)
+        /// Adds a tile to the navigation mesh.
+        ///  @param[in]		data		Data for the new tile mesh. (See: #dtCreateNavMeshData)
+        ///  @param[in]		dataSize	Data size of the new tile mesh.
+        ///  @param[in]		flags		Tile flags. (See: #dtTileFlags)
+        ///  @param[in]		lastRef		The desired reference for the tile. (When reloading a tile.) [opt] [Default: 0]
+        ///  @param[out]	result		The tile reference. (If the tile was succesfully added.) [opt]
+        /// @return The status flags for the operation. 
+        public DtStatus AddTile(DtMeshData data, int flags, long lastRef, out long result)
         {
+            result = 0;
+
             // Make sure the data is in right format.
             DtMeshHeader header = data.header;
 
             // Make sure the location is free.
             if (GetTileAt(header.x, header.y, header.layer) != null)
             {
-                throw new Exception("Tile already exists");
+                return DtStatus.DT_FAILURE | DtStatus.DT_ALREADY_OCCUPIED;
             }
 
             // Allocate a tile.
             DtMeshTile tile = null;
             if (lastRef == 0)
             {
-                // Make sure we could allocate a tile.
-                if (0 == availableTiles.Count)
+                if (null != m_nextFree)
                 {
-                    throw new Exception("Could not allocate a tile");
-                }
-
-                tile = availableTiles.First?.Value;
-                availableTiles.RemoveFirst();
+                    tile = m_nextFree;
+                    m_nextFree = tile.next;
+                    tile.next = null;
                     m_tileCount++;
                 }
+            }
             else
             {
                 // Try to relocate the tile to specific index with same salt.
                 int tileIndex = DecodePolyIdTile(lastRef);
                 if (tileIndex >= m_maxTiles)
                 {
-                    throw new Exception("Tile index too high");
+                    return DtStatus.DT_FAILURE | DtStatus.DT_OUT_OF_MEMORY;
                 }
 
                 // Try to find the specific tile id from the free list.
                 DtMeshTile target = m_tiles[tileIndex];
-                // Remove from freelist
-                if (!availableTiles.Remove(target))
+                DtMeshTile prev = null;
+                tile = m_nextFree;
+
+                while (null != tile && tile != target)
                 {
-                    // Could not find the correct location.
-                    throw new Exception("Could not find tile");
+                    prev = tile;
+                    tile = tile.next;
                 }
 
-                tile = target;
+                // Could not find the correct location.
+                if (tile != target)
+                    return DtStatus.DT_FAILURE | DtStatus.DT_OUT_OF_MEMORY;
+
+                // Remove from freelist
+                if (null == prev)
+                    m_nextFree = tile.next;
+                else
+                    prev.next = tile.next;
+
                 // Restore salt.
                 tile.salt = DecodePolyIdSalt(lastRef);
             }
 
-            tile.data = data;
-            tile.flags = flags;
-            tile.links.Clear();
-            tile.polyLinks = new int[data.polys.Length];
-            Array.Fill(tile.polyLinks, DtNavMesh.DT_NULL_LINK);
+            // Make sure we could allocate a tile.
+            if (null == tile)
+            {
+                return DtStatus.DT_FAILURE | DtStatus.DT_OUT_OF_MEMORY;
+            }
 
             // Insert tile into the position lut.
-            GetTileListByPos(header.x, header.y).Add(tile);
+            int h = ComputeTileHash(header.x, header.y, m_tileLutMask);
+            tile.next = m_posLookup[h];
+            m_posLookup[h] = tile;
+
 
             // Patch header pointers.
+            tile.data = data;
+            tile.links = new DtLink[data.header.maxLinkCount];
+            for (int i = 0; i < tile.links.Length; ++i)
+            {
+                tile.links[i] = new DtLink();
+            }
 
             // If there are no items in the bvtree, reset the tree pointer.
             if (tile.data.bvTree != null && tile.data.bvTree.Length == 0)
@@ -535,16 +453,29 @@ namespace DotRecast.Detour
                 tile.data.bvTree = null;
             }
 
+            // Build links freelist
+            tile.linksFreeList = 0;
+            tile.links[data.header.maxLinkCount - 1].next = DT_NULL_LINK;
+            for (int i = 0; i < data.header.maxLinkCount - 1; ++i)
+                tile.links[i].next = i + 1;
+
             // Init tile.
+            tile.flags = flags;
 
             ConnectIntLinks(tile);
+
             // Base off-mesh connections to their starting polygons and connect connections inside the tile.
             BaseOffMeshLinks(tile);
             ConnectExtOffMeshLinks(tile, tile, -1);
 
+            // Create connections with neighbour tiles.
+            const int MAX_NEIS = 32;
+            DtMeshTile[] neis = new DtMeshTile[MAX_NEIS];
+            int nneis;
+
             // Connect with layers in current tile.
-            List<DtMeshTile> neis = GetTilesAt(header.x, header.y);
-            for (int j = 0; j < neis.Count; ++j)
+            nneis = GetTilesAt(header.x, header.y, neis, MAX_NEIS);
+            for (int j = 0; j < nneis; ++j)
             {
                 if (neis[j] == tile)
                 {
@@ -560,8 +491,8 @@ namespace DotRecast.Detour
             // Connect with neighbour tiles.
             for (int i = 0; i < 8; ++i)
             {
-                neis = GetNeighbourTilesAt(header.x, header.y, i);
-                for (int j = 0; j < neis.Count; ++j)
+                nneis = GetNeighbourTilesAt(header.x, header.y, i, neis, MAX_NEIS);
+                for (int j = 0; j < nneis; ++j)
                 {
                     ConnectExtLinks(tile, neis[j], i);
                     ConnectExtLinks(neis[j], tile, DtUtils.OppositeTile(i));
@@ -570,7 +501,8 @@ namespace DotRecast.Detour
                 }
             }
 
-            return GetTileRef(tile);
+            result = GetTileRef(tile);
+            return DtStatus.DT_SUCCESS;
         }
 
         /// Removes the specified tile from the navigation mesh.
@@ -603,39 +535,52 @@ namespace DotRecast.Detour
             }
 
             // Remove tile from hash lookup.
-            GetTileListByPos(tile.data.header.x, tile.data.header.y).Remove(tile);
-
-            // Remove connections to neighbour tiles.
-            // Create connections with neighbour tiles.
-
-            // Disconnect from other layers in current tile.
-            List<DtMeshTile> nneis = GetTilesAt(tile.data.header.x, tile.data.header.y);
-            foreach (DtMeshTile j in nneis)
+            int h = ComputeTileHash(tile.data.header.x, tile.data.header.y, m_tileLutMask);
+            DtMeshTile prev = null;
+            DtMeshTile cur = m_posLookup[h];
+            while (null != cur)
             {
-                if (j == tile)
+                if (cur == tile)
                 {
-                    continue;
+                    if (null != prev)
+                        prev.next = cur.next;
+                    else
+                        m_posLookup[h] = cur.next;
+                    break;
                 }
 
-                UnconnectLinks(j, tile);
+                prev = cur;
+                cur = cur.next;
+            }
+
+            // Remove connections to neighbour tiles.
+            const int MAX_NEIS = 32;
+            DtMeshTile[] neis = new DtMeshTile[MAX_NEIS];
+            int nneis = 0;
+
+            // Disconnect from other layers in current tile.
+            nneis = GetTilesAt(tile.data.header.x, tile.data.header.y, neis, MAX_NEIS);
+            for (int j = 0; j < nneis; ++j)
+            {
+                if (neis[j] == tile) continue;
+                UnconnectLinks(neis[j], tile);
             }
 
             // Disconnect from neighbour tiles.
             for (int i = 0; i < 8; ++i)
             {
-                nneis = GetNeighbourTilesAt(tile.data.header.x, tile.data.header.y, i);
-                foreach (DtMeshTile j in nneis)
+                nneis = GetNeighbourTilesAt(tile.data.header.x, tile.data.header.y, i, neis, MAX_NEIS);
+                for (int j = 0; j < nneis; ++j)
                 {
-                    UnconnectLinks(j, tile);
+                    UnconnectLinks(neis[j], tile);
                 }
             }
 
             // Reset tile.
             tile.data = null;
-
             tile.flags = 0;
-            tile.links.Clear();
-            tile.linksFreeList = DtNavMesh.DT_NULL_LINK;
+            tile.links = null;
+            tile.linksFreeList = DT_NULL_LINK;
 
             // Update salt, salt should never be zero.
             tile.salt = (tile.salt + 1) & ((1 << DT_SALT_BITS) - 1);
@@ -645,7 +590,8 @@ namespace DotRecast.Detour
             }
 
             // Add to free list.
-            availableTiles.AddFirst(tile);
+            tile.next = m_nextFree;
+            m_nextFree = tile;
             m_tileCount--;
             return GetTileRef(tile);
         }
@@ -663,7 +609,7 @@ namespace DotRecast.Detour
             for (int i = 0; i < tile.data.header.polyCount; ++i)
             {
                 DtPoly poly = tile.data.polys[i];
-                tile.polyLinks[poly.index] = DT_NULL_LINK;
+                poly.firstLink = DT_NULL_LINK;
 
                 if (poly.GetPolyType() == DtPolyTypes.DT_POLYTYPE_OFFMESH_CONNECTION)
                 {
@@ -683,17 +629,17 @@ namespace DotRecast.Detour
                     int idx = AllocLink(tile);
                     DtLink link = tile.links[idx];
                     link.refs = @base | (long)(poly.neis[j] - 1);
-                    link.edge = j;
+                    link.edge = (byte)j;
                     link.side = 0xff;
                     link.bmin = link.bmax = 0;
                     // Add to linked list.
-                    link.next = tile.polyLinks[poly.index];
-                    tile.polyLinks[poly.index] = idx;
+                    link.next = poly.firstLink;
+                    poly.firstLink = idx;
                 }
             }
         }
 
-        /// Removes external links at specified side.V
+        /// Removes external links at specified side.
         void UnconnectLinks(DtMeshTile tile, DtMeshTile target)
         {
             if (tile == null || target == null)
@@ -706,7 +652,7 @@ namespace DotRecast.Detour
             for (int i = 0; i < tile.data.header.polyCount; ++i)
             {
                 DtPoly poly = tile.data.polys[i];
-                int j = tile.polyLinks[poly.index];
+                int j = poly.firstLink;
                 int pj = DT_NULL_LINK;
                 while (j != DT_NULL_LINK)
                 {
@@ -716,7 +662,7 @@ namespace DotRecast.Detour
                         int nj = tile.links[j].next;
                         if (pj == DT_NULL_LINK)
                         {
-                            tile.polyLinks[poly.index] = nj;
+                            poly.firstLink = nj;
                         }
                         else
                         {
@@ -776,13 +722,15 @@ namespace DotRecast.Detour
                     foreach (var connectPoly in connectPolys)
                     {
                         int idx = AllocLink(tile);
+                        if (idx != DT_NULL_LINK)
+                        {
                             DtLink link = tile.links[idx];
                             link.refs = connectPoly.refs;
-                        link.edge = j;
-                        link.side = dir;
+                            link.edge = (byte)j;
+                            link.side = (byte)dir;
 
-                        link.next = tile.polyLinks[poly.index];
-                        tile.polyLinks[poly.index] = idx;
+                            link.next = poly.firstLink;
+                            poly.firstLink = idx;
 
                             // Compress portal limits to a byte value.
                             if (dir == 0 || dir == 4)
@@ -798,8 +746,8 @@ namespace DotRecast.Detour
                                     tmax = temp;
                                 }
 
-                            link.bmin = (int)MathF.Round(Math.Clamp(tmin, 0.0f, 1.0f) * 255.0f);
-                            link.bmax = (int)MathF.Round(Math.Clamp(tmax, 0.0f, 1.0f) * 255.0f);
+                                link.bmin = (byte)MathF.Round(Math.Clamp(tmin, 0.0f, 1.0f) * 255.0f);
+                                link.bmax = (byte)MathF.Round(Math.Clamp(tmax, 0.0f, 1.0f) * 255.0f);
                             }
                             else if (dir == 2 || dir == 6)
                             {
@@ -814,8 +762,9 @@ namespace DotRecast.Detour
                                     tmax = temp;
                                 }
 
-                            link.bmin = (int)MathF.Round(Math.Clamp(tmin, 0.0f, 1.0f) * 255.0f);
-                            link.bmax = (int)MathF.Round(Math.Clamp(tmax, 0.0f, 1.0f) * 255.0f);
+                                link.bmin = (byte)MathF.Round(Math.Clamp(tmin, 0.0f, 1.0f) * 255.0f);
+                                link.bmax = (byte)MathF.Round(Math.Clamp(tmax, 0.0f, 1.0f) * 255.0f);
+                            }
                         }
                     }
                 }
@@ -845,7 +794,7 @@ namespace DotRecast.Detour
                 DtPoly targetPoly = target.data.polys[targetCon.poly];
                 // Skip off-mesh connections which start location could not be
                 // connected at all.
-                if (target.polyLinks[targetPoly.index] == DT_NULL_LINK)
+                if (targetPoly.firstLink == DT_NULL_LINK)
                 {
                     continue;
                 }
@@ -883,11 +832,11 @@ namespace DotRecast.Detour
                 DtLink link = target.links[idx];
                 link.refs = refs;
                 link.edge = 1;
-                link.side = oppositeSide;
+                link.side = (byte)oppositeSide;
                 link.bmin = link.bmax = 0;
                 // Add to linked list.
-                link.next = target.polyLinks[targetPoly.index];
-                target.polyLinks[targetPoly.index] = idx;
+                link.next = targetPoly.firstLink;
+                targetPoly.firstLink = idx;
 
                 // Link target poly to off-mesh connection.
                 if ((targetCon.flags & DT_OFFMESH_CON_BIDIR) != 0)
@@ -898,11 +847,11 @@ namespace DotRecast.Detour
                     link = tile.links[tidx];
                     link.refs = GetPolyRefBase(target) | (long)targetCon.poly;
                     link.edge = 0xff;
-                    link.side = (side == -1 ? 0xff : side);
+                    link.side = (byte)(side == -1 ? 0xff : side);
                     link.bmin = link.bmax = 0;
                     // Add to linked list.
-                    link.next = tile.polyLinks[landPoly.index];
-                    tile.polyLinks[landPoly.index] = tidx;
+                    link.next = landPoly.firstLink;
+                    landPoly.firstLink = tidx;
                 }
             }
         }
@@ -969,59 +918,7 @@ namespace DotRecast.Detour
             return n;
         }
 
-        static float GetSlabCoord(float[] verts, int va, int side)
-        {
-            if (side == 0 || side == 4)
-            {
-                return verts[va];
-            }
-            else if (side == 2 || side == 6)
-            {
-                return verts[va + 2];
-            }
-
-            return 0;
-        }
-
-        static void CalcSlabEndPoints(float[] verts, int va, int vb, ref RcVec2f bmin, ref RcVec2f bmax, int side)
-        {
-            if (side == 0 || side == 4)
-            {
-                if (verts[va + 2] < verts[vb + 2])
-                {
-                    bmin.X = verts[va + 2];
-                    bmin.Y = verts[va + 1];
-                    bmax.X = verts[vb + 2];
-                    bmax.Y = verts[vb + 1];
-                }
-                else
-                {
-                    bmin.X = verts[vb + 2];
-                    bmin.Y = verts[vb + 1];
-                    bmax.X = verts[va + 2];
-                    bmax.Y = verts[va + 1];
-                }
-            }
-            else if (side == 2 || side == 6)
-            {
-                if (verts[va + 0] < verts[vb + 0])
-                {
-                    bmin.X = verts[va + 0];
-                    bmin.Y = verts[va + 1];
-                    bmax.X = verts[vb + 0];
-                    bmax.Y = verts[vb + 1];
-                }
-                else
-                {
-                    bmin.X = verts[vb + 0];
-                    bmin.Y = verts[vb + 1];
-                    bmax.X = verts[va + 0];
-                    bmax.Y = verts[va + 1];
-                }
-            }
-        }
-
-        bool OverlapSlabs(RcVec2f amin, RcVec2f amax, RcVec2f bmin, RcVec2f bmax, float px, float py)
+        private bool OverlapSlabs(RcVec2f amin, RcVec2f amax, RcVec2f bmin, RcVec2f bmax, float px, float py)
         {
             // Check for horizontal overlap.
             // The segment is shrunken a little so that slabs which touch
@@ -1112,8 +1009,8 @@ namespace DotRecast.Detour
                 link.side = 0xff;
                 link.bmin = link.bmax = 0;
                 // Add to linked list.
-                link.next = tile.polyLinks[poly.index];
-                tile.polyLinks[poly.index] = idx;
+                link.next = poly.firstLink;
+                poly.firstLink = idx;
 
                 // Start end-point is always connect back to off-mesh connection.
                 int tidx = AllocLink(tile);
@@ -1125,8 +1022,8 @@ namespace DotRecast.Detour
                 link.side = 0xff;
                 link.bmin = link.bmax = 0;
                 // Add to linked list.
-                link.next = tile.polyLinks[landPoly.index];
-                tile.polyLinks[landPoly.index] = tidx;
+                link.next = landPoly.firstLink;
+                landPoly.firstLink = tidx;
             }
         }
 
@@ -1148,6 +1045,7 @@ namespace DotRecast.Detour
             RcVec3f pmin = new RcVec3f();
             RcVec3f pmax = new RcVec3f();
 
+            Span<RcVec3f> tempV = stackalloc RcVec3f[3];
             if (tile.data.detailMeshes != null)
             {
                 ref DtPolyDetail pd = ref tile.data.detailMeshes[ip];
@@ -1160,7 +1058,7 @@ namespace DotRecast.Detour
                         continue;
                     }
 
-                    RcVec3f[] v = new RcVec3f[3];
+                    Span<RcVec3f> v = tempV;
                     for (int j = 0; j < 3; ++j)
                     {
                         if (tris[ti + j] < poly.vertCount)
@@ -1208,7 +1106,7 @@ namespace DotRecast.Detour
             }
             else
             {
-                RcVec3f[] v = new RcVec3f[2];
+                Span<RcVec3f> v = tempV.Slice(0, 2);
                 for (int j = 0; j < poly.vertCount; ++j)
                 {
                     int k = (j + 1) % poly.vertCount;
@@ -1246,11 +1144,11 @@ namespace DotRecast.Detour
 
             int ip = poly.index;
 
-            float[] verts = new float[m_maxVertPerPoly * 3];
+            Span<float> verts = stackalloc 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);
+                RcSpans.Copy(tile.data.verts, poly.verts[i] * 3, verts, i * 3, 3);
             }
 
             if (!DtUtils.PointInPolygon(pos, verts, nv))
@@ -1259,13 +1157,14 @@ namespace DotRecast.Detour
             }
 
             // Find height at the location.
+            Span<RcVec3f> tempV = stackalloc RcVec3f[3];
             if (tile.data.detailMeshes != null)
             {
                 ref DtPolyDetail pd = ref tile.data.detailMeshes[ip];
                 for (int j = 0; j < pd.triCount; ++j)
                 {
                     int t = (pd.triBase + j) * 4;
-                    RcVec3f[] v = new RcVec3f[3];
+                    Span<RcVec3f> v = tempV;
                     for (int k = 0; k < 3; ++k)
                     {
                         if (tile.data.detailTris[t + k] < poly.vertCount)
@@ -1299,7 +1198,7 @@ namespace DotRecast.Detour
             }
             else
             {
-                RcVec3f[] v = new RcVec3f[3];
+                Span<RcVec3f> v = tempV;
                 v[0].X = tile.data.verts[poly.verts[0] * 3];
                 v[0].Y = tile.data.verts[poly.verts[0] * 3 + 1];
                 v[0].Z = tile.data.verts[poly.verts[0] * 3 + 2];
@@ -1407,19 +1306,27 @@ namespace DotRecast.Detour
 
         DtMeshTile GetTileAt(int x, int y, int layer)
         {
-            foreach (DtMeshTile tile in GetTileListByPos(x, y))
+            // Find tile based on hash.
+            int h = ComputeTileHash(x, y, m_tileLutMask);
+            DtMeshTile tile = m_posLookup[h];
+            while (null != tile)
             {
-                if (tile.data.header != null && tile.data.header.x == x && tile.data.header.y == y
-                    && tile.data.header.layer == layer)
+                if (null != tile.data &&
+                    null != tile.data.header &&
+                    tile.data.header.x == x &&
+                    tile.data.header.y == y &&
+                    tile.data.header.layer == layer)
                 {
                     return tile;
                 }
+
+                tile = tile.next;
             }
 
             return null;
         }
 
-        List<DtMeshTile> GetNeighbourTilesAt(int x, int y, int side)
+        int GetNeighbourTilesAt(int x, int y, int side, DtMeshTile[] tiles, int maxTiles)
         {
             int nx = x, ny = y;
             switch (side)
@@ -1454,21 +1361,36 @@ namespace DotRecast.Detour
                     break;
             }
 
-            return GetTilesAt(nx, ny);
+            return GetTilesAt(nx, ny, tiles, maxTiles);
         }
 
-        public List<DtMeshTile> GetTilesAt(int x, int y)
+        public int GetTilesAt(int x, int y, DtMeshTile[] tiles, int maxTiles)
         {
-            List<DtMeshTile> tiles = new List<DtMeshTile>();
-            foreach (DtMeshTile tile in GetTileListByPos(x, y))
-            {
-                if (tile.data.header != null && tile.data.header.x == x && tile.data.header.y == y)
-                {
-                    tiles.Add(tile);
-                }
+            return GetTilesAt(x, y, (Span<DtMeshTile>)tiles, maxTiles);
         }
 
-            return tiles;
+        public int GetTilesAt(int x, int y, Span<DtMeshTile> tiles, int maxTiles)
+        {
+            int n = 0;
+
+            // Find tile based on hash.
+            int h = ComputeTileHash(x, y, m_tileLutMask);
+            DtMeshTile tile = m_posLookup[h];
+            while (null != tile)
+            {
+                if (null != tile.data &&
+                    null != tile.data.header &&
+                    tile.data.header.x == x &&
+                    tile.data.header.y == y)
+                {
+                    if (n < maxTiles)
+                        tiles[n++] = tile;
+                }
+
+                tile = tile.next;
+            }
+
+            return n;
         }
 
         public long GetTileRefAt(int x, int y, int layer)
@@ -1509,14 +1431,6 @@ namespace DotRecast.Detour
             return EncodePolyId(tile.salt, tile.index, 0);
         }
 
-        public static int ComputeTileHash(int x, int y, int mask)
-        {
-            uint h1 = 0x8da6b343; // Large multiplicative constants;
-            uint h2 = 0xd8163841; // here arbitrarily chosen primes
-            uint n = h1 * (uint)x + h2 * (uint)y;
-            return (int)(n & mask);
-        }
-
         /// Gets the endpoints for an off-mesh connection, ordered by "direction of travel".
         ///  @param[in]		prevRef		The reference of the polygon before the connection.
         ///  @param[in]		polyRef		The reference of the off-mesh connection polygon.
@@ -1568,7 +1482,7 @@ namespace DotRecast.Detour
             int idx0 = 0, idx1 = 1;
 
             // Find link that points to first vertex.
-            for (int i = tile.polyLinks[poly.index]; i != DT_NULL_LINK; i = tile.links[i].next)
+            for (int i = poly.firstLink; i != DT_NULL_LINK; i = tile.links[i].next)
             {
                 if (tile.links[i].edge == 0)
                 {
@@ -1582,8 +1496,8 @@ namespace DotRecast.Detour
                 }
             }
 
-            startPos = RcVecUtils.Create(tile.data.verts, poly.verts[idx0] * 3);
-            endPos = RcVecUtils.Create(tile.data.verts, poly.verts[idx1] * 3);
+            startPos = RcVec.Create(tile.data.verts, poly.verts[idx0] * 3);
+            endPos = RcVec.Create(tile.data.verts, poly.verts[idx1] * 3);
 
             return DtStatus.DT_SUCCESS;
         }
@@ -1598,9 +1512,9 @@ namespace DotRecast.Detour
             return m_tileCount;
         }
 
-        public int GetAvailableTileCount()
+        public bool IsAvailableTileCount()
         {
-            return availableTiles.Count;
+            return null != m_nextFree;
         }
 
         public DtStatus SetPolyFlags(long refs, int flags)
@@ -1758,32 +1672,6 @@ namespace DotRecast.Detour
             return center;
         }
 
-        /**
-     * Get flags for edge in detail triangle.
-     *
-     * @param triFlags
-     *            The flags for the triangle (last component of detail vertices above).
-     * @param edgeIndex
-     *            The index of the first vertex of the edge. For instance, if 0,
-     * @return flags for edge AB.
-     */
-        public static int GetDetailTriEdgeFlags(int triFlags, int edgeIndex)
-        {
-            return (triFlags >> (edgeIndex * 2)) & 0x3;
-        }
-
-        private List<DtMeshTile> GetTileListByPos(int x, int z)
-        {
-            var tileHash = ComputeTileHash(x, z, m_tileLutMask);
-            if (!posLookup.TryGetValue(tileHash, out var tiles))
-            {
-                tiles = new List<DtMeshTile>();
-                posLookup.Add(tileHash, tiles);
-            }
-
-            return tiles;
-        }
-
         public void ComputeBounds(out RcVec3f bmin, out RcVec3f bmax)
         {
             bmin = new RcVec3f(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity);

src/DotRecast.Detour/DtNavMeshBuilder.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -24,42 +24,35 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {
+    using static DtDetour;
+
     public static class DtNavMeshBuilder
     {
         const int MESH_NULL_IDX = 0xffff;
 
 
-        private static int[][] CalcExtends(BVItem[] items, int nitems, int imin, int imax)
+        private static void CalcExtends(BVItem[] items, int nitems, int imin, int imax, ref RcVec3i bmin, ref RcVec3i bmax)
         {
-            int[] bmin = new int[3];
-            int[] bmax = new int[3];
-            bmin[0] = items[imin].bmin[0];
-            bmin[1] = items[imin].bmin[1];
-            bmin[2] = items[imin].bmin[2];
-
-            bmax[0] = items[imin].bmax[0];
-            bmax[1] = items[imin].bmax[1];
-            bmax[2] = items[imin].bmax[2];
+            bmin = items[imin].bmin;
+            bmax = items[imin].bmax;
 
             for (int i = imin + 1; i < imax; ++i)
             {
                 BVItem it = items[i];
-                if (it.bmin[0] < bmin[0])
-                    bmin[0] = it.bmin[0];
-                if (it.bmin[1] < bmin[1])
-                    bmin[1] = it.bmin[1];
-                if (it.bmin[2] < bmin[2])
-                    bmin[2] = it.bmin[2];
+                if (it.bmin.X < bmin.X)
+                    bmin.X = it.bmin.X;
+                if (it.bmin.Y < bmin.Y)
+                    bmin.Y = it.bmin.Y;
+                if (it.bmin.Z < bmin.Z)
+                    bmin.Z = it.bmin.Z;
 
-                if (it.bmax[0] > bmax[0])
-                    bmax[0] = it.bmax[0];
-                if (it.bmax[1] > bmax[1])
-                    bmax[1] = it.bmax[1];
-                if (it.bmax[2] > bmax[2])
-                    bmax[2] = it.bmax[2];
+                if (it.bmax.X > bmax.X)
+                    bmax.X = it.bmax.X;
+                if (it.bmax.Y > bmax.Y)
+                    bmax.Y = it.bmax.Y;
+                if (it.bmax.Z > bmax.Z)
+                    bmax.Z = it.bmax.Z;
             }
-
-            return new int[][] { bmin, bmax };
         }
 
         private static int LongestAxis(int x, int y, int z)
@@ -92,25 +85,21 @@ namespace DotRecast.Detour
             if (inum == 1)
             {
                 // Leaf
-                node.bmin[0] = items[imin].bmin[0];
-                node.bmin[1] = items[imin].bmin[1];
-                node.bmin[2] = items[imin].bmin[2];
-
-                node.bmax[0] = items[imin].bmax[0];
-                node.bmax[1] = items[imin].bmax[1];
-                node.bmax[2] = items[imin].bmax[2];
+                node.bmin = items[imin].bmin;
+                node.bmax = items[imin].bmax;
 
                 node.i = items[imin].i;
             }
             else
             {
                 // Split
-                int[][] minmax = CalcExtends(items, nitems, imin, imax);
-                node.bmin = minmax[0];
-                node.bmax = minmax[1];
+                CalcExtends(items, nitems, imin, imax, ref node.bmin, ref node.bmax);
 
-                int axis = LongestAxis(node.bmax[0] - node.bmin[0], node.bmax[1] - node.bmin[1],
-                    node.bmax[2] - node.bmin[2]);
+                int axis = LongestAxis(
+                    node.bmax.X - node.bmin.X,
+                    node.bmax.Y - node.bmin.Y,
+                    node.bmax.Z - node.bmin.Z
+                );
 
                 if (axis == 0)
                 {
@@ -159,29 +148,29 @@ namespace DotRecast.Detour
                     int vb = option.detailMeshes[i * 4 + 0];
                     int ndv = option.detailMeshes[i * 4 + 1];
                     int dv = vb * 3;
-                    var bmin = RcVecUtils.Create(option.detailVerts, dv);
-                    var bmax = RcVecUtils.Create(option.detailVerts, dv);
+                    var bmin = RcVec.Create(option.detailVerts, dv);
+                    var bmax = RcVec.Create(option.detailVerts, dv);
                     for (int j = 1; j < ndv; j++)
                     {
-                        bmin = RcVecUtils.Min(bmin, option.detailVerts, dv + j * 3);
-                        bmax = RcVecUtils.Max(bmax, option.detailVerts, dv + j * 3);
+                        bmin = RcVec3f.Min(bmin, RcVec.Create(option.detailVerts, dv + j * 3));
+                        bmax = RcVec3f.Max(bmax, RcVec.Create(option.detailVerts, dv + j * 3));
                     }
 
                     // BV-tree uses cs for all dimensions
-                    it.bmin[0] = Math.Clamp((int)((bmin.X - option.bmin.X) * quantFactor), 0, int.MaxValue);
-                    it.bmin[1] = Math.Clamp((int)((bmin.Y - option.bmin.Y) * quantFactor), 0, int.MaxValue);
-                    it.bmin[2] = Math.Clamp((int)((bmin.Z - option.bmin.Z) * quantFactor), 0, int.MaxValue);
+                    it.bmin.X = Math.Clamp((int)((bmin.X - option.bmin.X) * quantFactor), 0, int.MaxValue);
+                    it.bmin.Y = Math.Clamp((int)((bmin.Y - option.bmin.Y) * quantFactor), 0, int.MaxValue);
+                    it.bmin.Z = Math.Clamp((int)((bmin.Z - option.bmin.Z) * quantFactor), 0, int.MaxValue);
 
-                    it.bmax[0] = Math.Clamp((int)((bmax.X - option.bmin.X) * quantFactor), 0, int.MaxValue);
-                    it.bmax[1] = Math.Clamp((int)((bmax.Y - option.bmin.Y) * quantFactor), 0, int.MaxValue);
-                    it.bmax[2] = Math.Clamp((int)((bmax.Z - option.bmin.Z) * quantFactor), 0, int.MaxValue);
+                    it.bmax.X = Math.Clamp((int)((bmax.X - option.bmin.X) * quantFactor), 0, int.MaxValue);
+                    it.bmax.Y = Math.Clamp((int)((bmax.Y - option.bmin.Y) * quantFactor), 0, int.MaxValue);
+                    it.bmax.Z = Math.Clamp((int)((bmax.Z - option.bmin.Z) * quantFactor), 0, int.MaxValue);
                 }
                 else
                 {
                     int p = i * option.nvp * 2;
-                    it.bmin[0] = it.bmax[0] = option.verts[option.polys[p] * 3 + 0];
-                    it.bmin[1] = it.bmax[1] = option.verts[option.polys[p] * 3 + 1];
-                    it.bmin[2] = it.bmax[2] = option.verts[option.polys[p] * 3 + 2];
+                    it.bmin.X = it.bmax.X = option.verts[option.polys[p] * 3 + 0];
+                    it.bmin.Y = it.bmax.Y = option.verts[option.polys[p] * 3 + 1];
+                    it.bmin.Z = it.bmax.Z = option.verts[option.polys[p] * 3 + 2];
 
                     for (int j = 1; j < option.nvp; ++j)
                     {
@@ -191,24 +180,24 @@ namespace DotRecast.Detour
                         int y = option.verts[option.polys[p + j] * 3 + 1];
                         int z = option.verts[option.polys[p + j] * 3 + 2];
 
-                        if (x < it.bmin[0])
-                            it.bmin[0] = x;
-                        if (y < it.bmin[1])
-                            it.bmin[1] = y;
-                        if (z < it.bmin[2])
-                            it.bmin[2] = z;
+                        if (x < it.bmin.X)
+                            it.bmin.X = x;
+                        if (y < it.bmin.Y)
+                            it.bmin.Y = y;
+                        if (z < it.bmin.Z)
+                            it.bmin.Z = z;
 
-                        if (x > it.bmax[0])
-                            it.bmax[0] = x;
-                        if (y > it.bmax[1])
-                            it.bmax[1] = y;
-                        if (z > it.bmax[2])
-                            it.bmax[2] = z;
+                        if (x > it.bmax.X)
+                            it.bmax.X = x;
+                        if (y > it.bmax.Y)
+                            it.bmax.Y = y;
+                        if (z > it.bmax.Z)
+                            it.bmax.Z = z;
                     }
 
                     // Remap y
-                    it.bmin[1] = (int)MathF.Floor(it.bmin[1] * option.ch * quantFactor);
-                    it.bmax[1] = (int)MathF.Ceiling(it.bmax[1] * option.ch * quantFactor);
+                    it.bmin.Y = (int)MathF.Floor(it.bmin.Y * option.ch * quantFactor);
+                    it.bmax.Y = (int)MathF.Ceiling(it.bmax.Y * option.ch * quantFactor);
                 }
             }
 
@@ -251,14 +240,15 @@ namespace DotRecast.Detour
             return 0xff;
         }
 
-        /**
-     * Builds navigation mesh tile data from the provided tile creation data.
-     *
-     * @param option
-     *            Tile creation data.
-     *
-     * @return created tile data
-     */
+        // TODO: Better error handling.
+
+        /// @par
+        /// 
+        /// The output data array is allocated using the detour allocator (dtAlloc()).  The method
+        /// used to free the memory will be determined by how the tile is added to the navigation
+        /// mesh.
+        ///
+        /// @see dtNavMesh, dtNavMesh::addTile()
         public static DtMeshData CreateNavMeshData(DtNavMeshCreateParams option)
         {
             if (option.vertCount >= 0xffff)
@@ -316,8 +306,8 @@ namespace DotRecast.Detour
 
                 for (int i = 0; i < option.offMeshConCount; ++i)
                 {
-                    var p0 = RcVecUtils.Create(option.offMeshConVerts, (i * 2 + 0) * 3);
-                    var p1 = RcVecUtils.Create(option.offMeshConVerts, (i * 2 + 1) * 3);
+                    var p0 = RcVec.Create(option.offMeshConVerts, (i * 2 + 0) * 3);
+                    var p1 = RcVec.Create(option.offMeshConVerts, (i * 2 + 1) * 3);
 
                     offMeshConClass[i * 2 + 0] = ClassifyOffMeshPoint(p0, bmin, bmax);
                     offMeshConClass[i * 2 + 1] = ClassifyOffMeshPoint(p1, bmin, bmax);
@@ -424,8 +414,8 @@ namespace DotRecast.Detour
             DtOffMeshConnection[] offMeshCons = new DtOffMeshConnection[storedOffMeshConCount];
 
             // Store header
-            header.magic = DtNavMesh.DT_NAVMESH_MAGIC;
-            header.version = DtNavMesh.DT_NAVMESH_VERSION;
+            header.magic = DT_NAVMESH_MAGIC;
+            header.version = DT_NAVMESH_VERSION;
             header.x = option.tileX;
             header.y = option.tileZ;
             header.layer = option.tileLayer;
@@ -497,13 +487,13 @@ namespace DotRecast.Detour
                         if (dir == 0xf) // Border
                             p.neis[j] = 0;
                         else if (dir == 0) // Portal x-
-                            p.neis[j] = DtNavMesh.DT_EXT_LINK | 4;
+                            p.neis[j] = DT_EXT_LINK | 4;
                         else if (dir == 1) // Portal z+
-                            p.neis[j] = DtNavMesh.DT_EXT_LINK | 2;
+                            p.neis[j] = DT_EXT_LINK | 2;
                         else if (dir == 2) // Portal x+
-                            p.neis[j] = DtNavMesh.DT_EXT_LINK | 0;
+                            p.neis[j] = DT_EXT_LINK | 0;
                         else if (dir == 3) // Portal z-
-                            p.neis[j] = DtNavMesh.DT_EXT_LINK | 6;
+                            p.neis[j] = DT_EXT_LINK | 6;
                     }
                     else
                     {
@@ -550,9 +540,9 @@ namespace DotRecast.Detour
                     int ndv = option.detailMeshes[i * 4 + 1];
                     int nv = navPolys[i].vertCount;
                     int vertBase = vbase;
-                    int vertCount = (ndv - nv);
+                    byte vertCount = (byte)(ndv - nv);
                     int triBase = option.detailMeshes[i * 4 + 2];
-                    int triCount = option.detailMeshes[i * 4 + 3];
+                    byte triCount = (byte)option.detailMeshes[i * 4 + 3];
                     navDMeshes[i] = new DtPolyDetail(vertBase, triBase, vertCount, triCount);
                     // Copy vertices except the first 'nv' verts which are equal to
                     // nav poly verts.
@@ -574,9 +564,9 @@ namespace DotRecast.Detour
                 {
                     int nv = navPolys[i].vertCount;
                     int vertBase = 0;
-                    int vertCount = 0;
+                    byte vertCount = 0;
                     int triBase = tbase;
-                    int triCount = (nv - 2);
+                    byte triCount = (byte)(nv - 2);
                     navDMeshes[i] = new DtPolyDetail(vertBase, triBase, vertCount, triCount);
                     // Triangulate polygon (local indices).
                     for (int j = 2; j < nv; ++j)
@@ -618,11 +608,11 @@ namespace DotRecast.Detour
                     int endPts = i * 2 * 3;
                     for (int j = 0; j < 2; ++j)
                     {
-                        con.pos[j] = RcVecUtils.Create(option.offMeshConVerts, endPts + (j * 3));
+                        con.pos[j] = RcVec.Create(option.offMeshConVerts, endPts + (j * 3));
                     }
 
                     con.rad = option.offMeshConRad[i];
-                    con.flags = option.offMeshConDir[i] != 0 ? DtNavMesh.DT_OFFMESH_CON_BIDIR : 0;
+                    con.flags = option.offMeshConDir[i] != 0 ? DT_OFFMESH_CON_BIDIR : 0;
                     con.side = offMeshConClass[i * 2 + 1];
                     if (option.offMeshConUserID != null)
                         con.userId = option.offMeshConUserID[i];

src/DotRecast.Detour/DtNavMeshCreateParams.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour/DtNavMeshParams.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -18,31 +18,21 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using System;
 using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {
-    /**
- * Configuration parameters used to define multi-tile navigation meshes. The values are used to allocate space during
- * the initialization of a navigation mesh.
- *
- * @see NavMesh
- */
+    /// Configuration parameters used to define multi-tile navigation meshes.
+    /// The values are used to allocate space during the initialization of a navigation mesh.
+    /// @see dtNavMesh::init()
+    /// @ingroup detour
     public struct DtNavMeshParams
     {
-        /** The world space origin of the navigation mesh's tile space. [(x, y, z)] */
-        public RcVec3f orig;
-
-        /** The width of each tile. (Along the x-axis.) */
-        public float tileWidth;
-
-        /** The height of each tile. (Along the z-axis.) */
-        public float tileHeight;
-
-        /** The maximum number of tiles the navigation mesh can contain. */
-        public int maxTiles;
-
-        /** The maximum number of polygons each tile can contain. */
-        public int maxPolys;
+        public RcVec3f orig; //< The world space origin of the navigation mesh's tile space. [(x, y, z)]
+        public float tileWidth; //< The width of each tile. (Along the x-axis.)
+        public float tileHeight; //< The height of each tile. (Along the z-axis.)
+        public int maxTiles; //< The maximum number of tiles the navigation mesh can contain. This and maxPolys are used to calculate how many bits are needed to identify tiles and polygons uniquely.
+        public int maxPolys; //< The maximum number of polygons each tile can contain. This and maxTiles are used to calculate how many bits are needed to identify tiles and polygons uniquely.
     }
 }

src/DotRecast.Detour/DtNavMeshQueryMock.cs

@@ -0,0 +1,34 @@
+using System;
+using System.Collections.Generic;
+using DotRecast.Core.Numerics;
+
+namespace DotRecast.Detour
+{
+    public class DtNavMeshQueryMock : DtNavMeshQuery
+    {
+        private readonly DtStraightPath[] _straightPath;
+        private readonly DtStatus _status;
+
+        public DtNavMeshQueryMock(DtStraightPath[] straightPath, DtStatus status)
+            : base(null)
+        {
+            _straightPath = straightPath;
+            _status = status;
+        }
+
+        public override DtStatus FindStraightPath(RcVec3f startPos, RcVec3f endPos,
+            List<long> path, int pathSize,
+            Span<DtStraightPath> straightPath, out int straightPathCount, int maxStraightPath,
+            int options)
+        {
+            straightPathCount = 0;
+            for (int i = 0; i < _straightPath.Length && i < maxStraightPath; ++i)
+            {
+                straightPath[i] = _straightPath[i];
+                straightPathCount += 1;
+            }
+
+            return _status;
+        }
+    }
+}

src/DotRecast.Detour/DtNavMeshRaycast.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -17,6 +17,7 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using System;
 using DotRecast.Core;
 using DotRecast.Core.Numerics;
 
@@ -48,6 +49,7 @@ namespace DotRecast.Detour
         private static bool Raycast(DtMeshTile tile, RcVec3f sp, RcVec3f sq, out float hitTime)
         {
             hitTime = 0.0f;
+            Span<RcVec3f> tempVerts = stackalloc RcVec3f[3];
             for (int i = 0; i < tile.data.header.polyCount; ++i)
             {
                 DtPoly p = tile.data.polys[i];
@@ -58,7 +60,7 @@ namespace DotRecast.Detour
 
                 ref DtPolyDetail pd = ref tile.data.detailMeshes[i];
 
-                RcVec3f[] verts = new RcVec3f[3];
+                Span<RcVec3f> verts = tempVerts;
                 for (int j = 0; j < pd.triCount; ++j)
                 {
                     int t = (pd.triBase + j) * 4;

src/DotRecast.Detour/DtNoOpDtPolygonByCircleConstraint.cs

@@ -1,4 +1,5 @@
-using DotRecast.Core.Numerics;
+using System;
+using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {
@@ -10,9 +11,11 @@ namespace DotRecast.Detour
         {
         }
 
-        public float[] Apply(float[] polyVerts, RcVec3f circleCenter, float radius)
+        public Span<float> Apply(Span<float> polyVerts, RcVec3f circleCenter, float radius, Span<float> resultBuffer)
         {
-            return polyVerts;
+            var result = resultBuffer.Slice(0, polyVerts.Length);
+            polyVerts.CopyTo(result);
+            return result;
         }
     }
 }

src/DotRecast.Detour/DtNode.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour/DtNodeFlags.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Detour
+namespace DotRecast.Detour
 {
     public static class DtNodeFlags
     {

src/DotRecast.Detour/DtNodePool.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -18,8 +18,10 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using System;
 using System.Collections.Generic;
 using System.Linq;
+using DotRecast.Core.Buffers;
 
 namespace DotRecast.Detour
 {
@@ -27,24 +29,68 @@ namespace DotRecast.Detour
     {
         private readonly Dictionary<long, List<DtNode>> m_map;
 
-        private int m_nodeCount;
-        private readonly List<DtNode> m_nodes;
+        private int m_usedNodesCount;
+        private List<DtNode[]> m_buckets;
+        private readonly int m_initialBufferCapacityBase;
+        private readonly RcObjectPool<List<DtNode>> m_listPool;
 
-        public DtNodePool()
+        public DtNodePool(int initialBufferCapacityBase = 6) // initial size 64
         {
             m_map = new Dictionary<long, List<DtNode>>();
-            m_nodes = new List<DtNode>();
+            m_listPool = new RcObjectPool<List<DtNode>>(() => new List<DtNode>());
+            m_buckets = new List<DtNode[]>();
+            m_initialBufferCapacityBase = initialBufferCapacityBase;
+        }
+
+        private void AddNewBucket()
+        {
+            var bucketIndex = m_buckets.Count;
+            var bucket = new DtNode[1 << (bucketIndex + m_initialBufferCapacityBase)];
+            m_buckets.Add(bucket);
+            FillBucket(bucketIndex);
+        }
+
+        private void FillBucket(int bucketIndex)
+        {
+            var bucket = m_buckets[bucketIndex];
+            var startIndex = GetBucketStartIndex(bucketIndex);
+            for (int i = 0; i < bucket.Length; i++)
+            {
+                bucket[i] = new DtNode(startIndex + i);
+            }
+        }
+
+        private int GetBucketStartIndex(int bucketIndex)
+        {
+            return ((1 << (bucketIndex + m_initialBufferCapacityBase)) - 1) ^ ((1 << m_initialBufferCapacityBase) - 1);
+        }
+
+        private DtNode[] EnsureBucket(int bucketIndex)
+        {
+            if (m_buckets.Count == bucketIndex)
+                AddNewBucket();
+            else if (m_buckets.Count < bucketIndex)
+                throw new Exception();
+            return m_buckets[bucketIndex];
+        }
+
+        private int GetBucketIndexByElementIndex(int elementIndex)
+        {
+            return DtUtils.Ilog2((elementIndex >> m_initialBufferCapacityBase) + 1);
         }
 
         public void Clear()
         {
+            foreach (var pair in m_map)
+                m_listPool.Return(pair.Value);
+
             m_map.Clear();
-            m_nodeCount = 0;
+            m_usedNodesCount = 0;
         }
 
         public int GetNodeCount()
         {
-            return m_nodeCount;
+            return m_usedNodesCount;
         }
 
         public int FindNodes(long id, out List<DtNode> nodes)
@@ -84,7 +130,8 @@ namespace DotRecast.Detour
             }
             else
             {
-                nodes = new List<DtNode>();
+                nodes = m_listPool.Get();
+                nodes.Clear();
                 m_map.Add(id, nodes);
             }
 
@@ -93,15 +140,10 @@ namespace DotRecast.Detour
 
         private DtNode Create(long id, int state, List<DtNode> nodes)
         {
-            if (m_nodes.Count <= m_nodeCount)
-            {
-                var newNode = new DtNode(m_nodeCount);
-                m_nodes.Add(newNode);
-            }
-
-            int i = m_nodeCount;
-            m_nodeCount++;
-            var node = m_nodes[i];
+            int i = m_usedNodesCount++;
+            int bucketIndex = GetBucketIndexByElementIndex(i);
+            int bucketStartIndex = GetBucketStartIndex(bucketIndex);
+            var node = EnsureBucket(bucketIndex)[i - bucketStartIndex];
             node.pidx = 0;
             node.cost = 0;
             node.total = 0;
@@ -123,9 +165,16 @@ namespace DotRecast.Detour
 
         public DtNode GetNodeAtIdx(int idx)
         {
-            return idx != 0
-                ? m_nodes[idx - 1]
-                : null;
+            if (idx == 0)
+                return null;
+            
+            int bucketIndex = GetBucketIndexByElementIndex(idx - 1);
+            if (m_buckets.Count <= bucketIndex)
+                throw new ArgumentOutOfRangeException();
+
+            int bucketStartIndex = GetBucketStartIndex(bucketIndex);
+            var node = EnsureBucket(bucketIndex)[idx - bucketStartIndex - 1];
+            return node;
         }
 
         public DtNode GetNode(long refs)
@@ -135,7 +184,7 @@ namespace DotRecast.Detour
 
         public IEnumerable<DtNode> AsEnumerable()
         {
-            return m_nodes.Take(m_nodeCount);
+            return m_buckets.SelectMany(x => x);
         }
     }
 }

src/DotRecast.Detour/DtNodeQueue.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour/DtOffMeshConnection.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -18,12 +18,14 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using System;
 using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {
     /// Defines an navigation mesh off-mesh connection within a dtMeshTile object.
     /// An off-mesh connection is a user defined traversable connection made up to two vertices.
+    [Serializable]
     public class DtOffMeshConnection
     {
         /// The endpoints of the connection. [(ax, ay, az, bx, by, bz)]

src/DotRecast.Detour/DtPathUtils.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -20,26 +20,31 @@ freely, subject to the following restrictions:
 
 using System;
 using System.Collections.Generic;
+using DotRecast.Core.Buffers;
+using DotRecast.Core.Collections;
 using DotRecast.Core.Numerics;
+using CollectionExtensions = DotRecast.Core.Collections.CollectionExtensions;
 
 namespace DotRecast.Detour
 {
+    using static DtDetour;
+
     public static class DtPathUtils
     {
-        private const int MAX_STEER_POINTS = 3;
-
         public static bool GetSteerTarget(DtNavMeshQuery navQuery, RcVec3f startPos, RcVec3f endPos,
             float minTargetDist,
-            List<long> path,
+            List<long> path, int pathSize,
             out RcVec3f steerPos, out int steerPosFlag, out long steerPosRef)
         {
+            const int MAX_STEER_POINTS = 3;
+
             steerPos = RcVec3f.Zero;
             steerPosFlag = 0;
             steerPosRef = 0;
 
             // Find steer target.
-            var straightPath = new List<DtStraightPath>(MAX_STEER_POINTS);
-            var result = navQuery.FindStraightPath(startPos, endPos, path, ref straightPath, MAX_STEER_POINTS, 0);
+            Span<DtStraightPath> straightPath = stackalloc DtStraightPath[MAX_STEER_POINTS];
+            var result = navQuery.FindStraightPath(startPos, endPos, path, pathSize, straightPath, out var nsteerPath, MAX_STEER_POINTS, 0);
             if (result.Failed())
             {
                 return false;
@@ -47,7 +52,7 @@ namespace DotRecast.Detour
 
             // Find vertex far enough to steer to.
             int ns = 0;
-            while (ns < straightPath.Count)
+            while (ns < nsteerPath)
             {
                 // Stop at Off-Mesh link or when point is further than slop away.
                 if (((straightPath[ns].flags & DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0)
@@ -57,7 +62,7 @@ namespace DotRecast.Detour
             }
 
             // Failed to find good point to steer to.
-            if (ns >= straightPath.Count)
+            if (ns >= nsteerPath)
                 return false;
 
             steerPos = straightPath[ns].pos;
@@ -88,29 +93,32 @@ namespace DotRecast.Detour
         // +-S-+-T-+
         // |:::| | <-- the step can end up in here, resulting U-turn path.
         // +---+---+
-        public static List<long> FixupShortcuts(List<long> path, DtNavMeshQuery navQuery)
+        public static int FixupShortcuts(ref List<long> path, int npath, DtNavMeshQuery navQuery)
         {
-            if (path.Count < 3)
+            if (npath < 3)
             {
-                return path;
+                return npath;
             }
 
             // Get connected polygons
-            List<long> neis = new List<long>();
+            const int maxNeis = 16;
+            Span<long> neis = stackalloc long[maxNeis];
+            int nneis = 0;
 
             var status = navQuery.GetAttachedNavMesh().GetTileAndPolyByRef(path[0], out var tile, out var poly);
             if (status.Failed())
             {
-                return path;
+                return npath;
             }
 
 
-            for (int k = tile.polyLinks[poly.index]; k != DtNavMesh.DT_NULL_LINK; k = tile.links[k].next)
+            for (int k = poly.firstLink; k != DT_NULL_LINK; k = tile.links[k].next)
             {
                 DtLink link = tile.links[k];
                 if (link.refs != 0)
                 {
-                    neis.Add(link.refs);
+                    if (nneis < maxNeis)
+                        neis[nneis++] = link.refs;
                 }
             }
 
@@ -118,9 +126,9 @@ namespace DotRecast.Detour
             // in the path, short cut to that polygon directly.
             const int maxLookAhead = 6;
             int cut = 0;
-            for (int i = Math.Min(maxLookAhead, path.Count) - 1; i > 1 && cut == 0; i--)
+            for (int i = Math.Min(maxLookAhead, npath) - 1; i > 1 && cut == 0; i--)
             {
-                for (int j = 0; j < neis.Count; j++)
+                for (int j = 0; j < nneis; j++)
                 {
                     if (path[i] == neis[j])
                     {
@@ -134,23 +142,25 @@ namespace DotRecast.Detour
             {
                 List<long> shortcut = new List<long>();
                 shortcut.Add(path[0]);
-                shortcut.AddRange(path.GetRange(cut, path.Count - cut));
-                return shortcut;
+                shortcut.AddRange(path.GetRange(cut, npath - cut));
+
+                path = shortcut;
+                return shortcut.Count;
             }
 
-            return path;
+            return npath;
         }
 
-        public static List<long> MergeCorridorStartMoved(List<long> path, int npath, int maxPath, List<long> visited)
+        public static int MergeCorridorStartMoved(List<long> path, int npath, int maxPath, Span<long> visited, int nvisited)
         {
             int furthestPath = -1;
             int furthestVisited = -1;
 
             // Find furthest common polygon.
-            for (int i = path.Count - 1; i >= 0; --i)
+            for (int i = npath - 1; i >= 0; --i)
             {
                 bool found = false;
-                for (int j = visited.Count - 1; j >= 0; --j)
+                for (int j = nvisited - 1; j >= 0; --j)
                 {
                     if (path[i] == visited[j])
                     {
@@ -169,33 +179,36 @@ namespace DotRecast.Detour
             // If no intersection found just return current path.
             if (furthestPath == -1 || furthestVisited == -1)
             {
-                return path;
+                return npath;
             }
 
             // Concatenate paths.
-
+            var endIndex = nvisited - 1;
+            var length1 = endIndex - furthestVisited;
+            var length2 = npath - furthestPath;
+            using var result = RcRentedArray.Rent<long>(length1 + length2);
             // Adjust beginning of the buffer to include the visited.
-            List<long> result = new List<long>();
             // Store visited
-            for (int i = visited.Count - 1; i > furthestVisited; --i)
-            {
-                result.Add(visited[i]);
+            for (int i = 0; i < length1; ++i) 
+                result[i] = visited[endIndex - i];
+            
+            path.CopyTo(furthestPath, result.AsArray(), length1, length2);
+
+            path.Clear();
+            CollectionExtensions.AddRange(path, result.AsSpan());
+            return result.Length;
         }
 
-            result.AddRange(path.GetRange(furthestPath, path.Count - furthestPath));
-            return result;
-        }
-
-        public static List<long> MergeCorridorEndMoved(List<long> path, int npath, int maxPath, List<long> visited)
+        public static int MergeCorridorEndMoved(List<long> path, int npath, int maxPath, Span<long> visited, int nvisited)
         {
             int furthestPath = -1;
             int furthestVisited = -1;
 
             // Find furthest common polygon.
-            for (int i = 0; i < path.Count; ++i)
+            for (int i = 0; i < npath; ++i)
             {
                 bool found = false;
-                for (int j = visited.Count - 1; j >= 0; --j)
+                for (int j = nvisited - 1; j >= 0; --j)
                 {
                     if (path[i] == visited[j])
                     {
@@ -214,25 +227,31 @@ namespace DotRecast.Detour
             // If no intersection found just return current path.
             if (furthestPath == -1 || furthestVisited == -1)
             {
-                return path;
+                return npath;
             }
 
             // Concatenate paths.
-            List<long> result = path.GetRange(0, furthestPath);
-            result.AddRange(visited.GetRange(furthestVisited, visited.Count - furthestVisited));
-            return result;
+            var length1 = furthestPath;
+            var length2 = nvisited - furthestVisited;
+            using var result = RcRentedArray.Rent<long>(length1 + length2);
+            path.CopyTo(0, result.AsArray(), 0, length1);
+            visited.Slice(furthestVisited, nvisited - furthestVisited).CopyTo(result.AsSpan().Slice(length1, length2));
+
+            path.Clear();
+            CollectionExtensions.AddRange(path, result.AsSpan());
+            return path.Count;
         }
 
-        public static List<long> MergeCorridorStartShortcut(List<long> path, int npath, int maxPath, List<long> visited)
+        public static int MergeCorridorStartShortcut(List<long> path, int npath, int maxPath, List<long> visited, int nvisited)
         {
             int furthestPath = -1;
             int furthestVisited = -1;
 
             // Find furthest common polygon.
-            for (int i = path.Count - 1; i >= 0; --i)
+            for (int i = npath - 1; i >= 0; --i)
             {
                 bool found = false;
-                for (int j = visited.Count - 1; j >= 0; --j)
+                for (int j = nvisited - 1; j >= 0; --j)
                 {
                     if (path[i] == visited[j])
                     {
@@ -251,15 +270,21 @@ namespace DotRecast.Detour
             // If no intersection found just return current path.
             if (furthestPath == -1 || furthestVisited <= 0)
             {
-                return path;
+                return npath;
             }
 
             // Concatenate paths.
 
             // Adjust beginning of the buffer to include the visited.
-            List<long> result = visited.GetRange(0, furthestVisited);
-            result.AddRange(path.GetRange(furthestPath, path.Count - furthestPath));
-            return result;
+            var length1 = furthestVisited;
+            var length2 = npath - furthestPath;
+            using var result = RcRentedArray.Rent<long>(length1 + length2);
+            visited.CopyTo(0, result.AsArray(), 0, length1);
+            path.CopyTo(furthestPath, result.AsArray(), length1, length2);
+
+            path.Clear();
+            CollectionExtensions.AddRange(path, result.AsSpan());
+            return path.Count;
         }
     }
 }

src/DotRecast.Detour/DtPoly.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -20,21 +20,26 @@ freely, subject to the following restrictions:
 
 namespace DotRecast.Detour
 {
-    /** Defines a polygon within a MeshTile object. */
+    /// Defines a polygon within a dtMeshTile object.
+    /// @ingroup detour
     public class DtPoly
     {
         public readonly int index;
         
-        /** The indices of the polygon's vertices. The actual vertices are located in MeshTile::verts. */
+        /// Index to first link in linked list. (Or #DT_NULL_LINK if there is no link.)
+        public int firstLink;
+
+        /// The indices of the polygon's vertices.
+        /// The actual vertices are located in dtMeshTile::verts.
         public readonly int[] verts;
 
-        /** Packed data representing neighbor polygons references and flags for each edge. */
+        /// Packed data representing neighbor polygons references and flags for each edge.
         public readonly int[] neis;
 
-        /** The user defined polygon flags. */
+        /// The user defined polygon flags.
         public int flags;
 
-        /** The number of vertices in the polygon. */
+        /// The number of vertices in the polygon.
         public int vertCount;
 
         /// The bit packed area id and polygon type.
@@ -48,25 +53,25 @@ namespace DotRecast.Detour
             neis = new int[maxVertsPerPoly];
         }
 
-        /** Sets the user defined area id. [Limit: < {@link org.recast4j.detour.NavMesh#DT_MAX_AREAS}] */
+        /// Sets the user defined area id. [Limit: < #DT_MAX_AREAS]
         public void SetArea(int a)
         {
             areaAndtype = (areaAndtype & 0xc0) | (a & 0x3f);
         }
 
-        /** Sets the polygon type. (See: #dtPolyTypes.) */
+        /// Sets the polygon type. (See: #dtPolyTypes.)
         public void SetPolyType(int t)
         {
             areaAndtype = (areaAndtype & 0x3f) | (t << 6);
         }
 
-        /** Gets the user defined area id. */
+        /// Gets the user defined area id.
         public int GetArea()
         {
             return areaAndtype & 0x3f;
         }
 
-        /** Gets the polygon type. (See: #dtPolyTypes) */
+        /// Gets the polygon type. (See: #dtPolyTypes)
         public int GetPolyType()
         {
             return areaAndtype >> 6;

src/DotRecast.Detour/DtPolyDetail.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -20,22 +20,15 @@ freely, subject to the following restrictions:
 
 namespace DotRecast.Detour
 {
-    /** Defines the location of detail sub-mesh data within a dtMeshTile. */
+    /// Defines the location of detail sub-mesh data within a dtMeshTile.
     public readonly struct DtPolyDetail
     {
-        /** The offset of the vertices in the MeshTile::detailVerts array. */
-        public readonly int vertBase;
+        public readonly int vertBase; //< The offset of the vertices in the dtMeshTile::detailVerts array.
+        public readonly int triBase; //< The offset of the triangles in the dtMeshTile::detailTris array.
+        public readonly byte vertCount; //< The number of vertices in the sub-mesh.
+        public readonly byte triCount; //< The number of triangles in the sub-mesh.
 
-        /** The offset of the triangles in the MeshTile::detailTris array. */
-        public readonly int triBase;
-
-        /** The number of vertices in the sub-mesh. */
-        public readonly int vertCount;
-
-        /** The number of triangles in the sub-mesh. */
-        public readonly int triCount;
-
-        public DtPolyDetail(int vertBase, int triBase, int vertCount, int triCount)
+        public DtPolyDetail(int vertBase, int triBase, byte vertCount, byte triCount)
         {
             this.vertBase = vertBase;
             this.triBase = triBase;

src/DotRecast.Detour/DtPolyPoint.cs

@@ -1,4 +1,4 @@
-using DotRecast.Core.Numerics;
+using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {

src/DotRecast.Detour/DtPolyTypes.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Detour
+namespace DotRecast.Detour
 {
     /// Flags representing the type of a navigation mesh polygon.
     public static class DtPolyTypes

src/DotRecast.Detour/DtQueryData.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour/DtQueryDefaultFilter.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -23,6 +23,8 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {
+    using static DtDetour;
+
     /**
  * <b>The Default Implementation</b>
  *
@@ -50,7 +52,7 @@ namespace DotRecast.Detour
  */
     public class DtQueryDefaultFilter : IDtQueryFilter
     {
-        private readonly float[] m_areaCost = new float[DtNavMesh.DT_MAX_AREAS]; //< Cost per area type. (Used by default implementation.)
+        private readonly float[] m_areaCost = new float[DT_MAX_AREAS]; //< Cost per area type. (Used by default implementation.)
         private int m_includeFlags; //< Flags for polygons that can be visited. (Used by default implementation.) 
         private int m_excludeFlags; //< Flags for polygons that should not be visited. (Used by default implementation.) 
 
@@ -58,7 +60,7 @@ namespace DotRecast.Detour
         {
             m_includeFlags = 0xffff;
             m_excludeFlags = 0;
-            for (int i = 0; i < DtNavMesh.DT_MAX_AREAS; ++i)
+            for (int i = 0; i < DT_MAX_AREAS; ++i)
             {
                 m_areaCost[i] = 1.0f;
             }
@@ -68,12 +70,12 @@ namespace DotRecast.Detour
         {
             m_includeFlags = includeFlags;
             m_excludeFlags = excludeFlags;
-            for (int i = 0; i < Math.Min(DtNavMesh.DT_MAX_AREAS, areaCost.Length); ++i)
+            for (int i = 0; i < Math.Min(DT_MAX_AREAS, areaCost.Length); ++i)
             {
                 m_areaCost[i] = areaCost[i];
             }
 
-            for (int i = areaCost.Length; i < DtNavMesh.DT_MAX_AREAS; ++i)
+            for (int i = areaCost.Length; i < DT_MAX_AREAS; ++i)
             {
                 m_areaCost[i] = 1.0f;
             }

src/DotRecast.Detour/DtQueryEmptyFilter.cs

@@ -1,4 +1,4 @@
-using DotRecast.Core.Numerics;
+using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {

src/DotRecast.Detour/DtQueryNoOpFilter.cs

@@ -1,4 +1,4 @@
-using DotRecast.Core.Numerics;
+using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {

src/DotRecast.Detour/DtRaycastHit.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -38,9 +38,16 @@ namespace DotRecast.Detour
         public int hitEdgeIndex;
 
         /// Pointer to an array of reference ids of the visited polygons. [opt]
-        public List<long> path;
+        public long[] path;
+
+        public int pathCount;
 
         ///  The cost of the path until hit.
         public float pathCost;
+
+        public void AddPathNode(long nodeRef)
+        {
+            path[pathCount++] = nodeRef;
+        }
     }
 }

src/DotRecast.Detour/DtRaycastOptions.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Detour
+namespace DotRecast.Detour
 {
     /// Options for dtNavMeshQuery::raycast
     public static class DtRaycastOptions

src/DotRecast.Detour/DtSegInterval.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Detour
+namespace DotRecast.Detour
 {
     public readonly struct DtSegInterval
     {

src/DotRecast.Detour/DtStatus.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour/DtStraightPath.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -25,11 +25,16 @@ namespace DotRecast.Detour
     //TODO: (PP) Add comments
     public readonly struct DtStraightPath
     {
+        /// The local path corridor corners for the agent. (Staight path.) [(x, y, z) * #ncorners]
         public readonly RcVec3f pos;
-        public readonly int flags;
+
+        /// The local path corridor corner flags. (See: #dtStraightPathFlags) [(flags) * #ncorners]
+        public readonly byte flags;
+
+        /// The reference id of the polygon being entered at the corner. [(polyRef) * #ncorners]
         public readonly long refs;
 
-        public DtStraightPath(RcVec3f pos, int flags, long refs)
+        public DtStraightPath(RcVec3f pos, byte flags, long refs)
         {
             this.pos = pos;
             this.flags = flags;

src/DotRecast.Detour/DtStraightPathFlags.cs

@@ -1,10 +1,10 @@
-namespace DotRecast.Detour
+namespace DotRecast.Detour
 {
     /// Vertex flags returned by dtNavMeshQuery::findStraightPath.
     public static class DtStraightPathFlags
     {
-        public const int DT_STRAIGHTPATH_START = 0x01; //< The vertex is the start position in the path.
-        public const int DT_STRAIGHTPATH_END = 0x02; //< The vertex is the end position in the path.
-        public const int DT_STRAIGHTPATH_OFFMESH_CONNECTION = 0x04; //< The vertex is the start of an off-mesh connection.
+        public const byte DT_STRAIGHTPATH_START = 0x01; //< The vertex is the start position in the path.
+        public const byte DT_STRAIGHTPATH_END = 0x02; //< The vertex is the end position in the path.
+        public const byte DT_STRAIGHTPATH_OFFMESH_CONNECTION = 0x04; //< The vertex is the start of an off-mesh connection.
     }
 }

src/DotRecast.Detour/DtStraightPathOption.cs

@@ -1,4 +1,4 @@
-using DotRecast.Core;
+using DotRecast.Core;
 using DotRecast.Core.Collections;
 
 namespace DotRecast.Detour

src/DotRecast.Detour/DtStraightPathOptions.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Detour
+namespace DotRecast.Detour
 {
     /// Options for dtNavMeshQuery::findStraightPath.
     public static class DtStraightPathOptions

src/DotRecast.Detour/DtStrictDtPolygonByCircleConstraint.cs

@@ -1,15 +1,13 @@
-using System;
+using System;
 using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {
-    /**
-     * Calculate the intersection between a polygon and a circle. A dodecagon is used as an approximation of the circle.
-     */
+    // Calculate the intersection between a polygon and a circle. A dodecagon is used as an approximation of the circle.
     public class DtStrictDtPolygonByCircleConstraint : IDtPolygonByCircleConstraint
     {
         private const int CIRCLE_SEGMENTS = 12;
-        private static readonly float[] UnitCircle = MakeUnitCircle();
+        private static readonly float[] UnitCircle = CreateCircle();
 
         public static readonly IDtPolygonByCircleConstraint Shared = new DtStrictDtPolygonByCircleConstraint();
 
@@ -17,7 +15,7 @@ namespace DotRecast.Detour
         {
         }
 
-        private static float[] MakeUnitCircle()
+        public static float[] CreateCircle()
         {
             var temp = new float[CIRCLE_SEGMENTS * 3];
             for (int i = 0; i < CIRCLE_SEGMENTS; i++)
@@ -31,13 +29,23 @@ namespace DotRecast.Detour
             return temp;
         }
 
-        public float[] Apply(float[] verts, RcVec3f center, float radius)
+        public static void ScaleCircle(Span<float> src, RcVec3f center, float radius, Span<float> dst)
+        {
+            for (int i = 0; i < CIRCLE_SEGMENTS; i++)
+            {
+                dst[3 * i] = src[3 * i] * radius + center.X;
+                dst[3 * i + 1] = center.Y;
+                dst[3 * i + 2] = src[3 * i + 2] * radius + center.Z;
+            }
+        }
+
+        public Span<float> Apply(Span<float> verts, RcVec3f center, float radius, Span<float> resultBuffer)
         {
             float radiusSqr = radius * radius;
             int outsideVertex = -1;
             for (int pv = 0; pv < verts.Length; pv += 3)
             {
-                if (RcVecUtils.Dist2DSqr(center, verts, pv) > radiusSqr)
+                if (RcVec.Dist2DSqr(center, verts, pv) > radiusSqr)
                 {
                     outsideVertex = pv;
                     break;
@@ -47,32 +55,30 @@ namespace DotRecast.Detour
             if (outsideVertex == -1)
             {
                 // polygon inside circle
-                return verts;
+                var result = resultBuffer.Slice(0, verts.Length);
+                verts.CopyTo(result);
+                return result;
             }
 
-            float[] qCircle = Circle(center, radius);
-            float[] intersection = DtConvexConvexIntersections.Intersect(verts, qCircle);
-            if (intersection == null && DtUtils.PointInPolygon(center, verts, verts.Length / 3))
+            Span<float> qCircle = stackalloc float[UnitCircle.Length];
+            ScaleCircle(UnitCircle, center, radius, qCircle);
+            Span<float> intersection = DtConvexConvexIntersections.Intersect(verts, qCircle, resultBuffer);
+            if (intersection.IsEmpty && DtUtils.PointInPolygon(center, verts, verts.Length / 3))
             {
                 // circle inside polygon
-                return qCircle;
+                var result = resultBuffer.Slice(0, qCircle.Length);
+                qCircle.CopyTo(result);
+                return result;
             }
 
-            return intersection;
-        }
-
-
-        private float[] Circle(RcVec3f center, float radius)
+            if(!intersection.IsEmpty)
             {
-            float[] circle = new float[12 * 3];
-            for (int i = 0; i < CIRCLE_SEGMENTS * 3; i += 3)
-            {
-                circle[i] = UnitCircle[i] * radius + center.X;
-                circle[i + 1] = center.Y;
-                circle[i + 2] = UnitCircle[i + 2] * radius + center.Z;
+                var result = resultBuffer.Slice(0, intersection.Length);
+                // No need to copy, data is already in buffer
+                return result;
             }
             
-            return circle;
+            return Span<float>.Empty;
         }
     }
 }

src/DotRecast.Detour/DtUtils.cs

@@ -1,13 +1,10 @@
-using System;
-using DotRecast.Core;
+using System;
 using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {
     public static class DtUtils
     {
-        private static readonly float EQUAL_THRESHOLD = RcMath.Sqr(1.0f / 16384.0f);
-
         public static int NextPow2(int v)
         {
             v--;
@@ -39,24 +36,6 @@ namespace DotRecast.Detour
             return r;
         }
 
-        /// Performs a 'sloppy' colocation check of the specified points.
-        /// @param[in] p0 A point. [(x, y, z)]
-        /// @param[in] p1 A point. [(x, y, z)]
-        /// @return True if the points are considered to be at the same location.
-        ///
-        /// Basically, this function will return true if the specified points are
-        /// close enough to eachother to be considered colocated.
-        public static bool VEqual(RcVec3f p0, RcVec3f p1)
-        {
-            return VEqual(p0, p1, EQUAL_THRESHOLD);
-        }
-
-        public static bool VEqual(RcVec3f p0, RcVec3f p1, float thresholdSqr)
-        {
-            float d = RcVec3f.DistanceSquared(p0, p1);
-            return d < thresholdSqr;
-        }
-
         /// Determines if two axis-aligned bounding boxes overlap.
         /// @param[in] amin Minimum bounds of box A. [(x, y, z)]
         /// @param[in] amax Maximum bounds of box A. [(x, y, z)]
@@ -64,12 +43,12 @@ 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(ref RcVec3i amin, ref RcVec3i amax, ref RcVec3i bmin, ref RcVec3i bmax)
         {
             bool overlap = true;
-            overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap;
-            overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap;
-            overlap = (amin[2] > bmax[2] || amax[2] < bmin[2]) ? false : overlap;
+            overlap = (amin.X > bmax.X || amax.X < bmin.X) ? false : overlap;
+            overlap = (amin.Y > bmax.Y || amax.Y < bmin.Y) ? false : overlap;
+            overlap = (amin.Z > bmax.Z || amax.Z < bmin.Z) ? false : overlap;
             return overlap;
         }
 
@@ -97,7 +76,7 @@ namespace DotRecast.Detour
         /// @par
         ///
         /// All vertices are projected onto the xz-plane, so the y-values are ignored.
-        public static bool OverlapPolyPoly2D(float[] polya, int npolya, float[] polyb, int npolyb)
+        public static bool OverlapPolyPoly2D(Span<float> polya, int npolya, Span<float> polyb, int npolyb)
         {
             const float eps = 1e-4f;
             for (int i = 0, j = npolya - 1; i < npolya; j = i++)
@@ -145,7 +124,7 @@ namespace DotRecast.Detour
         /// @param[in] b Vertex B. [(x, y, z)]
         /// @param[in] c Vertex C. [(x, y, z)]
         /// @return The signed xz-plane area of the triangle.
-        public static float TriArea2D(float[] verts, int a, int b, int c)
+        public static float TriArea2D(Span<float> verts, int a, int b, int c)
         {
             float abx = verts[b] - verts[a];
             float abz = verts[b + 2] - verts[a + 2];
@@ -165,7 +144,7 @@ namespace DotRecast.Detour
 
         // Returns a random point in a convex polygon.
         // Adapted from Graphics Gems article.
-        public static RcVec3f RandomPointInConvexPoly(float[] pts, int npts, float[] areas, float s, float t)
+        public static void RandomPointInConvexPoly(Span<float> pts, int npts, Span<float> areas, float s, float t, out RcVec3f @out)
         {
             // Calc triangle araes
             float areasum = 0.0f;
@@ -202,7 +181,7 @@ namespace DotRecast.Detour
             int pb = (tri - 1) * 3;
             int pc = tri * 3;
 
-            return new RcVec3f()
+            @out = new RcVec3f()
             {
                 X = a * pts[pa] + b * pts[pb] + c * pts[pc],
                 Y = a * pts[pa + 1] + b * pts[pb + 1] + c * pts[pc + 1],
@@ -246,13 +225,13 @@ namespace DotRecast.Detour
             return false;
         }
 
-        public static RcVec2f ProjectPoly(RcVec3f axis, float[] poly, int npoly)
+        public static RcVec2f ProjectPoly(RcVec3f axis, Span<float> poly, int npoly)
         {
             float rmin, rmax;
-            rmin = rmax = axis.Dot2D(poly, 0);
+            rmin = rmax = axis.Dot2D(new RcVec3f(poly));
             for (int i = 1; i < npoly; ++i)
             {
-                float d = axis.Dot2D(poly, i * 3);
+                float d = axis.Dot2D(RcVec.Create(poly, i * 3));
                 rmin = Math.Min(rmin, d);
                 rmax = Math.Max(rmax, d);
             }
@@ -267,7 +246,7 @@ namespace DotRecast.Detour
         /// @par
         ///
         /// All points are projected onto the xz-plane, so the y-values are ignored.
-        public static bool PointInPolygon(RcVec3f pt, float[] verts, int nverts)
+        public static bool PointInPolygon(RcVec3f pt, Span<float> verts, int nverts)
         {
             // TODO: Replace pnpoly with triArea2D tests?
             int i, j;
@@ -286,7 +265,7 @@ namespace DotRecast.Detour
             return c;
         }
 
-        public static bool DistancePtPolyEdgesSqr(RcVec3f pt, float[] verts, int nverts, float[] ed, float[] et)
+        public static bool DistancePtPolyEdgesSqr(RcVec3f pt, Span<float> verts, int nverts, Span<float> ed, Span<float> et)
         {
             // TODO: Replace pnpoly with triArea2D tests?
             int i, j;
@@ -307,10 +286,10 @@ namespace DotRecast.Detour
             return c;
         }
 
-        public static float DistancePtSegSqr2D(RcVec3f pt, float[] verts, int p, int q, out float t)
+        public static float DistancePtSegSqr2D(RcVec3f pt, Span<float> verts, int p, int q, out float t)
         {
-            var vp = RcVecUtils.Create(verts, p);
-            var vq = RcVecUtils.Create(verts, q);
+            var vp = RcVec.Create(verts, p);
+            var vq = RcVec.Create(verts, q);
             return DistancePtSegSqr2D(pt, vp, vq, out t);
         }
 
@@ -342,7 +321,7 @@ namespace DotRecast.Detour
         }
 
         public static bool IntersectSegmentPoly2D(RcVec3f p0, RcVec3f p1,
-            RcVec3f[] verts, int nverts,
+            Span<RcVec3f> verts, int nverts,
             out float tmin, out float tmax,
             out int segMin, out int segMax)
         {
@@ -362,8 +341,8 @@ namespace DotRecast.Detour
                 RcVec3f vpi = verts[i];
                 var edge = RcVec3f.Subtract(vpi, vpj);
                 var diff = RcVec3f.Subtract(p0v, vpj);
-                float n = RcVecUtils.Perp2D(edge, diff);
-                float d = RcVecUtils.Perp2D(dir, edge);
+                float n = RcVec.Perp2D(edge, diff);
+                float d = RcVec.Perp2D(dir, edge);
                 if (MathF.Abs(d) < EPS)
                 {
                     // S is nearly parallel to this edge
@@ -425,14 +404,14 @@ namespace DotRecast.Detour
             RcVec3f u = RcVec3f.Subtract(aq, ap);
             RcVec3f v = RcVec3f.Subtract(bq, bp);
             RcVec3f w = RcVec3f.Subtract(ap, bp);
-            float d = RcVecUtils.PerpXZ(u, v);
+            float d = RcVec.PerpXZ(u, v);
             if (MathF.Abs(d) < 1e-6f)
             {
                 return false;
             }
 
-            s = RcVecUtils.PerpXZ(v, w) / d;
-            t = RcVecUtils.PerpXZ(u, w) / d;
+            s = RcVec.PerpXZ(v, w) / d;
+            t = RcVec.PerpXZ(u, w) / d;
 
             return true;
         }

src/DotRecast.Detour/IDtPolyQuery.cs

@@ -1,7 +1,14 @@
+using System;
+
 namespace DotRecast.Detour
 {
+    /// Provides custom polygon query behavior.
+    /// Used by dtNavMeshQuery::queryPolygons.
+    /// @ingroup detour
     public interface IDtPolyQuery
     {
-        void Process(DtMeshTile tile, DtPoly poly, long refs);
+        /// 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);
     }
 }

src/DotRecast.Detour/IDtPolygonByCircleConstraint.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -24,6 +24,6 @@ namespace DotRecast.Detour
 {
     public interface IDtPolygonByCircleConstraint
     {
-        float[] Apply(float[] polyVerts, RcVec3f circleCenter, float radius);
+        Span<float> Apply(Span<float> polyVerts, RcVec3f circleCenter, float radius, Span<float> resultBuffer);
     }
 }

src/DotRecast.Detour/IDtQueryFilter.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour/IDtQueryHeuristic.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Detour/Io/DtMeshDataReader.cs

@@ -21,13 +21,17 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.Io
 {
+    using static DtDetour;
+
     public class DtMeshDataReader
     {
         public const int DT_POLY_DETAIL_SIZE = 10;
+        public const int LINK_SIZEOF = 16;
+        public const int LINK_SIZEOF32BIT = 12;
 
         public DtMeshData Read(BinaryReader stream, int maxVertPerPoly)
         {
-            RcByteBuffer buf = IOUtils.ToByteBuffer(stream);
+            RcByteBuffer buf = RcIO.ToByteBuffer(stream);
             return Read(buf, maxVertPerPoly, false);
         }
 
@@ -38,7 +42,7 @@ namespace DotRecast.Detour.Io
 
         public DtMeshData Read32Bit(BinaryReader stream, int maxVertPerPoly)
         {
-            RcByteBuffer buf = IOUtils.ToByteBuffer(stream);
+            RcByteBuffer buf = RcIO.ToByteBuffer(stream);
             return Read(buf, maxVertPerPoly, true);
         }
 
@@ -53,10 +57,10 @@ namespace DotRecast.Detour.Io
             DtMeshHeader header = new DtMeshHeader();
             data.header = header;
             header.magic = buf.GetInt();
-            if (header.magic != DtNavMesh.DT_NAVMESH_MAGIC)
+            if (header.magic != DT_NAVMESH_MAGIC)
             {
-                header.magic = IOUtils.SwapEndianness(header.magic);
-                if (header.magic != DtNavMesh.DT_NAVMESH_MAGIC)
+                header.magic = RcIO.SwapEndianness(header.magic);
+                if (header.magic != DT_NAVMESH_MAGIC)
                 {
                     throw new IOException("Invalid magic");
                 }
@@ -65,16 +69,16 @@ namespace DotRecast.Detour.Io
             }
 
             header.version = buf.GetInt();
-            if (header.version != DtNavMesh.DT_NAVMESH_VERSION)
+            if (header.version != DT_NAVMESH_VERSION)
             {
-                if (header.version < DtNavMesh.DT_NAVMESH_VERSION_RECAST4J_FIRST
-                    || header.version > DtNavMesh.DT_NAVMESH_VERSION_RECAST4J_LAST)
+                if (header.version < DT_NAVMESH_VERSION_RECAST4J_FIRST
+                    || header.version > DT_NAVMESH_VERSION_RECAST4J_LAST)
                 {
                     throw new IOException("Invalid version " + header.version);
                 }
             }
 
-            bool cCompatibility = header.version == DtNavMesh.DT_NAVMESH_VERSION;
+            bool cCompatibility = header.version == DT_NAVMESH_VERSION;
             header.x = buf.GetInt();
             header.y = buf.GetInt();
             header.layer = buf.GetInt();
@@ -116,8 +120,6 @@ namespace DotRecast.Detour.Io
             return data;
         }
 
-        public const int LINK_SIZEOF = 16;
-        public const int LINK_SIZEOF32BIT = 12;
 
         public static int GetSizeofLink(bool is32Bit)
         {
@@ -141,7 +143,7 @@ namespace DotRecast.Detour.Io
             for (int i = 0; i < polys.Length; i++)
             {
                 polys[i] = new DtPoly(i, maxVertPerPoly);
-                if (header.version < DtNavMesh.DT_NAVMESH_VERSION_RECAST4J_NO_POLY_FIRSTLINK)
+                if (header.version < DT_NAVMESH_VERSION_RECAST4J_NO_POLY_FIRSTLINK)
                 {
                     buf.GetInt(); // polys[i].firstLink
                 }
@@ -171,8 +173,8 @@ namespace DotRecast.Detour.Io
             {
                 int vertBase = buf.GetInt();
                 int triBase = buf.GetInt();
-                int vertCount = buf.Get() & 0xFF;
-                int triCount = buf.Get() & 0xFF;
+                byte vertCount = (byte)(buf.Get() & 0xFF);
+                byte triCount = (byte)(buf.Get() & 0xFF);
                 polys[i] = new DtPolyDetail(vertBase, triBase, vertCount, triCount);
                 if (cCompatibility)
                 {
@@ -200,29 +202,25 @@ namespace DotRecast.Detour.Io
             for (int i = 0; i < nodes.Length; i++)
             {
                 nodes[i] = new DtBVNode();
-                if (header.version < DtNavMesh.DT_NAVMESH_VERSION_RECAST4J_32BIT_BVTREE)
+                if (header.version < DT_NAVMESH_VERSION_RECAST4J_32BIT_BVTREE)
                 {
-                    for (int j = 0; j < 3; j++)
-                    {
-                        nodes[i].bmin[j] = buf.GetShort() & 0xFFFF;
-                    }
+                    nodes[i].bmin.X = buf.GetShort() & 0xFFFF;
+                    nodes[i].bmin.Y = buf.GetShort() & 0xFFFF;
+                    nodes[i].bmin.Z = buf.GetShort() & 0xFFFF;
 
-                    for (int j = 0; j < 3; j++)
-                    {
-                        nodes[i].bmax[j] = buf.GetShort() & 0xFFFF;
-                    }
+                    nodes[i].bmax.X = buf.GetShort() & 0xFFFF;
+                    nodes[i].bmax.Y = buf.GetShort() & 0xFFFF;
+                    nodes[i].bmax.Z = buf.GetShort() & 0xFFFF;
                 }
                 else
                 {
-                    for (int j = 0; j < 3; j++)
-                    {
-                        nodes[i].bmin[j] = buf.GetInt();
-                    }
+                    nodes[i].bmin.X = buf.GetInt();
+                    nodes[i].bmin.Y = buf.GetInt();
+                    nodes[i].bmin.Z = buf.GetInt();
 
-                    for (int j = 0; j < 3; j++)
-                    {
-                        nodes[i].bmax[j] = buf.GetInt();
-                    }
+                    nodes[i].bmax.X = buf.GetInt();
+                    nodes[i].bmax.Y = buf.GetInt();
+                    nodes[i].bmax.Z = buf.GetInt();
                 }
 
                 nodes[i].i = buf.GetInt();

src/DotRecast.Detour/Io/DtMeshDataWriter.cs

@@ -21,36 +21,38 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.Io
 {
-    public class DtMeshDataWriter : DtWriter
+    using static DtDetour;
+
+    public class DtMeshDataWriter
     {
         public void Write(BinaryWriter stream, DtMeshData data, RcByteOrder order, bool cCompatibility)
         {
             DtMeshHeader header = data.header;
-            Write(stream, header.magic, order);
-            Write(stream, cCompatibility ? DtNavMesh.DT_NAVMESH_VERSION : DtNavMesh.DT_NAVMESH_VERSION_RECAST4J_LAST, order);
-            Write(stream, header.x, order);
-            Write(stream, header.y, order);
-            Write(stream, header.layer, order);
-            Write(stream, header.userId, order);
-            Write(stream, header.polyCount, order);
-            Write(stream, header.vertCount, order);
-            Write(stream, header.maxLinkCount, order);
-            Write(stream, header.detailMeshCount, order);
-            Write(stream, header.detailVertCount, order);
-            Write(stream, header.detailTriCount, order);
-            Write(stream, header.bvNodeCount, order);
-            Write(stream, header.offMeshConCount, order);
-            Write(stream, header.offMeshBase, order);
-            Write(stream, header.walkableHeight, order);
-            Write(stream, header.walkableRadius, order);
-            Write(stream, header.walkableClimb, order);
-            Write(stream, header.bmin.X, order);
-            Write(stream, header.bmin.Y, order);
-            Write(stream, header.bmin.Z, order);
-            Write(stream, header.bmax.X, order);
-            Write(stream, header.bmax.Y, order);
-            Write(stream, header.bmax.Z, order);
-            Write(stream, header.bvQuantFactor, order);
+            RcIO.Write(stream, header.magic, order);
+            RcIO.Write(stream, cCompatibility ? DT_NAVMESH_VERSION : DT_NAVMESH_VERSION_RECAST4J_LAST, order);
+            RcIO.Write(stream, header.x, order);
+            RcIO.Write(stream, header.y, order);
+            RcIO.Write(stream, header.layer, order);
+            RcIO.Write(stream, header.userId, order);
+            RcIO.Write(stream, header.polyCount, order);
+            RcIO.Write(stream, header.vertCount, order);
+            RcIO.Write(stream, header.maxLinkCount, order);
+            RcIO.Write(stream, header.detailMeshCount, order);
+            RcIO.Write(stream, header.detailVertCount, order);
+            RcIO.Write(stream, header.detailTriCount, order);
+            RcIO.Write(stream, header.bvNodeCount, order);
+            RcIO.Write(stream, header.offMeshConCount, order);
+            RcIO.Write(stream, header.offMeshBase, order);
+            RcIO.Write(stream, header.walkableHeight, order);
+            RcIO.Write(stream, header.walkableRadius, order);
+            RcIO.Write(stream, header.walkableClimb, order);
+            RcIO.Write(stream, header.bmin.X, order);
+            RcIO.Write(stream, header.bmin.Y, order);
+            RcIO.Write(stream, header.bmin.Z, order);
+            RcIO.Write(stream, header.bmax.X, order);
+            RcIO.Write(stream, header.bmax.Y, order);
+            RcIO.Write(stream, header.bmax.Z, order);
+            RcIO.Write(stream, header.bvQuantFactor, order);
             WriteVerts(stream, data.verts, header.vertCount, order);
             WritePolys(stream, data, order, cCompatibility);
             if (cCompatibility)
@@ -70,7 +72,7 @@ namespace DotRecast.Detour.Io
         {
             for (int i = 0; i < count * 3; i++)
             {
-                Write(stream, verts[i], order);
+                RcIO.Write(stream, verts[i], order);
             }
         }
 
@@ -80,22 +82,22 @@ namespace DotRecast.Detour.Io
             {
                 if (cCompatibility)
                 {
-                    Write(stream, 0xFFFF, order);
+                    RcIO.Write(stream, 0xFFFF, order);
                 }
 
                 for (int j = 0; j < data.polys[i].verts.Length; j++)
                 {
-                    Write(stream, (short)data.polys[i].verts[j], order);
+                    RcIO.Write(stream, (short)data.polys[i].verts[j], order);
                 }
 
                 for (int j = 0; j < data.polys[i].neis.Length; j++)
                 {
-                    Write(stream, (short)data.polys[i].neis[j], order);
+                    RcIO.Write(stream, (short)data.polys[i].neis[j], order);
                 }
 
-                Write(stream, (short)data.polys[i].flags, order);
-                Write(stream, (byte)data.polys[i].vertCount);
-                Write(stream, (byte)data.polys[i].areaAndtype);
+                RcIO.Write(stream, (short)data.polys[i].flags, order);
+                RcIO.Write(stream, (byte)data.polys[i].vertCount);
+                RcIO.Write(stream, (byte)data.polys[i].areaAndtype);
             }
         }
 
@@ -103,13 +105,13 @@ namespace DotRecast.Detour.Io
         {
             for (int i = 0; i < data.header.detailMeshCount; i++)
             {
-                Write(stream, data.detailMeshes[i].vertBase, order);
-                Write(stream, data.detailMeshes[i].triBase, order);
-                Write(stream, (byte)data.detailMeshes[i].vertCount);
-                Write(stream, (byte)data.detailMeshes[i].triCount);
+                RcIO.Write(stream, data.detailMeshes[i].vertBase, order);
+                RcIO.Write(stream, data.detailMeshes[i].triBase, order);
+                RcIO.Write(stream, (byte)data.detailMeshes[i].vertCount);
+                RcIO.Write(stream, (byte)data.detailMeshes[i].triCount);
                 if (cCompatibility)
                 {
-                    Write(stream, (short)0, order);
+                    RcIO.Write(stream, (short)0, order);
                 }
             }
         }
@@ -118,7 +120,7 @@ namespace DotRecast.Detour.Io
         {
             for (int i = 0; i < data.header.detailTriCount * 4; i++)
             {
-                Write(stream, (byte)data.detailTris[i]);
+                RcIO.Write(stream, (byte)data.detailTris[i]);
             }
         }
 
@@ -128,30 +130,26 @@ namespace DotRecast.Detour.Io
             {
                 if (cCompatibility)
                 {
-                    for (int j = 0; j < 3; j++)
-                    {
-                        Write(stream, (short)data.bvTree[i].bmin[j], order);
-                    }
+                    RcIO.Write(stream, (short)data.bvTree[i].bmin.X, order);
+                    RcIO.Write(stream, (short)data.bvTree[i].bmin.Y, order);
+                    RcIO.Write(stream, (short)data.bvTree[i].bmin.Z, order);
 
-                    for (int j = 0; j < 3; j++)
-                    {
-                        Write(stream, (short)data.bvTree[i].bmax[j], order);
-                    }
+                    RcIO.Write(stream, (short)data.bvTree[i].bmax.X, order);
+                    RcIO.Write(stream, (short)data.bvTree[i].bmax.Y, order);
+                    RcIO.Write(stream, (short)data.bvTree[i].bmax.Z, order);
                 }
                 else
                 {
-                    for (int j = 0; j < 3; j++)
-                    {
-                        Write(stream, data.bvTree[i].bmin[j], order);
+                    RcIO.Write(stream, data.bvTree[i].bmin.X, order);
+                    RcIO.Write(stream, data.bvTree[i].bmin.Y, order);
+                    RcIO.Write(stream, data.bvTree[i].bmin.Z, order);
+
+                    RcIO.Write(stream, data.bvTree[i].bmax.X, order);
+                    RcIO.Write(stream, data.bvTree[i].bmax.Y, order);
+                    RcIO.Write(stream, data.bvTree[i].bmax.Z, order);
                 }
 
-                    for (int j = 0; j < 3; j++)
-                    {
-                        Write(stream, data.bvTree[i].bmax[j], order);
-                    }
-                }
-
-                Write(stream, data.bvTree[i].i, order);
+                RcIO.Write(stream, data.bvTree[i].i, order);
             }
         }
 
@@ -161,16 +159,16 @@ namespace DotRecast.Detour.Io
             {
                 for (int j = 0; j < 2; j++)
                 {
-                    Write(stream, data.offMeshCons[i].pos[j].X, order);
-                    Write(stream, data.offMeshCons[i].pos[j].Y, order);
-                    Write(stream, data.offMeshCons[i].pos[j].Z, order);
+                    RcIO.Write(stream, data.offMeshCons[i].pos[j].X, order);
+                    RcIO.Write(stream, data.offMeshCons[i].pos[j].Y, order);
+                    RcIO.Write(stream, data.offMeshCons[i].pos[j].Z, order);
                 }
 
-                Write(stream, data.offMeshCons[i].rad, order);
-                Write(stream, (short)data.offMeshCons[i].poly, order);
-                Write(stream, (byte)data.offMeshCons[i].flags);
-                Write(stream, (byte)data.offMeshCons[i].side);
-                Write(stream, data.offMeshCons[i].userId, order);
+                RcIO.Write(stream, data.offMeshCons[i].rad, order);
+                RcIO.Write(stream, (short)data.offMeshCons[i].poly, order);
+                RcIO.Write(stream, (byte)data.offMeshCons[i].flags);
+                RcIO.Write(stream, (byte)data.offMeshCons[i].side);
+                RcIO.Write(stream, data.offMeshCons[i].userId, order);
             }
         }
     }

src/DotRecast.Detour/Io/DtMeshSetReader.cs

@@ -22,6 +22,8 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.Io
 {
+    using static DtDetour;
+
     public class DtMeshSetReader
     {
         private readonly DtMeshDataReader meshReader = new DtMeshDataReader();
@@ -29,7 +31,7 @@ namespace DotRecast.Detour.Io
 
         public DtNavMesh Read(BinaryReader @is, int maxVertPerPoly)
         {
-            return Read(IOUtils.ToByteBuffer(@is), maxVertPerPoly, false);
+            return Read(RcIO.ToByteBuffer(@is), maxVertPerPoly, false);
         }
 
         public DtNavMesh Read(RcByteBuffer bb, int maxVertPerPoly)
@@ -39,7 +41,7 @@ namespace DotRecast.Detour.Io
 
         public DtNavMesh Read32Bit(BinaryReader @is, int maxVertPerPoly)
         {
-            return Read(IOUtils.ToByteBuffer(@is), maxVertPerPoly, true);
+            return Read(RcIO.ToByteBuffer(@is), maxVertPerPoly, true);
         }
 
         public DtNavMesh Read32Bit(RcByteBuffer bb, int maxVertPerPoly)
@@ -49,7 +51,7 @@ namespace DotRecast.Detour.Io
 
         public DtNavMesh Read(BinaryReader @is)
         {
-            return Read(IOUtils.ToByteBuffer(@is));
+            return Read(RcIO.ToByteBuffer(@is));
         }
 
         public DtNavMesh Read(RcByteBuffer bb)
@@ -66,7 +68,8 @@ namespace DotRecast.Detour.Io
             }
 
             bool cCompatibility = header.version == NavMeshSetHeader.NAVMESHSET_VERSION;
-            DtNavMesh mesh = new DtNavMesh(header.option, header.maxVertsPerPoly);
+            DtNavMesh mesh = new DtNavMesh();
+            mesh.Init(header.option, header.maxVertsPerPoly);
             ReadTiles(bb, is32Bit, ref header, cCompatibility, mesh);
             return mesh;
         }
@@ -77,7 +80,7 @@ namespace DotRecast.Detour.Io
             header.magic = bb.GetInt();
             if (header.magic != NavMeshSetHeader.NAVMESHSET_MAGIC)
             {
-                header.magic = IOUtils.SwapEndianness(header.magic);
+                header.magic = RcIO.SwapEndianness(header.magic);
                 if (header.magic != NavMeshSetHeader.NAVMESHSET_MAGIC)
                 {
                     throw new IOException("Invalid magic " + header.magic);
@@ -131,7 +134,7 @@ namespace DotRecast.Detour.Io
                 }
 
                 DtMeshData data = meshReader.Read(bb, mesh.GetMaxVertsPerPoly(), is32Bit);
-                mesh.AddTile(data, i, tileHeader.tileRef);
+                mesh.AddTile(data, i, tileHeader.tileRef, out _);
             }
         }
 
@@ -147,7 +150,7 @@ namespace DotRecast.Detour.Io
             int salt = ((refs >> (m_polyBits + m_tileBits)) & saltMask);
             int it = ((refs >> m_polyBits) & tileMask);
             int ip = refs & polyMask;
-            return DtNavMesh.EncodePolyId(salt, it, ip);
+            return EncodePolyId(salt, it, ip);
         }
     }
 }

src/DotRecast.Detour/Io/DtMeshSetWriter.cs

@@ -22,7 +22,7 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour.Io
 {
-    public class DtMeshSetWriter : DtWriter
+    public class DtMeshSetWriter
     {
         private readonly DtMeshDataWriter writer = new DtMeshDataWriter();
         private readonly DtNavMeshParamWriter paramWriter = new DtNavMeshParamWriter();
@@ -35,8 +35,8 @@ namespace DotRecast.Detour.Io
 
         private void WriteHeader(BinaryWriter stream, DtNavMesh mesh, RcByteOrder order, bool cCompatibility)
         {
-            Write(stream, NavMeshSetHeader.NAVMESHSET_MAGIC, order);
-            Write(stream, cCompatibility ? NavMeshSetHeader.NAVMESHSET_VERSION : NavMeshSetHeader.NAVMESHSET_VERSION_RECAST4J, order);
+            RcIO.Write(stream, NavMeshSetHeader.NAVMESHSET_MAGIC, order);
+            RcIO.Write(stream, cCompatibility ? NavMeshSetHeader.NAVMESHSET_VERSION : NavMeshSetHeader.NAVMESHSET_VERSION_RECAST4J, order);
             int numTiles = 0;
             for (int i = 0; i < mesh.GetMaxTiles(); ++i)
             {
@@ -49,11 +49,11 @@ namespace DotRecast.Detour.Io
                 numTiles++;
             }
 
-            Write(stream, numTiles, order);
+            RcIO.Write(stream, numTiles, order);
             paramWriter.Write(stream, mesh.GetParams(), order);
             if (!cCompatibility)
             {
-                Write(stream, mesh.GetMaxVertsPerPoly(), order);
+                RcIO.Write(stream, mesh.GetMaxVertsPerPoly(), order);
             }
         }
 
@@ -77,11 +77,11 @@ namespace DotRecast.Detour.Io
 
                 byte[] ba = msw.ToArray();
                 tileHeader.dataSize = ba.Length;
-                Write(stream, tileHeader.tileRef, order);
-                Write(stream, tileHeader.dataSize, order);
+                RcIO.Write(stream, tileHeader.tileRef, order);
+                RcIO.Write(stream, tileHeader.dataSize, order);
                 if (cCompatibility)
                 {
-                    Write(stream, 0, order); // C struct padding
+                    RcIO.Write(stream, 0, order); // C struct padding
                 }
 
                 stream.Write(ba);

src/DotRecast.Detour/Io/DtNavMeshParamWriter.cs

@@ -4,17 +4,17 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour.Io
 {
-    public class DtNavMeshParamWriter : DtWriter
+    public class DtNavMeshParamWriter
     {
         public void Write(BinaryWriter stream, DtNavMeshParams option, RcByteOrder order)
         {
-            Write(stream, option.orig.X, order);
-            Write(stream, option.orig.Y, order);
-            Write(stream, option.orig.Z, order);
-            Write(stream, option.tileWidth, order);
-            Write(stream, option.tileHeight, order);
-            Write(stream, option.maxTiles, order);
-            Write(stream, option.maxPolys, order);
+            RcIO.Write(stream, option.orig.X, order);
+            RcIO.Write(stream, option.orig.Y, order);
+            RcIO.Write(stream, option.orig.Z, order);
+            RcIO.Write(stream, option.tileWidth, order);
+            RcIO.Write(stream, option.tileHeight, order);
+            RcIO.Write(stream, option.maxTiles, order);
+            RcIO.Write(stream, option.maxPolys, order);
         }
     }
 }

src/DotRecast.Detour/Io/DtWriter.cs

@@ -1,98 +0,0 @@
-/*
-Recast4J Copyright (c) 2015 Piotr Piastucki piotr@jtilia.org
-
-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.
-*/
-
-using System;
-using System.IO;
-using DotRecast.Core;
-
-namespace DotRecast.Detour.Io
-{
-    public abstract class DtWriter
-    {
-        protected void Write(BinaryWriter stream, float value, RcByteOrder order)
-        {
-            byte[] bytes = BitConverter.GetBytes(value);
-            int i = BitConverter.ToInt32(bytes, 0);
-            Write(stream, i, order);
-        }
-
-        protected void Write(BinaryWriter stream, short value, RcByteOrder order)
-        {
-            if (order == RcByteOrder.BIG_ENDIAN)
-            {
-                stream.Write((byte)((value >> 8) & 0xFF));
-                stream.Write((byte)(value & 0xFF));
-            }
-            else
-            {
-                stream.Write((byte)(value & 0xFF));
-                stream.Write((byte)((value >> 8) & 0xFF));
-            }
-        }
-
-        protected void Write(BinaryWriter stream, long value, RcByteOrder order)
-        {
-            if (order == RcByteOrder.BIG_ENDIAN)
-            {
-                Write(stream, (int)((ulong)value >> 32), order);
-                Write(stream, (int)(value & 0xFFFFFFFF), order);
-            }
-            else
-            {
-                Write(stream, (int)(value & 0xFFFFFFFF), order);
-                Write(stream, (int)((ulong)value >> 32), order);
-            }
-        }
-
-        protected void Write(BinaryWriter stream, int value, RcByteOrder order)
-        {
-            if (order == RcByteOrder.BIG_ENDIAN)
-            {
-                stream.Write((byte)((value >> 24) & 0xFF));
-                stream.Write((byte)((value >> 16) & 0xFF));
-                stream.Write((byte)((value >> 8) & 0xFF));
-                stream.Write((byte)(value & 0xFF));
-            }
-            else
-            {
-                stream.Write((byte)(value & 0xFF));
-                stream.Write((byte)((value >> 8) & 0xFF));
-                stream.Write((byte)((value >> 16) & 0xFF));
-                stream.Write((byte)((value >> 24) & 0xFF));
-            }
-        }
-
-        protected void Write(BinaryWriter stream, bool @bool)
-        {
-            Write(stream, (byte)(@bool ? 1 : 0));
-        }
-
-        protected void Write(BinaryWriter stream, byte value)
-        {
-            stream.Write(value);
-        }
-
-        protected void Write(BinaryWriter stream, MemoryStream data)
-        {
-            data.Position = 0;
-            byte[] buffer = new byte[data.Length];
-            data.Read(buffer, 0, buffer.Length);
-            stream.Write(buffer);
-        }
-    }
-}

src/DotRecast.Detour/Io/IOUtils.cs

@@ -1,64 +0,0 @@
-/*
-Recast4J Copyright (c) 2015 Piotr Piastucki piotr@jtilia.org
-
-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.
-*/
-
-using System;
-using System.IO;
-using DotRecast.Core;
-
-namespace DotRecast.Detour.Io
-{
-    public static class IOUtils
-    {
-        public static RcByteBuffer ToByteBuffer(BinaryReader @is, bool direct)
-        {
-            byte[] data = ToByteArray(@is);
-            if (direct)
-            {
-                Array.Reverse(data);
-            }
-
-            return new RcByteBuffer(data);
-        }
-
-        public static byte[] ToByteArray(BinaryReader inputStream)
-        {
-            using var msw = new MemoryStream();
-            byte[] buffer = new byte[4096];
-            int l;
-            while ((l = inputStream.Read(buffer)) > 0)
-            {
-                msw.Write(buffer, 0, l);
-            }
-
-            return msw.ToArray();
-        }
-
-
-        public static RcByteBuffer ToByteBuffer(BinaryReader inputStream)
-        {
-            var bytes = ToByteArray(inputStream);
-            return new RcByteBuffer(bytes);
-        }
-
-        public static int SwapEndianness(int i)
-        {
-            var s = (((uint)i >> 24) & 0xFF) | (((uint)i >> 8) & 0xFF00) | (((uint)i << 8) & 0xFF0000) | ((i << 24) & 0xFF000000);
-            return (int)s;
-        }
-    }
-}

src/DotRecast.Recast.Demo/DemoSample.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -32,6 +32,7 @@ namespace DotRecast.Recast.Demo
         private DtNavMesh _navMesh;
         private DtNavMeshQuery _navMeshQuery;
         private readonly RcNavMeshBuildSettings _settings;
+        private RcConfig _cfg;
         private IList<RcBuilderResult> _recastResults;
         private bool _changed;
 
@@ -56,6 +57,11 @@ namespace DotRecast.Recast.Demo
             return _geom;
         }
 
+        public RcConfig GetRecastConfig()
+        {
+            return _cfg;
+        }
+
         public IList<RcBuilderResult> GetRecastResults()
         {
             return _recastResults;
@@ -86,9 +92,10 @@ namespace DotRecast.Recast.Demo
             _changed = changed;
         }
 
-        public void Update(DemoInputGeomProvider geom, IList<RcBuilderResult> recastResults, DtNavMesh navMesh)
+        public void Update(DemoInputGeomProvider geom, RcConfig cfg, IList<RcBuilderResult> recastResults, DtNavMesh navMesh)
         {
             _geom = geom;
+            _cfg = cfg;
             _recastResults = recastResults;
             _navMesh = navMesh;
             SetQuery(navMesh);

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

@@ -20,15 +20,15 @@
   </ItemGroup>
 
   <ItemGroup>
-    <PackageReference Include="Serilog" Version="3.1.1" />
-    <PackageReference Include="Serilog.Settings.Configuration" Version="8.0.0" />
-    <PackageReference Include="Serilog.Enrichers.Thread" Version="3.1.0"/>
-    <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="Silk.NET" Version="2.20.0" />
-    <PackageReference Include="Silk.NET.OpenGL.Extensions.ImGui" Version="2.20.0" />
+    <PackageReference Include="Serilog" Version="4.1.0" />
+    <PackageReference Include="Serilog.Settings.Configuration" Version="8.0.4" />
+    <PackageReference Include="Serilog.Enrichers.Thread" Version="4.0.0" />
+    <PackageReference Include="Serilog.Sinks.Async" Version="2.1.0" />
+    <PackageReference Include="Serilog.Sinks.Console" Version="6.0.0" />
+    <PackageReference Include="Serilog.Sinks.File" Version="6.0.0" />
+    <PackageReference Include="K4os.Compression.LZ4" Version="1.3.8" />
+    <PackageReference Include="Silk.NET" Version="2.22.0" />
+    <PackageReference Include="Silk.NET.OpenGL.Extensions.ImGui" Version="2.22.0" />
   </ItemGroup>
 
   <ItemGroup>

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

@@ -1,4 +1,4 @@
-using System;
+using System;
 using DotRecast.Core;
 
 namespace DotRecast.Recast.Demo.Draw;
@@ -9,19 +9,19 @@ public class ArrayBuffer<T>
     private T[] _items;
     public int Count => _size;
 
-    public ArrayBuffer()
+    public ArrayBuffer() : this(512) { }
+
+    public ArrayBuffer(int capacity)
     {
+        if (capacity <= 0)
+            throw new ArgumentOutOfRangeException();
+
         _size = 0;
-        _items = Array.Empty<T>();
+        _items = new T[capacity];
     }
 
     public void Add(T item)
     {
-        if (0 >= _items.Length)
-        {
-            _items = new T[256];
-        }
-
         if (_items.Length <= _size)
         {
             var temp = new T[(int)(_size * 1.5)];
@@ -37,8 +37,8 @@ public class ArrayBuffer<T>
         _size = 0;
     }
 
-    public T[] AsArray()
+    public Span<T> AsArray()
     {
-        return _items;
+        return _items.AsSpan(0, _size);
     }
 }

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -326,9 +326,9 @@ public class DebugDraw
         }
     }
 
-    private static readonly int NUM_ARC_PTS = 8;
-    private static readonly float PAD = 0.05f;
-    private static readonly float ARC_PTS_SCALE = (1.0f - PAD * 2) / NUM_ARC_PTS;
+    private const int NUM_ARC_PTS = 8;
+    private const float PAD = 0.05f;
+    private const float ARC_PTS_SCALE = (1.0f - PAD * 2) / NUM_ARC_PTS;
 
     public void AppendArc(float x0, float y0, float z0, float x1, float y1, float z1, float h, float as0, float as1, int col)
     {
@@ -694,7 +694,7 @@ public class DebugDraw
         plane[3] = pw;
     }
 
-    public bool FrustumTest(float[] bounds)
+    public bool FrustumTest(Span<float> bounds)
     {
         foreach (float[] plane in frustumPlanes)
         {
@@ -748,6 +748,6 @@ public class DebugDraw
 
     public bool FrustumTest(RcVec3f bmin, RcVec3f bmax)
     {
-        return FrustumTest(new float[] { bmin.X, bmin.Y, bmin.Z, bmax.X, bmax.Y, bmax.Z });
+        return FrustumTest(stackalloc float[] { bmin.X, bmin.Y, bmin.Z, bmax.X, bmax.Y, bmax.Z });
     }
 }

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -32,15 +32,18 @@ public class GLCheckerTexture
         _gl = gl;
     }
 
-    public void Release()
+    public unsafe void Release()
     {
         if (m_texId != 0)
         {
-            _gl.DeleteTextures(1, m_texId);
+            fixed (uint* p = &m_texId)
+            {
+                _gl.DeleteTextures(1, p);
+            }
         }
     }
 
-    public void Bind()
+    public unsafe void Bind()
     {
         if (m_texId == 0)
         {
@@ -50,7 +53,11 @@ public class GLCheckerTexture
             uint TSIZE = 64;
             int[] data = new int[TSIZE * TSIZE];
 
-            _gl.GenTextures(1, out m_texId);
+            fixed (uint* p = &m_texId)
+            {
+                _gl.GenTextures(1, p);
+            }
+
             _gl.BindTexture(GLEnum.Texture2D, m_texId);
 
             int level = 0;
@@ -70,8 +77,10 @@ public class GLCheckerTexture
                 level++;
             }
 
-            _gl.TexParameterI(GLEnum.Texture2D, GLEnum.TextureMinFilter, (uint)GLEnum.LinearMipmapNearest);
-            _gl.TexParameterI(GLEnum.Texture2D, GLEnum.TextureMagFilter, (uint)GLEnum.Linear);
+            uint linearMipmapNearest = (uint)GLEnum.LinearMipmapNearest;
+            uint linear = (uint)GLEnum.Linear;
+            _gl.TexParameterI(GLEnum.Texture2D, GLEnum.TextureMinFilter, &linearMipmapNearest);
+            _gl.TexParameterI(GLEnum.Texture2D, GLEnum.TextureMagFilter, &linear);
         }
         else
         {

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

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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
@@ -68,8 +69,8 @@ public static class GLU
     public static int GlhUnProjectf(float winx, float winy, float winz, float[] modelview, float[] projection, int[] viewport, ref RcVec3f objectCoordinate)
     {
         // Transformation matrices
-        float[] m = new float[16], A = new float[16];
-        float[] @in = new float[4], @out = new float[4];
+        Span<float> m = stackalloc float[16], A = stackalloc float[16];
+        Span<float> @in = stackalloc float[4], @out = stackalloc float[4];
         // Calculation for inverting a matrix, compute projection x modelview
         // and store in A[16]
         MultiplyMatrices4by4OpenGL_FLOAT(A, projection, modelview);
@@ -92,7 +93,7 @@ public static class GLU
         return 1;
     }
 
-    static void MultiplyMatrices4by4OpenGL_FLOAT(float[] result, float[] matrix1, float[] matrix2)
+    static void MultiplyMatrices4by4OpenGL_FLOAT(Span<float> result, float[] matrix1, float[] matrix2)
     {
         result[0] = matrix1[0] * matrix2[0] + matrix1[4] * matrix2[1] + matrix1[8] * matrix2[2] + matrix1[12] * matrix2[3];
         result[4] = matrix1[0] * matrix2[4] + matrix1[4] * matrix2[5] + matrix1[8] * matrix2[6] + matrix1[12] * matrix2[7];
@@ -115,7 +116,7 @@ public static class GLU
         result[15] = matrix1[3] * matrix2[12] + matrix1[7] * matrix2[13] + matrix1[11] * matrix2[14] + matrix1[15] * matrix2[15];
     }
 
-    static void MultiplyMatrixByVector4by4OpenGL_FLOAT(float[] resultvector, float[] matrix, float[] pvector)
+    static void MultiplyMatrixByVector4by4OpenGL_FLOAT(Span<float> resultvector, Span<float> matrix, Span<float> pvector)
     {
         resultvector[0] = matrix[0] * pvector[0] + matrix[4] * pvector[1] + matrix[8] * pvector[2] + matrix[12] * pvector[3];
         resultvector[1] = matrix[1] * pvector[0] + matrix[5] * pvector[1] + matrix[9] * pvector[2] + matrix[13] * pvector[3];
@@ -124,15 +125,13 @@ public static class GLU
     }
 
     // This code comes directly from GLU except that it is for float
-    static int GlhInvertMatrixf2(float[] m, float[] @out)
+    static int GlhInvertMatrixf2(Span<float> m, Span<float> @out)
     {
-        float[][] wtmp = RcArrays.Of<float>(4, 8);
         float m0, m1, m2, m3, s;
-        float[] r0, r1, r2, r3;
-        r0 = wtmp[0];
-        r1 = wtmp[1];
-        r2 = wtmp[2];
-        r3 = wtmp[3];
+        Span<float> r0 = stackalloc float[8];
+        Span<float> r1 = stackalloc float[8];
+        Span<float> r2 = stackalloc float[8];
+        Span<float> r3 = stackalloc float[8];
         r0[0] = MAT(m, 0, 0);
         r0[1] = MAT(m, 0, 1);
         r0[2] = MAT(m, 0, 2);
@@ -160,27 +159,28 @@ public static class GLU
         /* choose pivot - or die */
         if (MathF.Abs(r3[0]) > MathF.Abs(r2[0]))
         {
-            float[] r = r2;
+            Span<float> r = r2;
             r2 = r3;
             r3 = r;
         }
 
         if (MathF.Abs(r2[0]) > MathF.Abs(r1[0]))
         {
-            float[] r = r2;
+            Span<float> r = r2;
             r2 = r1;
             r1 = r;
         }
 
         if (MathF.Abs(r1[0]) > MathF.Abs(r0[0]))
         {
-            float[] r = r1;
+            Span<float> r = r1;
             r1 = r0;
             r0 = r;
         }
 
         if (0.0 == r0[0])
             return 0;
+        
         /* eliminate first variable */
         m1 = r1[0] / r0[0];
         m2 = r2[0] / r0[0];
@@ -232,14 +232,14 @@ public static class GLU
         /* choose pivot - or die */
         if (MathF.Abs(r3[1]) > MathF.Abs(r2[1]))
         {
-            float[] r = r2;
+            Span<float> r = r2;
             r2 = r3;
             r3 = r;
         }
 
         if (MathF.Abs(r2[1]) > MathF.Abs(r1[1]))
         {
-            float[] r = r2;
+            Span<float> r = r2;
             r2 = r1;
             r1 = r;
         }
@@ -284,7 +284,7 @@ public static class GLU
         /* choose pivot - or die */
         if (MathF.Abs(r3[2]) > MathF.Abs(r2[2]))
         {
-            float[] r = r2;
+            Span<float> r = r2;
             r2 = r3;
             r3 = r;
         }
@@ -358,12 +358,12 @@ public static class GLU
         return 1;
     }
 
-    static float MAT(float[] m, int r, int c)
+    static float MAT(Span<float> m, int r, int c)
     {
         return m[(c) * 4 + (r)];
     }
 
-    static void MAT(float[] m, int r, int c, float v)
+    static void MAT(Span<float> m, int r, int c, float v)
     {
         m[(c) * 4 + (r)] = v;
     }

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

@@ -1,3 +1,4 @@
+using System.Numerics;
 using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast.Demo.Draw;

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

@@ -1,10 +1,11 @@
 using System;
-using System.IO;
 using Silk.NET.OpenGL;
 using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast.Demo.Draw;
 
+// TODO use a lot of Memory, 2GB+
+
 public class ModernOpenGLDraw : IOpenGLDraw
 {
     private GL _gl;
@@ -19,8 +20,8 @@ public class ModernOpenGLDraw : IOpenGLDraw
     private float fogEnd;
     private bool fogEnabled;
     private int uniformViewMatrix;
-    private readonly ArrayBuffer<OpenGLVertex> vertices = new();
-    private readonly ArrayBuffer<int> elements = new();
+    private readonly ArrayBuffer<OpenGLVertex> vertices = new(512);
+    private readonly ArrayBuffer<int> elements = new(512);
     private GLCheckerTexture _texture;
     private readonly float[] _viewMatrix = new float[16];
     private readonly float[] _projectionMatrix = new float[16];
@@ -36,36 +37,42 @@ public class ModernOpenGLDraw : IOpenGLDraw
 
     public unsafe void Init()
     {
-        string SHADER_VERSION = "#version 400\n";
-        string vertex_shader = SHADER_VERSION + "uniform mat4 ProjMtx;\n" //
-                                              + "uniform mat4 ViewMtx;\n" //
-                                              + "in vec3 Position;\n" //
-                                              + "in vec2 TexCoord;\n" //
-                                              + "in vec4 Color;\n" //
-                                              + "out vec2 Frag_UV;\n" //
-                                              + "out vec4 Frag_Color;\n" //
-                                              + "out float Frag_Depth;\n" //
-                                              + "void main() {\n" //
-                                              + "   Frag_UV = TexCoord;\n" //
-                                              + "   Frag_Color = Color;\n" //
-                                              + "   vec4 VSPosition = ViewMtx * vec4(Position, 1);\n" //
-                                              + "   Frag_Depth = -VSPosition.z;\n" //
-                                              + "   gl_Position = ProjMtx * VSPosition;\n" //
-                                              + "}\n";
-        string fragment_shader = SHADER_VERSION + "precision mediump float;\n" //
-                                                + "uniform sampler2D Texture;\n" //
-                                                + "uniform float UseTexture;\n" //
-                                                + "uniform float EnableFog;\n" //
-                                                + "uniform float FogStart;\n" //
-                                                + "uniform float FogEnd;\n" //
-                                                + "const vec4 FogColor = vec4(0.3f, 0.3f, 0.32f, 1.0f);\n" //
-                                                + "in vec2 Frag_UV;\n" //
-                                                + "in vec4 Frag_Color;\n" //
-                                                + "in float Frag_Depth;\n" //
-                                                + "out vec4 Out_Color;\n" //
-                                                + "void main(){\n" //
-                                                + "   Out_Color = mix(FogColor, Frag_Color * mix(vec4(1), texture(Texture, Frag_UV.st), UseTexture), 1.0 - EnableFog * clamp( (Frag_Depth - FogStart) / (FogEnd - FogStart), 0.0, 1.0) );\n" //
-                                                + "}\n";
+        const string SHADER_VERSION = "#version 400\n";
+        const string vertex_shader = $@"
+{SHADER_VERSION}
+uniform mat4 ProjMtx;
+uniform mat4 ViewMtx;
+in vec3 Position;
+in vec2 TexCoord;
+in vec4 Color;
+out vec2 Frag_UV;
+out vec4 Frag_Color;
+out float Frag_Depth;
+void main() {{
+   Frag_UV = TexCoord;
+   Frag_Color = Color;
+   vec4 VSPosition = ViewMtx * vec4(Position, 1);
+   Frag_Depth = -VSPosition.z;
+   gl_Position = ProjMtx * VSPosition;
+}}
+";
+        const string fragment_shader = $@"
+{SHADER_VERSION}
+precision mediump float;
+uniform sampler2D Texture;
+uniform float UseTexture;
+uniform float EnableFog;
+uniform float FogStart;
+uniform float FogEnd;
+const vec4 FogColor = vec4(0.3f, 0.3f, 0.32f, 1.0f);
+in vec2 Frag_UV;
+in vec4 Frag_Color;
+in float Frag_Depth;
+out vec4 Out_Color;
+void main(){{
+   Out_Color = mix(FogColor, Frag_Color * mix(vec4(1), texture(Texture, Frag_UV.st), UseTexture), 1.0 - EnableFog * clamp( (Frag_Depth - FogStart) / (FogEnd - FogStart), 0.0, 1.0) );
+}}
+";
 
         program = _gl.CreateProgram();
         uint vert_shdr = _gl.CreateShader(GLEnum.VertexShader);
@@ -150,6 +157,10 @@ public class ModernOpenGLDraw : IOpenGLDraw
         _gl.BindVertexArray(0);
         _gl.BindBuffer(GLEnum.ArrayBuffer, 0);
         _gl.BindBuffer(GLEnum.ElementArrayBuffer, 0);
+
+        //int* range = stackalloc int[2];
+        //_gl.GetInteger(GetPName.LineWidthRange, range);
+        //Console.WriteLine($"\nLineWidthRange: {range[0]} {range[1]}");
     }
 
     public void Clear()
@@ -191,35 +202,18 @@ public class ModernOpenGLDraw : IOpenGLDraw
         // GlBufferData(GL_ARRAY_BUFFER, MAX_VERTEX_BUFFER, GL_STREAM_DRAW);
         // GlBufferData(GL_ELEMENT_ARRAY_BUFFER, MAX_ELEMENT_BUFFER, GL_STREAM_DRAW);
 
-        uint vboSize = (uint)vertices.Count * 24;
-        uint eboSize = currentPrim == DebugDrawPrimitives.QUADS ? (uint)vertices.Count * 6 : (uint)vertices.Count * 4;
-
-        _gl.BufferData(GLEnum.ArrayBuffer, vboSize, null, GLEnum.StreamDraw);
-        _gl.BufferData(GLEnum.ElementArrayBuffer, eboSize, null, GLEnum.StreamDraw);
-        // load draw vertices & elements directly into vertex + element buffer
-
-        {
-            byte* pVerts = (byte*)_gl.MapBuffer(GLEnum.ArrayBuffer, GLEnum.WriteOnly);
-            byte* pElems = (byte*)_gl.MapBuffer(GLEnum.ElementArrayBuffer, GLEnum.WriteOnly);
-
-            //vertices.ForEach(v => v.Store(verts));
-            fixed (void* v = vertices.AsArray())
-            {
-                System.Buffer.MemoryCopy(v, pVerts, vboSize, vboSize);
-            }
+        _gl.BufferData<OpenGLVertex>(GLEnum.ArrayBuffer, vertices.AsArray(), GLEnum.DynamicDraw);
 
         if (currentPrim == DebugDrawPrimitives.QUADS)
         {
-                using var unmanagedElems = new UnmanagedMemoryStream(pElems, eboSize, eboSize, FileAccess.Write);
-                using var bw = new BinaryWriter(unmanagedElems);
             for (int i = 0; i < vertices.Count; i += 4)
             {
-                    bw.Write(i);
-                    bw.Write(i + 1);
-                    bw.Write(i + 2);
-                    bw.Write(i);
-                    bw.Write(i + 2);
-                    bw.Write(i + 3);
+                elements.Add(i);
+                elements.Add(i + 1);
+                elements.Add(i + 2);
+                elements.Add(i);
+                elements.Add(i + 2);
+                elements.Add(i + 3);
             }
         }
         else
@@ -228,16 +222,10 @@ public class ModernOpenGLDraw : IOpenGLDraw
             {
                 elements.Add(i);
             }
-
-                fixed (void* e = elements.AsArray())
-                {
-                    System.Buffer.MemoryCopy(e, pElems, eboSize, eboSize);
-                }
         }
 
-            _gl.UnmapBuffer(GLEnum.ElementArrayBuffer);
-            _gl.UnmapBuffer(GLEnum.ArrayBuffer);
-        }
+        _gl.BufferData<int>(GLEnum.ElementArrayBuffer, elements.AsArray(), GLEnum.DynamicDraw);
+
         if (_texture != null)
         {
             _texture.Bind();
@@ -271,15 +259,22 @@ public class ModernOpenGLDraw : IOpenGLDraw
         _gl.BindBuffer(GLEnum.ArrayBuffer, 0);
         _gl.BindBuffer(GLEnum.ElementArrayBuffer, 0);
         vertices.Clear();
+        elements.Clear();
         _gl.LineWidth(1.0f);
         _gl.PointSize(1.0f);
     }
 
+
     public void Vertex(float x, float y, float z, int color)
     {
         vertices.Add(new OpenGLVertex(x, y, z, color));
     }
 
+    public unsafe void Vertex(float* pos, int color)
+    {
+        vertices.Add(new OpenGLVertex(pos[0], pos[1], pos[2], color));
+    }
+
     public void Vertex(float[] pos, int color)
     {
         vertices.Add(new OpenGLVertex(pos, color));

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -23,14 +23,14 @@ using DotRecast.Core.Numerics;
 using DotRecast.Detour;
 using DotRecast.Recast.Toolset.Builder;
 using DotRecast.Recast.Toolset.Geom;
-using static DotRecast.Recast.RcCommons;
+using static DotRecast.Recast.RcRecast;
 
 namespace DotRecast.Recast.Demo.Draw;
 
 public class NavMeshRenderer
 {
     private readonly RecastDebugDraw _debugDraw;
-    private readonly int _navMeshDrawFlags = RecastDebugDraw.DRAWNAVMESH_OFFMESHCONS | RecastDebugDraw.DRAWNAVMESH_CLOSEDLIST;
+    private readonly int _navMeshDrawFlags = RecastDebugDraw.DU_DRAWNAVMESH_OFFMESHCONS | RecastDebugDraw.DU_DRAWNAVMESH_CLOSEDLIST;
 
     public NavMeshRenderer(RecastDebugDraw debugDraw)
     {
@@ -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.DebugDrawContours(rcBuilderResult.GetContourSet());
+                _debugDraw.DebugDrawRawContours(rcBuilderResult.ContourSet, 0.5f);
+                _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/Draw/RecastDebugDraw.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -19,7 +19,6 @@ freely, subject to the following restrictions:
 */
 
 using System;
-using System.Collections.Generic;
 using DotRecast.Core.Numerics;
 using DotRecast.Detour;
 using DotRecast.Recast.Toolset.Builder;
@@ -27,11 +26,13 @@ using Silk.NET.OpenGL;
 
 namespace DotRecast.Recast.Demo.Draw;
 
+using static DtDetour;
+
 public class RecastDebugDraw : DebugDraw
 {
-    public static readonly int DRAWNAVMESH_OFFMESHCONS = 0x01;
-    public static readonly int DRAWNAVMESH_CLOSEDLIST = 0x02;
-    public static readonly int DRAWNAVMESH_COLOR_TILES = 0x04;
+    public const int DU_DRAWNAVMESH_OFFMESHCONS = 0x01;
+    public const int DU_DRAWNAVMESH_CLOSEDLIST = 0x02;
+    public const int DU_DRAWNAVMESH_COLOR_TILES = 0x04;
 
     public RecastDebugDraw(GL gl) : base(gl)
     {
@@ -101,7 +102,7 @@ public class RecastDebugDraw : DebugDraw
 
     public void DebugDrawNavMeshWithClosedList(DtNavMesh mesh, DtNavMeshQuery query, int flags)
     {
-        DtNavMeshQuery q = (flags & DRAWNAVMESH_CLOSEDLIST) != 0 ? query : null;
+        DtNavMeshQuery q = (flags & DU_DRAWNAVMESH_CLOSEDLIST) != 0 ? query : null;
         for (int i = 0; i < mesh.GetMaxTiles(); ++i)
         {
             DtMeshTile tile = mesh.GetTile(i);
@@ -116,7 +117,7 @@ public class RecastDebugDraw : DebugDraw
     {
         long @base = mesh.GetPolyRefBase(tile);
 
-        int tileNum = DtNavMesh.DecodePolyIdTile(@base);
+        int tileNum = DecodePolyIdTile(@base);
         int tileColor = DuIntToCol(tileNum, 128);
         DepthMask(false);
         Begin(DebugDrawPrimitives.TRIS);
@@ -135,7 +136,7 @@ public class RecastDebugDraw : DebugDraw
             }
             else
             {
-                if ((flags & DRAWNAVMESH_COLOR_TILES) != 0)
+                if ((flags & DU_DRAWNAVMESH_COLOR_TILES) != 0)
                 {
                     col = tileColor;
                 }
@@ -163,7 +164,7 @@ public class RecastDebugDraw : DebugDraw
         // Draw outer poly boundaries
         DrawPolyBoundaries(tile, DuRGBA(0, 48, 64, 220), 2.5f, false);
 
-        if ((flags & DRAWNAVMESH_OFFMESHCONS) != 0)
+        if ((flags & DU_DRAWNAVMESH_OFFMESHCONS) != 0)
         {
             Begin(DebugDrawPrimitives.LINES, 2.0f);
             for (int i = 0; i < tile.data.header.polyCount; ++i)
@@ -198,7 +199,7 @@ public class RecastDebugDraw : DebugDraw
                 // Check to see if start and end end-points have links.
                 bool startSet = false;
                 bool endSet = false;
-                for (int k = tile.polyLinks[p.index]; k != DtNavMesh.DT_NULL_LINK; k = tile.links[k].next)
+                for (int k = p.firstLink; k != DT_NULL_LINK; k = tile.links[k].next)
                 {
                     if (tile.links[k].edge == 0)
                     {
@@ -299,6 +300,7 @@ public class RecastDebugDraw : DebugDraw
 
         Begin(DebugDrawPrimitives.LINES, linew);
 
+        Span<RcVec3f> tv = stackalloc RcVec3f[3];
         for (int i = 0; i < tile.data.header.polyCount; ++i)
         {
             DtPoly p = tile.data.polys[i];
@@ -318,10 +320,10 @@ public class RecastDebugDraw : DebugDraw
                         continue;
                     }
 
-                    if ((p.neis[j] & DtNavMesh.DT_EXT_LINK) != 0)
+                    if ((p.neis[j] & DT_EXT_LINK) != 0)
                     {
                         bool con = false;
-                        for (int k = tile.polyLinks[p.index]; k != DtNavMesh.DT_NULL_LINK; k = tile.links[k].next)
+                        for (int k = p.firstLink; k != DT_NULL_LINK; k = tile.links[k].next)
                         {
                             if (tile.links[k].edge == j)
                             {
@@ -370,14 +372,14 @@ public class RecastDebugDraw : DebugDraw
                     for (int k = 0; k < pd.triCount; ++k)
                     {
                         int t = (pd.triBase + k) * 4;
-                        RcVec3f[] tv = new RcVec3f[3];
                         for (int m = 0; m < 3; ++m)
                         {
                             int v = tile.data.detailTris[t + m];
                             if (v < p.vertCount)
                             {
                                 tv[m] = new RcVec3f(
-                                    tile.data.verts[p.verts[v] * 3], tile.data.verts[p.verts[v] * 3 + 1],
+                                    tile.data.verts[p.verts[v] * 3],
+                                    tile.data.verts[p.verts[v] * 3 + 1],
                                     tile.data.verts[p.verts[v] * 3 + 2]
                                 );
                             }
@@ -393,7 +395,7 @@ public class RecastDebugDraw : DebugDraw
 
                         for (int m = 0, n = 2; m < 3; n = m++)
                         {
-                            if ((DtNavMesh.GetDetailTriEdgeFlags(tile.data.detailTris[t + 3], n) & DtDetailTriEdgeFlags.DT_DETAIL_EDGE_BOUNDARY) == 0)
+                            if ((GetDetailTriEdgeFlags(tile.data.detailTris[t + 3], n) & DtDetailTriEdgeFlags.DT_DETAIL_EDGE_BOUNDARY) == 0)
                                 continue;
 
                             if (((tile.data.detailTris[t + 3] >> (n * 2)) & 0x3) == 0)
@@ -463,9 +465,13 @@ public class RecastDebugDraw : DebugDraw
                 continue;
             }
 
-            AppendBoxWire(tile.data.header.bmin.X + n.bmin[0] * cs, tile.data.header.bmin.Y + n.bmin[1] * cs,
-                tile.data.header.bmin.Z + n.bmin[2] * cs, tile.data.header.bmin.X + n.bmax[0] * cs,
-                tile.data.header.bmin.Y + n.bmax[1] * cs, tile.data.header.bmin.Z + n.bmax[2] * cs,
+            AppendBoxWire(
+                tile.data.header.bmin.X + n.bmin.X * cs, 
+                tile.data.header.bmin.Y + n.bmin.Y * cs,
+                tile.data.header.bmin.Z + n.bmin.Z * cs, 
+                tile.data.header.bmin.X + n.bmax.X * cs,
+                tile.data.header.bmin.Y + n.bmax.Y * cs, 
+                tile.data.header.bmin.Z + n.bmax.Z * cs,
                 DuRGBA(255, 255, 255, 128));
         }
 
@@ -497,7 +503,7 @@ public class RecastDebugDraw : DebugDraw
                     {
                         color = DuRGBA(0, 192, 255, 64);
                     }
-                    else if (area == RcConstants.RC_NULL_AREA)
+                    else if (area == RcRecast.RC_NULL_AREA)
                     {
                         color = DuRGBA(0, 0, 0, 64);
                     }
@@ -669,7 +675,7 @@ public class RecastDebugDraw : DebugDraw
                 int v3 = c.rverts[j * 4 + 3];
                 float off = 0;
                 int colv = color;
-                if ((v3 & RcConstants.RC_BORDER_VERTEX) != 0)
+                if ((v3 & RcRecast.RC_BORDER_VERTEX) != 0)
                 {
                     colv = DuRGBA(255, 255, 255, a);
                     off = ch * 2;
@@ -716,7 +722,7 @@ public class RecastDebugDraw : DebugDraw
                 int vb0 = c.verts[j * 4];
                 int vb1 = c.verts[j * 4 + 1];
                 int vb2 = c.verts[j * 4 + 2];
-                int col = (va3 & RcConstants.RC_AREA_BORDER) != 0 ? bcolor : color;
+                int col = (va3 & RcRecast.RC_AREA_BORDER) != 0 ? bcolor : color;
 
                 float fx = orig.X + va0 * cs;
                 float fy = orig.Y + (va1 + 1 + (i & 1)) * ch;
@@ -747,7 +753,7 @@ public class RecastDebugDraw : DebugDraw
                 int v3 = c.verts[j * 4 + 3];
                 float off = 0;
                 int colv = color;
-                if ((v3 & RcConstants.RC_BORDER_VERTEX) != 0)
+                if ((v3 & RcRecast.RC_BORDER_VERTEX) != 0)
                 {
                     colv = DuRGBA(255, 255, 255, a);
                     off = ch * 2;
@@ -827,7 +833,7 @@ public class RecastDebugDraw : DebugDraw
                     {
                         fcol[0] = DuRGBA(64, 128, 160, 255);
                     }
-                    else if (s.area == RcConstants.RC_NULL_AREA)
+                    else if (s.area == RcRecast.RC_NULL_AREA)
                     {
                         fcol[0] = DuRGBA(64, 64, 64, 255);
                     }
@@ -949,7 +955,7 @@ public class RecastDebugDraw : DebugDraw
             {
                 color = DuRGBA(0, 192, 255, 64);
             }
-            else if (area == RcConstants.RC_NULL_AREA)
+            else if (area == RcRecast.RC_NULL_AREA)
             {
                 color = DuRGBA(0, 0, 0, 64);
             }
@@ -961,7 +967,7 @@ public class RecastDebugDraw : DebugDraw
             int[] vi = new int[3];
             for (int j = 2; j < nvp; ++j)
             {
-                if (mesh.polys[p + j] == RcConstants.RC_MESH_NULL_IDX)
+                if (mesh.polys[p + j] == RcRecast.RC_MESH_NULL_IDX)
                 {
                     break;
                 }
@@ -992,7 +998,7 @@ public class RecastDebugDraw : DebugDraw
             int p = i * nvp * 2;
             for (int j = 0; j < nvp; ++j)
             {
-                if (mesh.polys[p + j] == RcConstants.RC_MESH_NULL_IDX)
+                if (mesh.polys[p + j] == RcRecast.RC_MESH_NULL_IDX)
                 {
                     break;
                 }
@@ -1002,7 +1008,7 @@ public class RecastDebugDraw : DebugDraw
                     continue;
                 }
 
-                int nj = (j + 1 >= nvp || mesh.polys[p + j + 1] == RcConstants.RC_MESH_NULL_IDX) ? 0 : j + 1;
+                int nj = (j + 1 >= nvp || mesh.polys[p + j + 1] == RcRecast.RC_MESH_NULL_IDX) ? 0 : j + 1;
                 int[] vi = { mesh.polys[p + j], mesh.polys[p + nj] };
 
                 for (int k = 0; k < 2; ++k)
@@ -1026,7 +1032,7 @@ public class RecastDebugDraw : DebugDraw
             int p = i * nvp * 2;
             for (int j = 0; j < nvp; ++j)
             {
-                if (mesh.polys[p + j] == RcConstants.RC_MESH_NULL_IDX)
+                if (mesh.polys[p + j] == RcRecast.RC_MESH_NULL_IDX)
                 {
                     break;
                 }
@@ -1036,7 +1042,7 @@ public class RecastDebugDraw : DebugDraw
                     continue;
                 }
 
-                int nj = (j + 1 >= nvp || mesh.polys[p + j + 1] == RcConstants.RC_MESH_NULL_IDX) ? 0 : j + 1;
+                int nj = (j + 1 >= nvp || mesh.polys[p + j + 1] == RcRecast.RC_MESH_NULL_IDX) ? 0 : j + 1;
                 int[] vi = { mesh.polys[p + j], mesh.polys[p + nj] };
 
                 int col = colb;
@@ -1327,7 +1333,7 @@ public class RecastDebugDraw : DebugDraw
 
         for (int side = 0; side < 8; ++side)
         {
-            int m = DtNavMesh.DT_EXT_LINK | (short)side;
+            int m = DT_EXT_LINK | (short)side;
 
             for (int i = 0; i < tile.data.header.polyCount; ++i)
             {

src/DotRecast.Recast.Demo/DtVoxelTileLZ4DemoCompressor.cs

@@ -1,4 +1,4 @@
-using System;
+using System;
 using DotRecast.Core;
 using K4os.Compression.LZ4;
 

src/DotRecast.Recast.Demo/KeyModState.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Recast.Demo;
+namespace DotRecast.Recast.Demo;
 
 public static class KeyModState
 {

src/DotRecast.Recast.Demo/Messages/GeomLoadBeganEvent.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Recast.Demo.Messages;
+namespace DotRecast.Recast.Demo.Messages;
 
 public class GeomLoadBeganEvent : IRecastDemoMessage
 {

src/DotRecast.Recast.Demo/Messages/IRecastDemoChannel.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Recast.Demo.Messages;
+namespace DotRecast.Recast.Demo.Messages;
 
 public interface IRecastDemoChannel
 {

src/DotRecast.Recast.Demo/Messages/IRecastDemoMessage.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Recast.Demo.Messages;
+namespace DotRecast.Recast.Demo.Messages;
 
 public class IRecastDemoMessage
 {

src/DotRecast.Recast.Demo/Messages/NavMeshBuildBeganEvent.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Recast.Demo.Messages;
+namespace DotRecast.Recast.Demo.Messages;
 
 public class NavMeshBuildBeganEvent : IRecastDemoMessage
 {

src/DotRecast.Recast.Demo/Messages/NavMeshLoadBeganEvent.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Recast.Demo.Messages;
+namespace DotRecast.Recast.Demo.Messages;
 
 public class NavMeshLoadBeganEvent : IRecastDemoMessage
 {

src/DotRecast.Recast.Demo/Messages/NavMeshSaveBeganEvent.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Recast.Demo.Messages;
+namespace DotRecast.Recast.Demo.Messages;
 
 public class NavMeshSaveBeganEvent : IRecastDemoMessage
 {

src/DotRecast.Recast.Demo/Messages/RaycastEvent.cs

@@ -1,4 +1,4 @@
-using DotRecast.Core.Numerics;
+using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast.Demo.Messages;
 

src/DotRecast.Recast.Demo/Program.cs

@@ -1,8 +1,8 @@
-using System.IO;
+using System.IO;
+using System.Threading;
 using DotRecast.Core;
 using DotRecast.Recast.Demo.Logging.Sinks;
 using Serilog;
-using Serilog.Enrichers;
 
 namespace DotRecast.Recast.Demo;
 
@@ -10,6 +10,8 @@ public static class Program
 {
     public static void Main(string[] args)
     {
+        Thread.CurrentThread.Name ??= "main";
+        
         InitializeWorkingDirectory();
         InitializeLogger();
         StartDemo();
@@ -22,7 +24,6 @@ public static class Program
             .MinimumLevel.Verbose()
             .Enrich.WithThreadId()
             .Enrich.WithThreadName()
-            .Enrich.WithProperty(ThreadNameEnricher.ThreadNamePropertyName, "main")
             .WriteTo.Async(c => c.LogMessageBroker(outputTemplate: format))
             .WriteTo.Async(c => c.Console(outputTemplate: format))
             .WriteTo.Async(c => c.File(

src/DotRecast.Recast.Demo/RecastDemo.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -25,6 +25,8 @@ using System.Globalization;
 using System.IO;
 using System.Linq;
 using System.Numerics;
+using System.Runtime;
+using System.Runtime.InteropServices;
 using DotRecast.Core;
 using Serilog;
 using Silk.NET.Input;
@@ -318,7 +320,7 @@ public class RecastDemo : IRecastDemoChannel
 
             if (null != mesh)
             {
-                _sample.Update(_sample.GetInputGeom(), ImmutableArray<RcBuilderResult>.Empty, mesh);
+                _sample.Update(_sample.GetInputGeom(), _sample.GetRecastConfig(), ImmutableArray<RcBuilderResult>.Empty, mesh);
                 _toolsetView.SetEnabled(true);
             }
         }
@@ -409,9 +411,17 @@ public class RecastDemo : IRecastDemoChannel
 
         var workingDirectory = Directory.GetCurrentDirectory();
         Logger.Information($"Working directory - {workingDirectory}");
-        Logger.Information($"ImGui.Net - version({ImGui.GetVersion()}) UI scale({scale}) fontSize({fontSize})");
-        Logger.Information($"Dotnet - {Environment.Version.ToString()} culture({currentCulture.Name})");
         Logger.Information($"OS Version - {Environment.OSVersion} {bitness}");
+        Logger.Information($"{RuntimeInformation.OSArchitecture} {RuntimeInformation.OSDescription}");
+        Logger.Information($"{RuntimeInformation.ProcessArchitecture} {RuntimeInformation.FrameworkDescription}");
+        Logger.Information($"Dotnet - {Environment.Version.ToString()} culture({currentCulture.Name})");
+        Logger.Information($"Processor Count : {Environment.ProcessorCount}");
+
+        Logger.Information($"Server garbage collection : {(GCSettings.IsServerGC ? "Enabled" : "Disabled")}");
+        Logger.Information($"Current latency mode for garbage collection: {GCSettings.LatencyMode}");
+        Logger.Information("");
+
+        Logger.Information($"ImGui.Net - version({ImGui.GetVersion()}) UI scale({scale}) fontSize({fontSize})");
         Logger.Information($"{vendor} {rendererGl}");
         Logger.Information($"gl version({version}) lang version({glslString})");
     }
@@ -462,7 +472,7 @@ public class RecastDemo : IRecastDemoChannel
             var settings = _sample.GetSettings();
             RcVec3f bmin = _sample.GetInputGeom().GetMeshBoundsMin();
             RcVec3f bmax = _sample.GetInputGeom().GetMeshBoundsMax();
-            RcCommons.CalcGridSize(bmin, bmax, settings.cellSize, out var gw, out var gh);
+            RcRecast.CalcGridSize(bmin, bmax, settings.cellSize, out var gw, out var gh);
             settingsView.SetVoxels(gw, gh);
             settingsView.SetTiles(tileNavMeshBuilder.GetTiles(_sample.GetInputGeom(), settings.cellSize, settings.tileSize));
             settingsView.SetMaxTiles(tileNavMeshBuilder.GetMaxTiles(_sample.GetInputGeom(), settings.cellSize, settings.tileSize));
@@ -537,6 +547,7 @@ 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 +563,7 @@ public class RecastDemo : IRecastDemoChannel
             {
                 foreach (RcBuilderResult result in _sample.GetRecastResults())
                 {
-                    if (result.GetSolidHeightfield() != null)
+                    if (result.CompactHeightfield != null)
                     {
                         if (!hasBound)
                         {
@@ -561,15 +572,15 @@ public class RecastDemo : IRecastDemoChannel
                         }
 
                         bminN = new RcVec3f(
-                            Math.Min(bminN.X, result.GetSolidHeightfield().bmin.X),
-                            Math.Min(bminN.Y, result.GetSolidHeightfield().bmin.Y),
-                            Math.Min(bminN.Z, result.GetSolidHeightfield().bmin.Z)
+                            Math.Min(bminN.X, result.CompactHeightfield.bmin.X),
+                            Math.Min(bminN.Y, result.CompactHeightfield.bmin.Y),
+                            Math.Min(bminN.Z, result.CompactHeightfield.bmin.Z)
                         );
 
                         bmaxN = new RcVec3f(
-                            Math.Max(bmaxN.X, result.GetSolidHeightfield().bmax.X),
-                            Math.Max(bmaxN.Y, result.GetSolidHeightfield().bmax.Y),
-                            Math.Max(bmaxN.Z, result.GetSolidHeightfield().bmax.Z)
+                            Math.Max(bmaxN.X, result.CompactHeightfield.bmax.X),
+                            Math.Max(bmaxN.Y, result.CompactHeightfield.bmax.Y),
+                            Math.Max(bmaxN.Z, result.CompactHeightfield.bmax.Z)
                         );
 
                         hasBound = true;
@@ -577,12 +588,15 @@ 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;
@@ -670,7 +684,7 @@ public class RecastDemo : IRecastDemoChannel
     {
         var geom = LoadInputMesh(args.FilePath);
 
-        _sample.Update(geom, ImmutableArray<RcBuilderResult>.Empty, null);
+        _sample.Update(geom, null, ImmutableArray<RcBuilderResult>.Empty, null);
     }
 
     private void OnNavMeshBuildBegan(NavMeshBuildBeganEvent args)
@@ -688,14 +702,15 @@ 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)
@@ -704,7 +719,7 @@ public class RecastDemo : IRecastDemoChannel
             return;
         }
 
-        _sample.Update(_sample.GetInputGeom(), buildResult.RecastBuilderResults, buildResult.NavMesh);
+        _sample.Update(_sample.GetInputGeom(), buildResult.Cfg, buildResult.RecastBuilderResults, buildResult.NavMesh);
         _sample.SetChanged(false);
         settingsView.SetBuildTime((RcFrequency.Ticks - t) / TimeSpan.TicksPerMillisecond);
         //settingsUI.SetBuildTelemetry(buildResult.Item1.Select(x => x.GetTelemetry()).ToList());
@@ -713,7 +728,7 @@ 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/ConvexVolumeSampleTool.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

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

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -18,12 +18,9 @@ freely, subject to the following restrictions:
 */
 
 using System;
-using System.Collections.Generic;
-using System.Linq;
 using DotRecast.Core.Numerics;
 using DotRecast.Detour;
 using DotRecast.Detour.Crowd;
-using DotRecast.Recast.Toolset.Builder;
 using DotRecast.Recast.Demo.Draw;
 using DotRecast.Recast.Toolset;
 using DotRecast.Recast.Toolset.Tools;
@@ -98,6 +95,11 @@ public class CrowdAgentProfilingSampleTool : ISampleTool
         ImGui.SliderInt("Max Iterations", ref toolCfg.maxIterations, 0, 4000);
         ImGui.NewLine();
 
+        ImGui.Text("Debug Draw");
+        ImGui.Separator();
+        ImGui.Checkbox("Show Agents", ref toolCfg.showAgents);
+        ImGui.NewLine();
+
         if (ImGui.Button("Start Crowd Profiling"))
         {
             var settings = _sample.GetSettings();
@@ -118,11 +120,11 @@ public class CrowdAgentProfilingSampleTool : ISampleTool
                 ImGui.Text($"{rtt.Key}: {rtt.Micros} us");
             }
 
-            ImGui.Text($"Sampling Time: {_tool.GetCrowdUpdateSamplingTime()} ms");
-            ImGui.Text($"Current Update Time: {_tool.GetCrowdUpdateTime()} ms");
-            ImGui.Text($"Avg Update Time: {_tool.GetCrowdUpdateAvgTime()} ms");
-            ImGui.Text($"Max Update Time: {_tool.GetCrowdUpdateMaxTime()} ms");
-            ImGui.Text($"Min Update Time: {_tool.GetCrowdUpdateMinTime()} ms");
+            ImGui.Text($"Sampling Time: {_tool.GetCrowdUpdateSamplingTime():0.00} ms");
+            ImGui.Text($"Current Update Time: {_tool.GetCrowdUpdateTime():0.00} ms");
+            ImGui.Text($"Avg Update Time: {_tool.GetCrowdUpdateAvgTime():0.00} ms");
+            ImGui.Text($"Max Update Time: {_tool.GetCrowdUpdateMaxTime():0.00} ms");
+            ImGui.Text($"Min Update Time: {_tool.GetCrowdUpdateMinTime():0.00} ms");
         }
     }
 
@@ -132,7 +134,7 @@ public class CrowdAgentProfilingSampleTool : ISampleTool
         dd.DepthMask(false);
 
         var crowd = _tool.GetCrowd();
-        if (crowd != null)
+        if (crowd != null && _tool.GetToolConfig().showAgents)
         {
             foreach (DtCrowdAgent ag in crowd.GetActiveAgents())
             {

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -234,7 +234,7 @@ public class CrowdSampleTool : ISampleTool
                 dd.Vertex(prev.X, prev.Y + 0.1f, prev.Z, DuRGBA(0, 0, 0, (int)(128 * preva)));
                 dd.Vertex(trail.trail[v], trail.trail[v + 1] + 0.1f, trail.trail[v + 2], DuRGBA(0, 0, 0, (int)(128 * a)));
                 preva = a;
-                prev = RcVecUtils.Create(trail.trail, v);
+                prev = RcVec.Create(trail.trail, v);
             }
 
             dd.End();
@@ -251,10 +251,10 @@ public class CrowdSampleTool : ISampleTool
 
             if (_showCorners)
             {
-                if (0 < ag.corners.Count)
+                if (0 < ag.ncorners)
                 {
                     dd.Begin(LINES, 2.0f);
-                    for (int j = 0; j < ag.corners.Count; ++j)
+                    for (int j = 0; j < ag.ncorners; ++j)
                     {
                         RcVec3f va = j == 0 ? pos : ag.corners[j - 1].pos;
                         RcVec3f vb = ag.corners[j].pos;
@@ -262,10 +262,10 @@ public class CrowdSampleTool : ISampleTool
                         dd.Vertex(vb.X, vb.Y + radius, vb.Z, DuRGBA(128, 0, 0, 192));
                     }
 
-                    if ((ag.corners[ag.corners.Count - 1].flags
+                    if ((ag.corners[ag.ncorners - 1].flags
                          & DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0)
                     {
-                        RcVec3f v = ag.corners[ag.corners.Count - 1].pos;
+                        RcVec3f v = ag.corners[ag.ncorners - 1].pos;
                         dd.Vertex(v.X, v.Y, v.Z, DuRGBA(192, 0, 0, 192));
                         dd.Vertex(v.X, v.Y + radius * 2, v.Z, DuRGBA(192, 0, 0, 192));
                     }
@@ -325,7 +325,7 @@ public class CrowdSampleTool : ISampleTool
                     2.0f);
 
                 dd.Begin(LINES, 2.0f);
-                for (int j = 0; j < ag.neis.Count; ++j)
+                for (int j = 0; j < ag.nneis; ++j)
                 {
                     DtCrowdAgent nei = ag.neis[j].agent;
                     if (nei != null)

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

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -25,6 +25,7 @@ using DotRecast.Core;
 using DotRecast.Core.Collections;
 using DotRecast.Core.Numerics;
 using DotRecast.Detour.Dynamic;
+using DotRecast.Detour.Dynamic.Io;
 using DotRecast.Recast.Toolset;
 using DotRecast.Recast.Toolset.Tools;
 using DotRecast.Recast.Demo.Draw;
@@ -91,7 +92,7 @@ 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;
     }
 
@@ -116,8 +117,17 @@ public class DynamicUpdateSampleTool : ISampleTool
 
         if (mode == RcDynamicUpdateToolMode.BUILD)
         {
-            var loadVoxelPopupStrId = "Load Voxels Popup";
+            const string loadVoxelPopupStrId = "Load Voxels Popup";
+
             bool isLoadVoxelPopup = true;
+            if (_sample.GetRecastResults() != null && _sample.GetRecastConfig() != null)
+            {
+                if (ImGui.Button("Import Voxels"))
+                {
+                    Copy();
+                }
+            }
+
             if (ImGui.Button("Load Voxels..."))
             {
                 ImGui.OpenPopup(loadVoxelPopupStrId);
@@ -135,7 +145,7 @@ public class DynamicUpdateSampleTool : ISampleTool
                 ImGui.EndPopup();
             }
 
-            var saveVoxelPopupStrId = "Save Voxels Popup";
+            const string saveVoxelPopupStrId = "Save Voxels Popup";
             bool isSaveVoxelPopup = true;
 
             var dynaMesh = _tool.GetDynamicNavMesh();
@@ -144,7 +154,7 @@ public class DynamicUpdateSampleTool : ISampleTool
                 ImGui.Checkbox("Compression", ref compression);
                 if (ImGui.Button("Save Voxels..."))
                 {
-                    ImGui.BeginPopup(saveVoxelPopupStrId);
+                    ImGui.OpenPopup(saveVoxelPopupStrId);
                 }
 
                 if (ImGui.BeginPopupModal(saveVoxelPopupStrId, ref isSaveVoxelPopup, ImGuiWindowFlags.NoTitleBar))
@@ -152,9 +162,7 @@ public class DynamicUpdateSampleTool : ISampleTool
                     var picker = ImFilePicker.GetFilePicker(saveVoxelPopupStrId, Path.Combine(Environment.CurrentDirectory), ".voxels");
                     if (picker.Draw())
                     {
-                        if (string.IsNullOrEmpty(picker.SelectedFile))
                         Save(picker.SelectedFile);
-
                         ImFilePicker.RemoveFilePicker(saveVoxelPopupStrId);
                     }
 
@@ -406,12 +414,12 @@ 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;
                 var dynaMesh = _tool.GetDynamicNavMesh();
-                _sample.Update(null, dynaMesh.RecastResults(), dynaMesh.NavMesh());
+                _sample.Update(null, null, dynaMesh.RecastResults(), dynaMesh.NavMesh());
                 _sample.SetChanged(false);
             }
         }
@@ -421,6 +429,15 @@ public class DynamicUpdateSampleTool : ISampleTool
         }
     }
 
+    private void Copy()
+    {
+        if (_sample.GetRecastResults() != null && _sample.GetRecastConfig() != null)
+        {
+            var dynaMesh = _tool.Copy(_sample.GetRecastConfig(), _sample.GetRecastResults());
+            UpdateFrom(dynaMesh.config);
+            BuildDynaMesh();
+        }
+    }
 
     private void Load(string filename)
     {
@@ -450,7 +467,7 @@ public class DynamicUpdateSampleTool : ISampleTool
         long t = RcFrequency.Ticks;
         try
         {
-            var _ = dynaMesh.Build(executor).Result;
+            var _ = dynaMesh.Build(executor);
         }
         catch (Exception e)
         {
@@ -458,7 +475,7 @@ public class DynamicUpdateSampleTool : ISampleTool
         }
 
         buildTime = (RcFrequency.Ticks - t) / TimeSpan.TicksPerMillisecond;
-        _sample.Update(null, dynaMesh.RecastResults(), dynaMesh.NavMesh());
+        _sample.Update(null, null, dynaMesh.RecastResults(), dynaMesh.NavMesh());
     }
 
     private void UpdateTo(DtDynamicNavMeshConfig config)

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

@@ -1,4 +1,4 @@
-using System;
+using System;
 using DotRecast.Core.Collections;
 using DotRecast.Core.Numerics;
 using DotRecast.Recast.Demo.Draw;
@@ -36,16 +36,11 @@ public static class GizmoRenderer
         }
     }
 
-    public static int GetColorByNormal(float[] vertices, int v0, int v1, int v2)
+    public static int GetColorByNormal(RcVec3f v0, RcVec3f v1, RcVec3f v2)
     {
-        RcVec3f e0 = new RcVec3f();
-        RcVec3f e1 = new RcVec3f();
         RcVec3f normal = new RcVec3f();
-        for (int j = 0; j < 3; ++j)
-        {
-            e0 = RcVecUtils.Subtract(vertices, v1, v0);
-            e1 = RcVecUtils.Subtract(vertices, v2, v0);
-        }
+        RcVec3f e0 = v1 - v0;
+        RcVec3f e1 = v2 - v0;
 
         normal.X = e0.Y * e1.Z - e0.Z * e1.Y;
         normal.Y = e0.Z * e1.X - e0.X * e1.Z;
@@ -65,7 +60,7 @@ public static class GizmoRenderer
         var trX = new RcVec3f(box.halfEdges[0].X, box.halfEdges[1].X, box.halfEdges[2].X);
         var trY = new RcVec3f(box.halfEdges[0].Y, box.halfEdges[1].Y, box.halfEdges[2].Y);
         var trZ = new RcVec3f(box.halfEdges[0].Z, box.halfEdges[1].Z, box.halfEdges[2].Z);
-        float[] vertices = new float[8 * 3];
+        Span<float> vertices = stackalloc float[8 * 3];
         for (int i = 0; i < 8; i++)
         {
             vertices[i * 3 + 0] = RcVec3f.Dot(RcBoxGizmo.VERTS[i], trX) + box.center.X;
@@ -160,13 +155,13 @@ public static class GizmoRenderer
         debugDraw.Begin(DebugDrawPrimitives.TRIS);
         for (int i = 0; i < trimesh.triangles.Length; i += 3)
         {
-            int v0 = 3 * trimesh.triangles[i];
-            int v1 = 3 * trimesh.triangles[i + 1];
-            int v2 = 3 * trimesh.triangles[i + 2];
-            int col = GetColorByNormal(trimesh.vertices, v0, v1, v2);
-            debugDraw.Vertex(trimesh.vertices[v0], trimesh.vertices[v0 + 1], trimesh.vertices[v0 + 2], col);
-            debugDraw.Vertex(trimesh.vertices[v1], trimesh.vertices[v1 + 1], trimesh.vertices[v1 + 2], col);
-            debugDraw.Vertex(trimesh.vertices[v2], trimesh.vertices[v2 + 1], trimesh.vertices[v2 + 2], col);
+            RcVec3f v0 = RcVec.Create(trimesh.vertices, 3 * trimesh.triangles[i]);
+            RcVec3f v1 = RcVec.Create(trimesh.vertices, 3 * trimesh.triangles[i + 1]);
+            RcVec3f v2 = RcVec.Create(trimesh.vertices, 3 * trimesh.triangles[i + 2]);
+            int col = GetColorByNormal(v0, v1, v2);
+            debugDraw.Vertex(v0.X, v0.Y, v0.Z, col);
+            debugDraw.Vertex(v1.X, v1.Y, v1.Z, col);
+            debugDraw.Vertex(v2.X, v2.Y, v2.Z, col);
         }
 
         debugDraw.End();

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

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();
@@ -404,7 +417,7 @@ public class JumpLinkBuilderSampleTool : ISampleTool
     }
 
 
-    private void DrawTrajectory(RecastDebugDraw dd, JumpLink link, RcVec3f pa, RcVec3f pb, Trajectory tra, int cola)
+    private void DrawTrajectory(RecastDebugDraw dd, JumpLink link, RcVec3f pa, RcVec3f pb, ITrajectory tra, int cola)
     {
     }
 

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

@@ -1,4 +1,4 @@
-using DotRecast.Core;
+using DotRecast.Core;
 using DotRecast.Core.Numerics;
 using DotRecast.Detour.TileCache;
 using DotRecast.Detour.TileCache.Io.Compress;
@@ -32,7 +32,7 @@ public class ObstacleSampleTool : ISampleTool
             var buildResult = _tool.Build(geom, settings, RcByteOrder.LITTLE_ENDIAN, true);
             if (buildResult.Success)
             {
-                _sample.Update(_sample.GetInputGeom(), buildResult.RecastBuilderResults, buildResult.NavMesh);
+                _sample.Update(_sample.GetInputGeom(), buildResult.Cfg, buildResult.RecastBuilderResults, buildResult.NavMesh);
             }
         }
 

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

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

@@ -57,7 +57,8 @@ public class TestNavmeshSampleTool : ISampleTool
     private bool m_hitResult;
 
     private float m_distanceToWall;
-    private List<DtStraightPath> m_straightPath;
+    private DtStraightPath[] m_straightPath;
+    private int m_straightPathCount;
     private List<long> m_polys;
     private List<long> m_parent;
     private float m_neighbourhoodRadius;
@@ -77,6 +78,8 @@ public class TestNavmeshSampleTool : ISampleTool
             SampleAreaModifications.SAMPLE_POLYFLAGS_DISABLED,
             new float[] { 1f, 1f, 1f, 1f, 2f, 1.5f }
         );
+        m_straightPath = new DtStraightPath[MAX_POLYS];
+        m_straightPathCount = 0;
     }
 
     public void Layout()
@@ -137,22 +140,22 @@ public class TestNavmeshSampleTool : ISampleTool
         ImGui.Text("Common");
         ImGui.Separator();
 
-        ImGui.Text("Include Flags");
+        ImGui.Text("+ Include Flags");
         ImGui.Separator();
-        ImGui.CheckboxFlags("Walk", ref _includeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_WALK);
-        ImGui.CheckboxFlags("Swim", ref _includeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_SWIM);
-        ImGui.CheckboxFlags("Door", ref _includeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_DOOR);
-        ImGui.CheckboxFlags("Jump", ref _includeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_JUMP);
+        ImGui.CheckboxFlags("+ Walk", ref _includeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_WALK);
+        ImGui.CheckboxFlags("+ Swim", ref _includeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_SWIM);
+        ImGui.CheckboxFlags("+ Door", ref _includeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_DOOR);
+        ImGui.CheckboxFlags("+ Jump", ref _includeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_JUMP);
         ImGui.NewLine();
 
         m_filter.SetIncludeFlags(_includeFlags);
 
-        ImGui.Text("Exclude Flags");
+        ImGui.Text("- Exclude Flags");
         ImGui.Separator();
-        ImGui.CheckboxFlags("Walk", ref _excludeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_WALK);
-        ImGui.CheckboxFlags("Swim", ref _excludeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_SWIM);
-        ImGui.CheckboxFlags("Door", ref _excludeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_DOOR);
-        ImGui.CheckboxFlags("Jump", ref _excludeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_JUMP);
+        ImGui.CheckboxFlags("- Walk", ref _excludeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_WALK);
+        ImGui.CheckboxFlags("- Swim", ref _excludeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_SWIM);
+        ImGui.CheckboxFlags("- Door", ref _excludeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_DOOR);
+        ImGui.CheckboxFlags("- Jump", ref _excludeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_JUMP);
         ImGui.NewLine();
 
         m_filter.SetExcludeFlags(_excludeFlags);
@@ -284,7 +287,7 @@ public class TestNavmeshSampleTool : ISampleTool
                 int spathCol = DuRGBA(64, 16, 0, 220);
                 int offMeshCol = DuRGBA(128, 96, 0, 220);
                 dd.Begin(LINES, 2.0f);
-                for (int i = 0; i < m_straightPath.Count - 1; ++i)
+                for (int i = 0; i < m_straightPathCount - 1; ++i)
                 {
                     DtStraightPath straightPathItem = m_straightPath[i];
                     DtStraightPath straightPathItem2 = m_straightPath[i + 1];
@@ -304,7 +307,7 @@ public class TestNavmeshSampleTool : ISampleTool
 
                 dd.End();
                 dd.Begin(POINTS, 6.0f);
-                for (int i = 0; i < m_straightPath.Count; ++i)
+                for (int i = 0; i < m_straightPathCount; ++i)
                 {
                     DtStraightPath straightPathItem = m_straightPath[i];
                     int col;
@@ -349,7 +352,7 @@ public class TestNavmeshSampleTool : ISampleTool
                 dd.DepthMask(false);
                 int spathCol = m_hitResult ? DuRGBA(64, 16, 0, 220) : DuRGBA(240, 240, 240, 220);
                 dd.Begin(LINES, 2.0f);
-                for (int i = 0; i < m_straightPath.Count - 1; ++i)
+                for (int i = 0; i < m_straightPathCount - 1; ++i)
                 {
                     DtStraightPath straightPathItem = m_straightPath[i];
                     DtStraightPath straightPathItem2 = m_straightPath[i + 1];
@@ -359,7 +362,7 @@ public class TestNavmeshSampleTool : ISampleTool
 
                 dd.End();
                 dd.Begin(POINTS, 4.0f);
-                for (int i = 0; i < m_straightPath.Count; ++i)
+                for (int i = 0; i < m_straightPathCount; ++i)
                 {
                     DtStraightPath straightPathItem = m_straightPath[i];
                     dd.Vertex(straightPathItem.pos.X, straightPathItem.pos.Y + 0.4f, straightPathItem.pos.Z, spathCol);
@@ -469,8 +472,9 @@ public class TestNavmeshSampleTool : ISampleTool
         {
             if (m_polys != null)
             {
-                var segmentVerts = new List<RcSegmentVert>();
-                var segmentRefs = new List<long>();
+                const int MAX_SEGS = DtDetour.DT_VERTS_PER_POLYGON * 4;
+                Span<RcSegmentVert> segs = stackalloc RcSegmentVert[MAX_SEGS];
+                Span<long> refs = stackalloc long[MAX_SEGS];
 
                 for (int i = 0; i < m_polys.Count; i++)
                 {
@@ -488,18 +492,20 @@ public class TestNavmeshSampleTool : ISampleTool
                     dd.DepthMask(true);
                     if (_sample.GetNavMeshQuery() != null)
                     {
+                        int nsegs = 0;
                         var result = _sample
                             .GetNavMeshQuery()
-                            .GetPolyWallSegments(m_polys[i], false, m_filter, ref segmentVerts, ref segmentRefs);
+                            .GetPolyWallSegments(m_polys[i], m_filter, segs, refs, ref nsegs, MAX_SEGS);
 
                         if (result.Succeeded())
                         {
                             dd.Begin(LINES, 2.0f);
-                            for (int j = 0; j < segmentVerts.Count; ++j)
+                            for (int j = 0; j < nsegs; ++j)
                             {
-                                RcSegmentVert s = segmentVerts[j];
+                                ref RcSegmentVert s = ref segs[j];
                                 var v0 = s.vmin;
                                 var s3 = s.vmax;
+                                
                                 // Skip too distant segments.
                                 var distSqr = DtUtils.DistancePtSegSqr2D(m_spos, v0, s3, out var tseg);
                                 if (distSqr > RcMath.Sqr(m_neighbourhoodRadius))
@@ -508,12 +514,13 @@ public class TestNavmeshSampleTool : ISampleTool
                                 }
 
                                 RcVec3f delta = RcVec3f.Subtract(s3, s.vmin);
-                                RcVec3f p0 = RcVecUtils.Mad(s.vmin, delta, 0.5f);
+                                RcVec3f p0 = RcVec.Mad(s.vmin, delta, 0.5f);
                                 RcVec3f norm = new RcVec3f(delta.Z, 0, -delta.X);
                                 norm = RcVec3f.Normalize(norm);
-                                RcVec3f p1 = RcVecUtils.Mad(p0, norm, agentRadius * 0.5f);
+                                RcVec3f p1 = RcVec.Mad(p0, norm, agentRadius * 0.5f);
+                                
                                 // Skip backfacing segments.
-                                if (segmentRefs[j] != 0)
+                                if (refs[j] != 0)
                                 {
                                     int col = DuRGBA(255, 255, 255, 32);
                                     dd.Vertex(s.vmin.X, s.vmin.Y + agentClimb, s.vmin.Z, col);
@@ -661,23 +668,23 @@ public class TestNavmeshSampleTool : ISampleTool
         if (_mode == RcTestNavmeshToolMode.PATHFIND_FOLLOW)
         {
             _tool.FindFollowPath(navMesh, navQuery, m_startRef, m_endRef, m_spos, m_epos, m_filter, _enableRaycast,
-                ref m_polys, ref m_smoothPath);
+                ref m_polys, m_polys?.Count ?? 0, ref m_smoothPath);
         }
         else if (_mode == RcTestNavmeshToolMode.PATHFIND_STRAIGHT)
         {
             _tool.FindStraightPath(navQuery, m_startRef, m_endRef, m_spos, m_epos, m_filter, _enableRaycast,
-                ref m_polys, ref m_straightPath, _straightPathOption);
+                ref m_polys, m_straightPath, out m_straightPathCount, MAX_POLYS, _straightPathOption);
         }
         else if (_mode == RcTestNavmeshToolMode.PATHFIND_SLICED)
         {
             m_polys?.Clear();
-            m_straightPath?.Clear();
+            m_straightPathCount = 0;
             m_pathFindStatus = _tool.InitSlicedFindPath(navQuery, m_startRef, m_endRef, m_spos, m_epos, m_filter, _enableRaycast);
         }
         else if (_mode == RcTestNavmeshToolMode.RAYCAST)
         {
             _tool.Raycast(navQuery, m_startRef, m_endRef, m_spos, m_epos, m_filter,
-                ref m_polys, ref m_straightPath, ref m_hitPos, ref m_hitNormal, ref m_hitResult);
+                ref m_polys, m_straightPath, out m_straightPathCount, MAX_POLYS, ref m_hitPos, ref m_hitNormal, ref m_hitResult);
         }
         else if (_mode == RcTestNavmeshToolMode.DISTANCE_TO_WALL)
         {
@@ -712,7 +719,7 @@ public class TestNavmeshSampleTool : ISampleTool
 
             if (m_pathFindStatus.InProgress())
             {
-                m_pathFindStatus = _tool.UpdateSlicedFindPath(navQuery, 1, m_endRef, m_spos, m_epos, ref m_polys, ref m_straightPath);
+                m_pathFindStatus = _tool.UpdateSlicedFindPath(navQuery, 1, m_endRef, m_spos, m_epos, ref m_polys, m_straightPath, out m_straightPathCount, MAX_POLYS);
             }
         }
     }

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

@@ -1,4 +1,4 @@
-using System;
+using System;
 using DotRecast.Core.Numerics;
 using DotRecast.Recast.Demo.Draw;
 using DotRecast.Recast.Toolset;

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

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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

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

@@ -1,4 +1,4 @@
-using System;
+using System;
 
 using System.Collections.Generic;
 using System.Collections.Immutable;
@@ -69,7 +69,7 @@ public class ImFilePicker
         ImGui.Text("Current Folder: " + CurrentFolder);
         bool result = false;
 
-        if (ImGui.BeginChildFrame(1, new Vector2(1024, 400)))
+        if (ImGui.BeginChild(1, new Vector2(1024, 400)))
         {
             var di = new DirectoryInfo(CurrentFolder);
             if (di.Exists)
@@ -111,7 +111,7 @@ public class ImFilePicker
             }
         }
 
-        ImGui.EndChildFrame();
+        ImGui.EndChild();
 
 
         if (ImGui.Button("Cancel"))

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

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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

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

@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Collections.Concurrent;
 using System.Collections.Generic;
 using System.Linq;
@@ -80,7 +80,7 @@ public class RcLogView : IRcView
         }
 
 
-        if (ImGui.BeginChild("scrolling", Vector2.Zero, false, ImGuiWindowFlags.HorizontalScrollbar))
+        if (ImGui.BeginChild("scrolling", Vector2.Zero, ImGuiChildFlags.None, ImGuiWindowFlags.HorizontalScrollbar))
         {
             _isHovered = ImGui.IsWindowHovered(ImGuiHoveredFlags.RectOnly | ImGuiHoveredFlags.RootAndChildWindows);
 

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

@@ -1,4 +1,4 @@
-using DotRecast.Core;
+using DotRecast.Core;
 using ImGuiNET;
 
 namespace DotRecast.Recast.Demo.UI;

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

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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
@@ -166,6 +167,10 @@ 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 +233,12 @@ 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.Demo/UI/RcToolsetView.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Recast.Demo/UI/ViewModels/LogMessageItem.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Recast.Demo.UI.ViewModels;
+namespace DotRecast.Recast.Demo.UI.ViewModels;
 
 public class LogMessageItem
 {

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();
-            RcPolyMeshDetail dmesh = rcResult.GetMeshDetail();
+            RcPolyMesh pmesh = rcResult.Mesh;
+            RcPolyMeshDetail dmesh = rcResult.MeshDetail;
             DtNavMeshCreateParams option = new DtNavMeshCreateParams();
             for (int i = 0; i < pmesh.npolys; ++i)
             {

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

@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Collections.Generic;
 using DotRecast.Detour;
 
@@ -7,6 +7,7 @@ namespace DotRecast.Recast.Toolset.Builder
     public class NavMeshBuildResult
     {
         public readonly bool Success;
+        public readonly RcConfig Cfg;
         public readonly IList<RcBuilderResult> RecastBuilderResults;
         public readonly DtNavMesh NavMesh;
 
@@ -17,11 +18,22 @@ namespace DotRecast.Recast.Toolset.Builder
             NavMesh = null;
         }
         
-        public NavMeshBuildResult(IList<RcBuilderResult> recastBuilderResults, DtNavMesh navMesh)
+        // for solo
+        public NavMeshBuildResult(RcConfig cfg, IList<RcBuilderResult> recastBuilderResults, DtNavMesh navMesh)
         {
             Success = true;
+            Cfg = cfg;
             RecastBuilderResults = recastBuilderResults;
             NavMesh = navMesh;
         }
+        
+        // for tiles
+        public NavMeshBuildResult(RcConfig cfg, IList<RcBuilderResult> recastBuilderResults)
+        {
+            Success = true;
+            Cfg = cfg;
+            RecastBuilderResults = recastBuilderResults;
+            NavMesh = null;
+        }
     }
 }

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -34,12 +34,12 @@ namespace DotRecast.Recast.Toolset.Builder
         public const int SAMPLE_POLYAREA_TYPE_JUMP_AUTO = 0x6;
         public const int SAMPLE_POLYAREA_TYPE_WALKABLE = 0x3f;
 
-        public static readonly int SAMPLE_POLYFLAGS_WALK = 0x01; // Ability to walk (ground, grass, road)
-        public static readonly int SAMPLE_POLYFLAGS_SWIM = 0x02; // Ability to swim (water).
-        public static readonly int SAMPLE_POLYFLAGS_DOOR = 0x04; // Ability to move through doors.
-        public static readonly int SAMPLE_POLYFLAGS_JUMP = 0x08; // Ability to jump.
-        public static readonly int SAMPLE_POLYFLAGS_DISABLED = 0x10; // Disabled polygon
-        public static readonly int SAMPLE_POLYFLAGS_ALL = 0xffff; // All abilities.
+        public const int SAMPLE_POLYFLAGS_WALK = 0x01; // Ability to walk (ground, grass, road)
+        public const int SAMPLE_POLYFLAGS_SWIM = 0x02; // Ability to swim (water).
+        public const int SAMPLE_POLYFLAGS_DOOR = 0x04; // Ability to move through doors.
+        public const int SAMPLE_POLYFLAGS_JUMP = 0x08; // Ability to jump.
+        public const int SAMPLE_POLYFLAGS_DISABLED = 0x10; // Disabled polygon
+        public const int SAMPLE_POLYFLAGS_ALL = 0xffff; // All abilities.
 
         public static readonly RcAreaModification SAMPLE_AREAMOD_WALKABLE = new RcAreaModification(SAMPLE_POLYAREA_TYPE_WALKABLE);
         public static readonly RcAreaModification SAMPLE_AREAMOD_GROUND = new RcAreaModification(SAMPLE_POLYAREA_TYPE_GROUND);

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

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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
@@ -34,7 +35,8 @@ 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 +47,8 @@ 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 +61,7 @@ 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)
             {
@@ -66,19 +69,26 @@ namespace DotRecast.Recast.Toolset.Builder
             }
 
             var navMesh = BuildNavMesh(meshData, vertsPerPoly);
-            return new NavMeshBuildResult(RcImmutableArray.Create(rcResult), navMesh);
+            return new NavMeshBuildResult(cfg, RcImmutableArray.Create(rcResult), navMesh);
         }
 
         private DtNavMesh BuildNavMesh(DtMeshData meshData, int vertsPerPoly)
         {
-            return new DtNavMesh(meshData, vertsPerPoly, 0);
+            var mesh = new DtNavMesh();
+            var status = mesh.Init(meshData, vertsPerPoly, 0);
+            if (status.Failed())
+            {
+                return null;
             }
             
-        private RcBuilderResult BuildRecastResult(DemoInputGeomProvider geom, RcConfig cfg)
+            return mesh;
+        }
+
+        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);
+            return rcBuilder.Build(geom, bcfg, keepInterResults);
         }
 
         public DtMeshData BuildMeshData(DemoInputGeomProvider geom,

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

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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
@@ -41,7 +42,8 @@ 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,
@@ -53,9 +55,10 @@ 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(
+            NavMeshBuildResult result = BuildRecastResult(
                 geom,
                 tileSize,
                 partitionType,
@@ -65,15 +68,16 @@ 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);
+            var tileMeshData = BuildMeshData(geom, cellSize, cellHeight, agentHeight, agentRadius, agentMaxClimb, result.RecastBuilderResults);
             var tileNavMesh = BuildNavMesh(geom, tileMeshData, cellSize, tileSize, vertsPerPoly);
-            return new NavMeshBuildResult(results, tileNavMesh);
+            return new NavMeshBuildResult(result.Cfg, result.RecastBuilderResults, tileNavMesh);
         }
 
-        public List<RcBuilderResult> BuildRecastResult(IInputGeomProvider geom,
+        public NavMeshBuildResult BuildRecastResult(IInputGeomProvider geom,
             int tileSize,
             RcPartition partitionType,
             float cellSize, float cellHeight,
@@ -82,7 +86,8 @@ 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 +102,8 @@ namespace DotRecast.Recast.Toolset.Builder
                 filterLowHangingObstacles, filterLedgeSpans, filterWalkableLowHeightSpans,
                 SampleAreaModifications.SAMPLE_AREAMOD_WALKABLE, true);
             RcBuilder rcBuilder = new RcBuilder();
-            return rcBuilder.BuildTiles(geom, cfg, Task.Factory);
+            var results = rcBuilder.BuildTiles(geom, cfg, keepInterResults, buildAll, Environment.ProcessorCount + 1, Task.Factory);
+            return new NavMeshBuildResult(cfg, results);
         }
 
         public DtNavMesh BuildNavMesh(IInputGeomProvider geom, List<DtMeshData> meshData, float cellSize, int tileSize, int vertsPerPoly)
@@ -111,8 +117,9 @@ namespace DotRecast.Recast.Toolset.Builder
 
             navMeshParams.maxTiles = GetMaxTiles(geom, cellSize, tileSize);
             navMeshParams.maxPolys = GetMaxPolysPerTile(geom, cellSize, tileSize);
-            DtNavMesh navMesh = new DtNavMesh(navMeshParams, vertsPerPoly);
-            meshData.ForEach(md => navMesh.AddTile(md, 0, 0));
+            DtNavMesh navMesh = new DtNavMesh();
+            navMesh.Init(navMeshParams, vertsPerPoly);
+            meshData.ForEach(md => navMesh.AddTile(md, 0, 0, out _));
             return navMesh;
         }
 
@@ -123,10 +130,9 @@ namespace DotRecast.Recast.Toolset.Builder
             List<DtMeshData> meshData = new List<DtMeshData>();
             foreach (RcBuilderResult result in results)
             {
-                int x = result.tileX;
-                int z = result.tileZ;
-                DtNavMeshCreateParams option = DemoNavMeshBuilder
-                    .GetNavMeshCreateParams(geom, cellSize, cellHeight, agentHeight, agentRadius, agentMaxClimb, result);
+                int x = result.TileX;
+                int z = result.TileZ;
+                DtNavMeshCreateParams option = DemoNavMeshBuilder.GetNavMeshCreateParams(geom, cellSize, cellHeight, agentHeight, agentRadius, agentMaxClimb, result);
 
                 option.tileX = x;
                 option.tileZ = z;
@@ -155,7 +161,7 @@ namespace DotRecast.Recast.Toolset.Builder
 
         private int GetTileBits(IInputGeomProvider geom, float cellSize, int tileSize)
         {
-            RcCommons.CalcGridSize(geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), cellSize, out var gw, out var gh);
+            RcRecast.CalcGridSize(geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), cellSize, out var gw, out var gh);
             int tw = (gw + tileSize - 1) / tileSize;
             int th = (gh + tileSize - 1) / tileSize;
             int tileBits = Math.Min(DtUtils.Ilog2(DtUtils.NextPow2(tw * th)), 14);
@@ -164,7 +170,7 @@ namespace DotRecast.Recast.Toolset.Builder
 
         public int[] GetTiles(DemoInputGeomProvider geom, float cellSize, int tileSize)
         {
-            RcCommons.CalcGridSize(geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), cellSize, out var gw, out var gh);
+            RcRecast.CalcGridSize(geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), cellSize, out var gw, out var gh);
             int tw = (gw + tileSize - 1) / tileSize;
             int th = (gh + tileSize - 1) / tileSize;
             return new int[] { tw, th };

src/DotRecast.Recast.Toolset/Geom/DemoDtTileCacheMeshProcess.cs

@@ -1,4 +1,4 @@
-using DotRecast.Detour;
+using DotRecast.Detour;
 using DotRecast.Detour.TileCache;
 using DotRecast.Recast.Geom;
 using DotRecast.Recast.Toolset.Builder;
@@ -46,13 +46,13 @@ namespace DotRecast.Recast.Toolset.Geom
             if (null != _geom)
             {
                 var offMeshConnections = _geom.GetOffMeshConnections();
+                option.offMeshConCount = offMeshConnections.Count;
                 option.offMeshConVerts = new float[option.offMeshConCount * 6];
                 option.offMeshConRad = new float[option.offMeshConCount];
                 option.offMeshConDir = new int[option.offMeshConCount];
                 option.offMeshConAreas = new int[option.offMeshConCount];
                 option.offMeshConFlags = new int[option.offMeshConCount];
                 option.offMeshConUserID = new int[option.offMeshConCount];
-                option.offMeshConCount = offMeshConnections.Count;
                 for (int i = 0; i < option.offMeshConCount; i++)
                 {
                     RcOffMeshConnection offMeshCon = offMeshConnections[i];
@@ -65,7 +65,7 @@ namespace DotRecast.Recast.Toolset.Geom
                     option.offMeshConDir[i] = offMeshCon.bidir ? 1 : 0;
                     option.offMeshConAreas[i] = offMeshCon.area;
                     option.offMeshConFlags[i] = offMeshCon.flags;
-                    // option.offMeshConUserID[i] = offMeshCon.userId;
+                    option.offMeshConUserID[i] = offMeshCon.userId;
                 }
             }
         }

src/DotRecast.Recast.Toolset/Geom/DemoInputGeomProvider.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -41,7 +41,7 @@ namespace DotRecast.Recast.Toolset.Geom
 
         public static DemoInputGeomProvider LoadFile(string objFilePath)
         {
-            byte[] chunk = RcResources.Load(objFilePath);
+            byte[] chunk = RcIO.ReadFileIfFound(objFilePath);
             var context = RcObjImporter.LoadContext(chunk);
             return new DemoInputGeomProvider(context.vertexPositions, context.meshFaces);
         }
@@ -57,12 +57,12 @@ namespace DotRecast.Recast.Toolset.Geom
             this.faces = faces;
             normals = new float[faces.Length];
             CalculateNormals();
-            bmin = RcVecUtils.Create(vertices);
-            bmax = RcVecUtils.Create(vertices);
+            bmin = new RcVec3f(vertices);
+            bmax = new RcVec3f(vertices);
             for (int i = 1; i < vertices.Length / 3; i++)
             {
-                bmin = RcVecUtils.Min(bmin, vertices, i * 3);
-                bmax = RcVecUtils.Max(bmax, vertices, i * 3);
+                bmin = RcVec3f.Min(bmin, RcVec.Create(vertices, i * 3));
+                bmax = RcVec3f.Max(bmax, RcVec.Create(vertices, i * 3));
             }
 
             _mesh = new RcTriMesh(vertices, faces);
@@ -87,11 +87,11 @@ namespace DotRecast.Recast.Toolset.Geom
         {
             for (int i = 0; i < faces.Length; i += 3)
             {
-                int v0 = faces[i] * 3;
-                int v1 = faces[i + 1] * 3;
-                int v2 = faces[i + 2] * 3;
-                var e0 = RcVecUtils.Subtract(vertices, v1, v0);
-                var e1 = RcVecUtils.Subtract(vertices, v2, v0);
+                RcVec3f v0 = RcVec.Create(vertices, faces[i] * 3);
+                RcVec3f v1 = RcVec.Create(vertices, faces[i + 1] * 3);
+                RcVec3f v2 = RcVec.Create(vertices, faces[i + 2] * 3);
+                RcVec3f e0 = v1 - v0;
+                RcVec3f e1 = v2 - v0;
 
                 normals[i] = e0.Y * e1.Z - e0.Z * e1.Y;
                 normals[i + 1] = e0.Z * e1.X - e0.X * e1.Z;
@@ -150,7 +150,7 @@ namespace DotRecast.Recast.Toolset.Geom
             q.X = src.X + (dst.X - src.X) * btmax;
             q.Y = src.Z + (dst.Z - src.Z) * btmax;
 
-            List<RcChunkyTriMeshNode> chunks = _mesh.chunkyTriMesh.GetChunksOverlappingSegment(p, q);
+            List<RcChunkyTriMeshNode> chunks = RcChunkyTriMeshs.GetChunksOverlappingSegment(_mesh.chunkyTriMesh, p, q);
             if (0 == chunks.Count)
             {
                 return false;

src/DotRecast.Recast.Toolset/Gizmos/RcCapsuleGizmo.cs

@@ -19,7 +19,7 @@ namespace DotRecast.Recast.Toolset.Gizmos
                 0.5f * (start.Z + end.Z)
             };
             RcVec3f axis = new RcVec3f(end.X - start.X, end.Y - start.Y, end.Z - start.Z);
-            RcVec3f[] normals = new RcVec3f[3];
+            Span<RcVec3f> normals = stackalloc RcVec3f[3];
             normals[1] = new RcVec3f(end.X - start.X, end.Y - start.Y, end.Z - start.Z);
             normals[1] = RcVec3f.Normalize(normals[1]);
             normals[0] = GetSideVector(axis);

src/DotRecast.Recast.Toolset/Gizmos/RcCompositeGizmo.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Recast.Toolset.Gizmos
+namespace DotRecast.Recast.Toolset.Gizmos
 {
     public class RcCompositeGizmo : IRcGizmoMeshFilter
     {

src/DotRecast.Recast.Toolset/Gizmos/RcCylinderGizmo.cs

@@ -19,7 +19,7 @@ namespace DotRecast.Recast.Toolset.Gizmos
                 0.5f * (start.Z + end.Z)
             );
             RcVec3f axis = new RcVec3f(end.X - start.X, end.Y - start.Y, end.Z - start.Z);
-            RcVec3f[] normals = new RcVec3f[3];
+            Span<RcVec3f> normals = stackalloc RcVec3f[3];
             normals[1] = new RcVec3f(end.X - start.X, end.Y - start.Y, end.Z - start.Z);
             normals[1] = RcVec3f.Normalize(normals[1]);
             normals[0] = GetSideVector(axis);

src/DotRecast.Recast.Toolset/Gizmos/RcGizmo.cs

@@ -1,4 +1,4 @@
-using DotRecast.Detour.Dynamic.Colliders;
+using DotRecast.Detour.Dynamic.Colliders;
 using DotRecast.Recast.Toolset.Gizmos;
 
 namespace DotRecast.Recast.Toolset.Gizmos

src/DotRecast.Recast.Toolset/Gizmos/RcGizmoFactory.cs

@@ -1,4 +1,4 @@
-using DotRecast.Core.Numerics;
+using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast.Toolset.Gizmos
 {

src/DotRecast.Recast.Toolset/Gizmos/RcGizmoHelper.cs

@@ -4,8 +4,8 @@ namespace DotRecast.Recast.Toolset.Gizmos
 {
     public static class RcGizmoHelper
     {
-        private static readonly int SEGMENTS = 16;
-        private static readonly int RINGS = 8;
+        private const int SEGMENTS = 16;
+        private const int RINGS = 8;
 
         private static float[] sphericalVertices;
 

src/DotRecast.Recast.Toolset/Gizmos/RcSphereGizmo.cs

@@ -1,7 +1,6 @@
-using DotRecast.Core.Numerics;
+using DotRecast.Core.Numerics;
 using static DotRecast.Recast.Toolset.Gizmos.RcGizmoHelper;
 
-
 namespace DotRecast.Recast.Toolset.Gizmos
 {
     public class RcSphereGizmo : IRcGizmoMeshFilter

src/DotRecast.Recast.Toolset/Gizmos/RcTrimeshGizmo.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Recast.Toolset.Gizmos
+namespace DotRecast.Recast.Toolset.Gizmos
 {
     public class RcTrimeshGizmo : IRcGizmoMeshFilter
     {

src/DotRecast.Recast.Toolset/IRcToolable.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Recast.Toolset
+namespace DotRecast.Recast.Toolset
 {
     public interface IRcToolable
     {

src/DotRecast.Recast.Toolset/RcNavMeshBuildSettings.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Recast.Toolset
+namespace DotRecast.Recast.Toolset
 {
     public class RcNavMeshBuildSettings
     {
@@ -31,5 +31,8 @@
 
         public bool tiled = false;
         public int tileSize = 32;
+        
+        public bool keepInterResults = true; // full memory
+        public bool buildAll = true;
     }
 }

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

@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Collections.Generic;
 using DotRecast.Core;
 using DotRecast.Core.Numerics;

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

@@ -1,4 +1,4 @@
-using DotRecast.Core.Numerics;
+using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast.Toolset.Tools
 {

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

@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Numerics;
@@ -26,12 +26,12 @@ namespace DotRecast.Recast.Toolset.Tools
         private readonly List<DtPolyPoint> _polyPoints;
 
         private const int SamplingCount = 500;
-        private long _samplingUpdateTime;
+        private double _samplingUpdateTime;
         private readonly RcCyclicBuffer<long> _updateTimes;
-        private long _curUpdateTime;
-        private long _avgUpdateTime;
-        private long _minUpdateTime;
-        private long _maxUpdateTime;
+        private double _curUpdateTime;
+        private double _avgUpdateTime;
+        private double _minUpdateTime;
+        private double _maxUpdateTime;
 
         public RcCrowdAgentProfilingTool()
         {
@@ -269,11 +269,11 @@ namespace DotRecast.Recast.Toolset.Tools
             _updateTimes.PushBack(currentTime);
 
             // for benchmark
-            _samplingUpdateTime = _updateTimes.Sum() / TimeSpan.TicksPerMillisecond;
-            _curUpdateTime = currentTime / TimeSpan.TicksPerMillisecond;
-            _avgUpdateTime = (long)(_updateTimes.Average() / TimeSpan.TicksPerMillisecond);
-            _minUpdateTime = _updateTimes.Min() / TimeSpan.TicksPerMillisecond;
-            _maxUpdateTime = _updateTimes.Max() / TimeSpan.TicksPerMillisecond;
+            _samplingUpdateTime = _updateTimes.Sum() / (double)TimeSpan.TicksPerMillisecond;
+            _curUpdateTime = currentTime / (double)TimeSpan.TicksPerMillisecond;
+            _avgUpdateTime = (_updateTimes.Average() / (double)TimeSpan.TicksPerMillisecond);
+            _minUpdateTime = _updateTimes.Min() / (double)TimeSpan.TicksPerMillisecond;
+            _maxUpdateTime = _updateTimes.Max() / (double)TimeSpan.TicksPerMillisecond;
         }
 
         private void MoveMob(DtNavMeshQuery navquery, IDtQueryFilter filter, DtCrowdAgent ag, RcCrowdAgentData crowAgentData)
@@ -374,27 +374,27 @@ namespace DotRecast.Recast.Toolset.Tools
             }
         }
 
-        public long GetCrowdUpdateSamplingTime()
+        public double GetCrowdUpdateSamplingTime()
         {
             return _samplingUpdateTime;
         }
 
-        public long GetCrowdUpdateTime()
+        public double GetCrowdUpdateTime()
         {
             return _curUpdateTime;
         }
 
-        public long GetCrowdUpdateAvgTime()
+        public double GetCrowdUpdateAvgTime()
         {
             return _avgUpdateTime;
         }
 
-        public long GetCrowdUpdateMinTime()
+        public double GetCrowdUpdateMinTime()
         {
             return _minUpdateTime;
         }
 
-        public long GetCrowdUpdateMaxTime()
+        public double GetCrowdUpdateMaxTime()
         {
             return _maxUpdateTime;
         }

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

@@ -1,4 +1,4 @@
-namespace DotRecast.Recast.Toolset.Tools
+namespace DotRecast.Recast.Toolset.Tools
 {
     public class RcCrowdAgentProfilingToolConfig
     {
@@ -12,5 +12,7 @@
         public float percentTravellers = 15f;
         public int pathQueueSize = 32;
         public int maxIterations = 300;
+
+        public bool showAgents = true;
     }
 }

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

@@ -1,4 +1,4 @@
-namespace DotRecast.Recast.Toolset.Tools
+namespace DotRecast.Recast.Toolset.Tools
 {
     public class RcCrowdAgentTrail
     {

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

@@ -1,4 +1,4 @@
-namespace DotRecast.Recast.Toolset.Tools
+namespace DotRecast.Recast.Toolset.Tools
 {
     public enum RcCrowdAgentType
     {

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

@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Collections.Generic;
 using DotRecast.Core;
 using DotRecast.Core.Numerics;
@@ -297,7 +297,7 @@ namespace DotRecast.Recast.Toolset.Tools
             RcVec3f vel = RcVec3f.Subtract(tgt, pos);
             vel.Y = 0.0f;
             vel = RcVec3f.Normalize(vel);
-            return vel.Scale(speed);
+            return vel * speed;
         }
 
         public long GetCrowdUpdateTime()

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

@@ -1,4 +1,4 @@
-using DotRecast.Core.Collections;
+using DotRecast.Core.Collections;
 
 namespace DotRecast.Recast.Toolset.Tools
 {

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

@@ -1,4 +1,4 @@
-namespace DotRecast.Recast.Toolset.Tools
+namespace DotRecast.Recast.Toolset.Tools
 {
     public enum RcDynamicColliderShape
     {

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

@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Collections.Generic;
 using System.IO;
 using System.Threading.Tasks;
@@ -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;
@@ -141,6 +141,16 @@ namespace DotRecast.Recast.Toolset.Tools
             return colliderWithGizmo;
         }
 
+        public DtDynamicNavMesh Copy(RcConfig cfg, IList<RcBuilderResult> results)
+        {
+            var voxelFile = DtVoxelFile.From(cfg, results);
+            dynaMesh = new DtDynamicNavMesh(voxelFile);
+            dynaMesh.config.keepIntermediateResults = true;
+            colliderGizmos.Clear();
+
+            return dynaMesh;
+        }
+
         public DtDynamicNavMesh Load(string filename, IRcCompressor compressor)
         {
             using var fs = new FileStream(filename, FileMode.Open, FileAccess.Read, FileShare.Read);
@@ -159,7 +169,7 @@ namespace DotRecast.Recast.Toolset.Tools
         public void Save(string filename, bool compression, IRcCompressor compressor)
         {
             DtVoxelFile voxelFile = DtVoxelFile.From(dynaMesh);
-            using var fs = new FileStream(filename, FileMode.CreateNew, FileAccess.Write);
+            using var fs = new FileStream(filename, FileMode.OpenOrCreate, FileAccess.Write, FileShare.ReadWrite);
             using var bw = new BinaryWriter(fs);
             DtVoxelFileWriter writer = new DtVoxelFileWriter(compressor);
             writer.Write(bw, voxelFile, compression);
@@ -339,20 +349,14 @@ 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;
-            if (updated)
-            {
-                return false;
-            }
-
-            return true;
+            return dynaMesh.Update(executor);
         }
 
         public bool Raycast(RcVec3f spos, RcVec3f epos, out float hitPos, out RcVec3f raycastHitPos)

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

@@ -1,4 +1,4 @@
-using DotRecast.Core.Collections;
+using DotRecast.Core.Collections;
 
 namespace DotRecast.Recast.Toolset.Tools
 {

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

@@ -1,4 +1,4 @@
-using System.Collections.Generic;
+using System.Collections.Generic;
 using DotRecast.Core.Numerics;
 using DotRecast.Detour.Extras.Jumplink;
 using DotRecast.Recast.Geom;
@@ -116,7 +116,7 @@ namespace DotRecast.Recast.Toolset.Tools
             {
                 RcVec3f p = link.startSamples[i].p;
                 RcVec3f q = link.endSamples[i].p;
-                if (i == 0 || RcVecUtils.Dist2D(prev, p) > agentRadius)
+                if (i == 0 || RcVec.Dist2D(prev, p) > agentRadius)
                 {
                     geom.AddOffMeshConnection(p, q, agentRadius, false, area, flags);
                     prev = p;

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

@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Linq;
 using DotRecast.Core;
 using DotRecast.Core.Collections;
@@ -42,7 +42,7 @@ namespace DotRecast.Recast.Toolset.Tools
             // Init cache
             var bmin = geom.GetMeshBoundsMin();
             var bmax = geom.GetMeshBoundsMax();
-            RcCommons.CalcGridSize(bmin, bmax, setting.cellSize, out var gw, out var gh);
+            RcRecast.CalcGridSize(bmin, bmax, setting.cellSize, out var gw, out var gh);
             int ts = setting.tileSize;
             int tw = (gw + ts - 1) / ts;
             int th = (gh + ts - 1) / ts;
@@ -78,7 +78,7 @@ namespace DotRecast.Recast.Toolset.Tools
                 _tc.BuildNavMeshTile(refs);
             }
 
-            return new NavMeshBuildResult(RcImmutableArray<RcBuilderResult>.Empty, _tc.GetNavMesh());
+            return new NavMeshBuildResult(cfg, RcImmutableArray<RcBuilderResult>.Empty, _tc.GetNavMesh());
         }
 
         public void ClearAllTempObstacles()
@@ -141,7 +141,8 @@ namespace DotRecast.Recast.Toolset.Tools
             navMeshParams.maxTiles = 256; // ..
             navMeshParams.maxPolys = 16384;
 
-            var navMesh = new DtNavMesh(navMeshParams, 6);
+            var navMesh = new DtNavMesh();
+            navMesh.Init(navMeshParams, 6);
             var comp = _comp.Create(cCompatibility ? 0 : 1);
             var storageParams = new DtTileCacheStorageParams(order, cCompatibility);
             DtTileCache tc = new DtTileCache(option, storageParams, navMesh, comp, _proc);

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

@@ -1,4 +1,4 @@
-using System;
+using System;
 using DotRecast.Core.Numerics;
 using DotRecast.Recast.Geom;
 using DotRecast.Recast.Toolset.Builder;
@@ -34,7 +34,7 @@ namespace DotRecast.Recast.Toolset.Tools
             RcOffMeshConnection nearestConnection = null;
             foreach (RcOffMeshConnection offMeshCon in geom.GetOffMeshConnections())
             {
-                float d = Math.Min(RcVecUtils.DistanceSquared(p, offMeshCon.verts, 0), RcVecUtils.DistanceSquared(p, offMeshCon.verts, 3));
+                float d = Math.Min(RcVec.DistanceSquared(p, offMeshCon.verts, 0), RcVec.DistanceSquared(p, offMeshCon.verts, 3));
                 if (d < nearestDist && Math.Sqrt(d) < settings.agentRadius)
                 {
                     nearestDist = d;

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

@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Collections.Generic;
 using DotRecast.Core;
 using DotRecast.Core.Numerics;
@@ -11,7 +11,6 @@ namespace DotRecast.Recast.Toolset.Tools
         public const int MAX_POLYS = 256;
         public const int MAX_SMOOTH = 2048;
 
-
         public RcTestNavMeshTool()
         {
         }
@@ -22,7 +21,7 @@ namespace DotRecast.Recast.Toolset.Tools
         }
 
         public DtStatus FindFollowPath(DtNavMesh navMesh, DtNavMeshQuery navQuery, long startRef, long endRef, RcVec3f startPt, RcVec3f endPt, IDtQueryFilter filter, bool enableRaycast,
-            ref List<long> pathIterPolys, ref List<RcVec3f> smoothPath)
+            ref List<long> pathIterPolys, int pathIterPolyCount, ref List<RcVec3f> smoothPath)
         {
             if (startRef == 0 || endRef == 0)
             {
@@ -36,6 +35,8 @@ namespace DotRecast.Recast.Toolset.Tools
             smoothPath ??= new List<RcVec3f>();
 
             pathIterPolys.Clear();
+            pathIterPolyCount = 0;
+
             smoothPath.Clear();
 
             var opt = new DtFindPathOption(enableRaycast ? DtFindPathOptions.DT_FINDPATH_ANY_ANGLE : 0, float.MaxValue);
@@ -43,24 +44,29 @@ namespace DotRecast.Recast.Toolset.Tools
             if (0 >= pathIterPolys.Count)
                 return DtStatus.DT_FAILURE;
 
+            pathIterPolyCount = pathIterPolys.Count;
+
             // Iterate over the path to find smooth path on the detail mesh surface.
             navQuery.ClosestPointOnPoly(startRef, startPt, out var iterPos, out var _);
             navQuery.ClosestPointOnPoly(pathIterPolys[pathIterPolys.Count - 1], endPt, out var targetPos, out var _);
 
-            float STEP_SIZE = 0.5f;
-            float SLOP = 0.01f;
+            const float STEP_SIZE = 0.5f;
+            const float SLOP = 0.01f;
 
             smoothPath.Clear();
             smoothPath.Add(iterPos);
-            var visited = new List<long>();
+
+            Span<long> visited = stackalloc long[16];
+            int nvisited = 0;
+
 
             // Move towards target a small advancement at a time until target reached or
             // when ran out of memory to store the path.
-            while (0 < pathIterPolys.Count && smoothPath.Count < MAX_SMOOTH)
+            while (0 < pathIterPolyCount && smoothPath.Count < MAX_SMOOTH)
             {
                 // Find location to steer towards.
                 if (!DtPathUtils.GetSteerTarget(navQuery, iterPos, targetPos, SLOP,
-                        pathIterPolys, out var steerPos, out var steerPosFlag, out var steerPosRef))
+                        pathIterPolys, pathIterPolyCount, out var steerPos, out var steerPosFlag, out var steerPosRef))
                 {
                     break;
                 }
@@ -85,15 +91,15 @@ namespace DotRecast.Recast.Toolset.Tools
                     len = STEP_SIZE / len;
                 }
 
-                RcVec3f moveTgt = RcVecUtils.Mad(iterPos, delta, len);
+                RcVec3f moveTgt = RcVec.Mad(iterPos, delta, len);
 
                 // Move
-                navQuery.MoveAlongSurface(pathIterPolys[0], iterPos, moveTgt, filter, out var result, ref visited);
+                navQuery.MoveAlongSurface(pathIterPolys[0], iterPos, moveTgt, filter, out var result, visited, out nvisited, 16);
 
                 iterPos = result;
 
-                pathIterPolys = DtPathUtils.MergeCorridorStartMoved(pathIterPolys, pathIterPolys.Count, MAX_POLYS, visited);
-                pathIterPolys = DtPathUtils.FixupShortcuts(pathIterPolys, navQuery);
+                pathIterPolyCount = DtPathUtils.MergeCorridorStartMoved(pathIterPolys, pathIterPolyCount, MAX_POLYS, visited, nvisited);
+                pathIterPolyCount = DtPathUtils.FixupShortcuts(ref pathIterPolys, pathIterPolyCount, navQuery);
 
                 var status = navQuery.GetPolyHeight(pathIterPolys[0], result, out var h);
                 if (status.Succeeded())
@@ -123,7 +129,7 @@ namespace DotRecast.Recast.Toolset.Tools
                     long prevRef = 0;
                     long polyRef = pathIterPolys[0];
                     int npos = 0;
-                    while (npos < pathIterPolys.Count && polyRef != steerPosRef)
+                    while (npos < pathIterPolyCount && polyRef != steerPosRef)
                     {
                         prevRef = polyRef;
                         polyRef = pathIterPolys[npos];
@@ -131,6 +137,7 @@ namespace DotRecast.Recast.Toolset.Tools
                     }
 
                     pathIterPolys = pathIterPolys.GetRange(npos, pathIterPolys.Count - npos);
+                    pathIterPolyCount -= npos;
 
                     // Handle the connection.
                     var status2 = navMesh.GetOffMeshConnectionPolyEndPoints(prevRef, polyRef, ref startPos, ref endPos);
@@ -164,15 +171,15 @@ namespace DotRecast.Recast.Toolset.Tools
         }
 
         public DtStatus FindStraightPath(DtNavMeshQuery navQuery, long startRef, long endRef, RcVec3f startPt, RcVec3f endPt, IDtQueryFilter filter, bool enableRaycast,
-            ref List<long> polys, ref List<DtStraightPath> straightPath, int straightPathOptions)
+            ref List<long> polys, Span<DtStraightPath> straightPath, out int straightPathCount, int maxStraightPath, int straightPathOptions)
         {
+            straightPathCount = 0;
             if (startRef == 0 || endRef == 0)
             {
                 return DtStatus.DT_FAILURE;
             }
 
             polys ??= new List<long>();
-            straightPath ??= new List<DtStraightPath>();
 
             polys.Clear();
             straightPath.Clear();
@@ -194,7 +201,7 @@ namespace DotRecast.Recast.Toolset.Tools
                 }
             }
 
-            navQuery.FindStraightPath(startPt, epos, polys, ref straightPath, MAX_POLYS, straightPathOptions);
+            navQuery.FindStraightPath(startPt, epos, polys, polys.Count, straightPath, out straightPathCount, maxStraightPath, straightPathOptions);
 
             return DtStatus.DT_SUCCESS;
         }
@@ -213,8 +220,9 @@ namespace DotRecast.Recast.Toolset.Tools
         }
 
         public DtStatus UpdateSlicedFindPath(DtNavMeshQuery navQuery, int maxIter, long endRef, RcVec3f startPos, RcVec3f endPos,
-            ref List<long> path, ref List<DtStraightPath> straightPath)
+            ref List<long> path, Span<DtStraightPath> straightPath, out int straightPathCount, int maxStraightPath)
         {
+            straightPathCount = 0;
             var status = navQuery.UpdateSlicedFindPath(maxIter, out _);
 
             if (!status.Succeeded())
@@ -224,7 +232,6 @@ namespace DotRecast.Recast.Toolset.Tools
 
             navQuery.FinalizeSlicedFindPath(ref path);
 
-            straightPath?.Clear();
             if (path != null)
             {
                 // In case of partial path, make sure the end point is clamped to the last polygon.
@@ -238,8 +245,7 @@ namespace DotRecast.Recast.Toolset.Tools
                     }
                 }
 
-                straightPath = new List<DtStraightPath>(MAX_POLYS);
-                navQuery.FindStraightPath(startPos, epos, path, ref straightPath, MAX_POLYS, DtStraightPathOptions.DT_STRAIGHTPATH_ALL_CROSSINGS);
+                navQuery.FindStraightPath(startPos, epos, path, path.Count, straightPath, out straightPathCount, maxStraightPath, DtStraightPathOptions.DT_STRAIGHTPATH_ALL_CROSSINGS);
             }
 
             return DtStatus.DT_SUCCESS;
@@ -247,13 +253,12 @@ namespace DotRecast.Recast.Toolset.Tools
 
 
         public DtStatus Raycast(DtNavMeshQuery navQuery, long startRef, long endRef, RcVec3f startPos, RcVec3f endPos, IDtQueryFilter filter,
-            ref List<long> polys, ref List<DtStraightPath> straightPath, ref RcVec3f hitPos, ref RcVec3f hitNormal, ref bool hitResult)
+            ref List<long> polys, Span<DtStraightPath> straightPath, out int straightPathCount, int maxStraightPath, ref RcVec3f hitPos, ref RcVec3f hitNormal, ref bool hitResult)
         {
+            straightPathCount = 0;
             if (startRef == 0 || endRef == 0)
             {
                 polys?.Clear();
-                straightPath?.Clear();
-
                 return DtStatus.DT_FAILURE;
             }
 
@@ -267,7 +272,7 @@ namespace DotRecast.Recast.Toolset.Tools
             // results ...
             polys = path;
 
-            if (t > 1)
+            if (t >= 1)
             {
                 // No hit
                 hitPos = endPos;
@@ -291,10 +296,8 @@ namespace DotRecast.Recast.Toolset.Tools
                 }
             }
 
-            straightPath ??= new List<DtStraightPath>();
-            straightPath.Clear();
-            straightPath.Add(new DtStraightPath(startPos, 0, 0));
-            straightPath.Add(new DtStraightPath(hitPos, 0, 0));
+            straightPath[straightPathCount++] = new DtStraightPath(startPos, 0, 0);
+            straightPath[straightPathCount++] = new DtStraightPath(hitPos, 0, 0);
 
             return status;
         }
@@ -377,7 +380,7 @@ namespace DotRecast.Recast.Toolset.Tools
             float nx = (epos.Z - spos.Z) * 0.25f;
             float nz = -(epos.X - spos.X) * 0.25f;
 
-            var tempQueryPoly = new RcVec3f[4];
+            RcVec3f[] tempQueryPoly = new RcVec3f[4];
             tempQueryPoly[0].X = spos.X + nx * 1.2f;
             tempQueryPoly[0].Y = spos.Y + agentHeight / 2;
             tempQueryPoly[0].Z = spos.Z + nz * 1.2f;

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

@@ -1,4 +1,4 @@
-using DotRecast.Core.Collections;
+using DotRecast.Core.Collections;
 
 namespace DotRecast.Recast.Toolset.Tools
 {

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

@@ -1,4 +1,4 @@
-using System.Linq;
+using System.Linq;
 using DotRecast.Core;
 using DotRecast.Core.Collections;
 using DotRecast.Core.Numerics;
@@ -23,7 +23,7 @@ namespace DotRecast.Recast.Toolset.Tools
             var bmin = geom.GetMeshBoundsMin();
             var bmax = geom.GetMeshBoundsMax();
             int gw = 0, gh = 0;
-            RcCommons.CalcGridSize(bmin, bmax, settings.cellSize, out gw, out gh);
+            RcRecast.CalcGridSize(bmin, bmax, settings.cellSize, out gw, out gh);
 
             int ts = settings.tileSize;
             int tw = (gw + ts - 1) / ts;
@@ -47,7 +47,7 @@ namespace DotRecast.Recast.Toolset.Tools
             var bmin = geom.GetMeshBoundsMin();
             var bmax = geom.GetMeshBoundsMax();
             int gw = 0, gh = 0;
-            RcCommons.CalcGridSize(bmin, bmax, settings.cellSize, out gw, out gh);
+            RcRecast.CalcGridSize(bmin, bmax, settings.cellSize, out gw, out gh);
 
             int ts = settings.tileSize;
             int tw = (gw + ts - 1) / ts;
@@ -68,8 +68,8 @@ namespace DotRecast.Recast.Toolset.Tools
             tileTriCount = 0; // ...
             tileMemUsage = 0; // ...
 
-            var availableTileCount = navMesh.GetAvailableTileCount();
-            if (0 >= availableTileCount)
+            var availableTile = navMesh.IsAvailableTileCount();
+            if (!availableTile)
             {
                 return false;
             }
@@ -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/EdgeValues.cs

@@ -0,0 +1,8 @@
+namespace DotRecast.Recast
+{
+    public static class EdgeValues
+    {
+        public const int EV_UNDEF = -1;
+        public const int EV_HULL = -2;
+    }
+}

src/DotRecast.Recast/Geom/BoundsItem.cs

@@ -1,4 +1,4 @@
-using DotRecast.Core.Numerics;
+using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast.Geom
 {

src/DotRecast.Recast/Geom/BoundsItemXComparer.cs

@@ -1,4 +1,4 @@
-using System.Collections.Generic;
+using System.Collections.Generic;
 
 namespace DotRecast.Recast.Geom
 {

src/DotRecast.Recast/Geom/BoundsItemYComparer.cs

@@ -1,4 +1,4 @@
-using System.Collections.Generic;
+using System.Collections.Generic;
 
 namespace DotRecast.Recast.Geom
 {

src/DotRecast.Recast/Geom/IInputGeomProvider.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Recast/Geom/RcChunkyTriMesh.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -18,278 +18,14 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-using System;
 using System.Collections.Generic;
-using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast.Geom
 {
     public class RcChunkyTriMesh
     {
-        private List<RcChunkyTriMeshNode> nodes;
-        private int ntris;
-        private int maxTrisPerChunk;
-
-        private void CalcExtends(BoundsItem[] items, int imin, int imax, ref RcVec2f bmin, ref RcVec2f bmax)
-        {
-            bmin.X = items[imin].bmin.X;
-            bmin.Y = items[imin].bmin.Y;
-
-            bmax.X = items[imin].bmax.X;
-            bmax.Y = items[imin].bmax.Y;
-
-            for (int i = imin + 1; i < imax; ++i)
-            {
-                BoundsItem it = items[i];
-                if (it.bmin.X < bmin.X)
-                {
-                    bmin.X = it.bmin.X;
-                }
-
-                if (it.bmin.Y < bmin.Y)
-                {
-                    bmin.Y = it.bmin.Y;
-                }
-
-                if (it.bmax.X > bmax.X)
-                {
-                    bmax.X = it.bmax.X;
-                }
-
-                if (it.bmax.Y > bmax.Y)
-                {
-                    bmax.Y = it.bmax.Y;
-                }
-            }
-        }
-
-        private int LongestAxis(float x, float y)
-        {
-            return y > x ? 1 : 0;
-        }
-
-        private void Subdivide(BoundsItem[] items, int imin, int imax, int trisPerChunk, List<RcChunkyTriMeshNode> nodes, int[] inTris)
-        {
-            int inum = imax - imin;
-
-            RcChunkyTriMeshNode node = new RcChunkyTriMeshNode();
-            nodes.Add(node);
-
-            if (inum <= trisPerChunk)
-            {
-                // Leaf
-                CalcExtends(items, imin, imax, ref node.bmin, ref node.bmax);
-
-                // Copy triangles.
-                node.i = nodes.Count;
-                node.tris = new int[inum * 3];
-
-                int dst = 0;
-                for (int i = imin; i < imax; ++i)
-                {
-                    int src = items[i].i * 3;
-                    node.tris[dst++] = inTris[src];
-                    node.tris[dst++] = inTris[src + 1];
-                    node.tris[dst++] = inTris[src + 2];
-                }
-            }
-            else
-            {
-                // Split
-                CalcExtends(items, imin, imax, ref node.bmin, ref node.bmax);
-
-                int axis = LongestAxis(node.bmax.X - node.bmin.X, node.bmax.Y - node.bmin.Y);
-
-                if (axis == 0)
-                {
-                    Array.Sort(items, imin, imax - imin, BoundsItemXComparer.Shared);
-                    // Sort along x-axis
-                }
-                else if (axis == 1)
-                {
-                    Array.Sort(items, imin, imax - imin, BoundsItemYComparer.Shared);
-                    // Sort along y-axis
-                }
-
-                int isplit = imin + inum / 2;
-
-                // Left
-                Subdivide(items, imin, isplit, trisPerChunk, nodes, inTris);
-                // Right
-                Subdivide(items, isplit, imax, trisPerChunk, nodes, inTris);
-
-                // Negative index means escape.
-                node.i = -nodes.Count;
-            }
-        }
-
-        public RcChunkyTriMesh(float[] verts, int[] tris, int ntris, int trisPerChunk)
-        {
-            int nchunks = (ntris + trisPerChunk - 1) / trisPerChunk;
-
-            nodes = new List<RcChunkyTriMeshNode>(nchunks);
-            this.ntris = ntris;
-
-            // Build tree
-            BoundsItem[] items = new BoundsItem[ntris];
-
-            for (int i = 0; i < ntris; i++)
-            {
-                int t = i * 3;
-                BoundsItem it = items[i] = new BoundsItem();
-                it.i = i;
-                // Calc triangle XZ bounds.
-                it.bmin.X = it.bmax.X = verts[tris[t] * 3 + 0];
-                it.bmin.Y = it.bmax.Y = verts[tris[t] * 3 + 2];
-                for (int j = 1; j < 3; ++j)
-                {
-                    int v = tris[t + j] * 3;
-                    if (verts[v] < it.bmin.X)
-                    {
-                        it.bmin.X = verts[v];
-                    }
-
-                    if (verts[v + 2] < it.bmin.Y)
-                    {
-                        it.bmin.Y = verts[v + 2];
-                    }
-
-                    if (verts[v] > it.bmax.X)
-                    {
-                        it.bmax.X = verts[v];
-                    }
-
-                    if (verts[v + 2] > it.bmax.Y)
-                    {
-                        it.bmax.Y = verts[v + 2];
-                    }
-                }
-            }
-
-            Subdivide(items, 0, ntris, trisPerChunk, nodes, tris);
-
-            // Calc max tris per node.
-            maxTrisPerChunk = 0;
-            foreach (RcChunkyTriMeshNode node in nodes)
-            {
-                bool isLeaf = node.i >= 0;
-                if (!isLeaf)
-                {
-                    continue;
-                }
-
-                if (node.tris.Length / 3 > maxTrisPerChunk)
-                {
-                    maxTrisPerChunk = node.tris.Length / 3;
-                }
-            }
-        }
-
-        private bool CheckOverlapRect(float[] amin, float[] amax, RcVec2f bmin, RcVec2f bmax)
-        {
-            bool overlap = true;
-            overlap = (amin[0] > bmax.X || amax[0] < bmin.X) ? false : overlap;
-            overlap = (amin[1] > bmax.Y || amax[1] < bmin.Y) ? false : overlap;
-            return overlap;
-        }
-
-        public List<RcChunkyTriMeshNode> GetChunksOverlappingRect(float[] bmin, float[] bmax)
-        {
-            // Traverse tree
-            List<RcChunkyTriMeshNode> ids = new List<RcChunkyTriMeshNode>();
-            int i = 0;
-            while (i < nodes.Count)
-            {
-                RcChunkyTriMeshNode node = nodes[i];
-                bool overlap = CheckOverlapRect(bmin, bmax, node.bmin, node.bmax);
-                bool isLeafNode = node.i >= 0;
-
-                if (isLeafNode && overlap)
-                {
-                    ids.Add(node);
-                }
-
-                if (overlap || isLeafNode)
-                {
-                    i++;
-                }
-                else
-                {
-                    i = -node.i;
-                }
-            }
-
-            return ids;
-        }
-
-        public List<RcChunkyTriMeshNode> GetChunksOverlappingSegment(RcVec2f p, RcVec2f q)
-        {
-            // Traverse tree
-            List<RcChunkyTriMeshNode> ids = new List<RcChunkyTriMeshNode>();
-            int i = 0;
-            while (i < nodes.Count)
-            {
-                RcChunkyTriMeshNode node = nodes[i];
-                bool overlap = CheckOverlapSegment(p, q, node.bmin, node.bmax);
-                bool isLeafNode = node.i >= 0;
-
-                if (isLeafNode && overlap)
-                {
-                    ids.Add(node);
-                }
-
-                if (overlap || isLeafNode)
-                {
-                    i++;
-                }
-                else
-                {
-                    i = -node.i;
-                }
-            }
-
-            return ids;
-        }
-
-        private bool CheckOverlapSegment(RcVec2f p, RcVec2f q, RcVec2f bmin, RcVec2f bmax)
-        {
-            const float EPSILON = 1e-6f;
-
-            float tmin = 0;
-            float tmax = 1;
-            var d = new RcVec2f();
-            d.X = q.X - p.X;
-            d.Y = q.Y - p.Y;
-
-            for (int i = 0; i < 2; i++)
-            {
-                if (MathF.Abs(d.Get(i)) < EPSILON)
-                {
-                    // Ray is parallel to slab. No hit if origin not within slab
-                    if (p.Get(i) < bmin.Get(i) || p.Get(i) > bmax.Get(i))
-                        return false;
-                }
-                else
-                {
-                    // Compute intersection t value of ray with near and far plane of slab
-                    float ood = 1.0f / d.Get(i);
-                    float t1 = (bmin.Get(i) - p.Get(i)) * ood;
-                    float t2 = (bmax.Get(i) - p.Get(i)) * ood;
-                    if (t1 > t2)
-                    {
-                        (t1, t2) = (t2, t1);
-                    }
-
-                    if (t1 > tmin)
-                        tmin = t1;
-                    if (t2 < tmax)
-                        tmax = t2;
-                    if (tmin > tmax)
-                        return false;
-                }
-            }
-
-            return true;
-        }
+        public List<RcChunkyTriMeshNode> nodes;
+        public int ntris;
+        public int maxTrisPerChunk;
     }
 }

src/DotRecast.Recast/Geom/RcChunkyTriMeshNode.cs

@@ -1,4 +1,4 @@
-using DotRecast.Core.Numerics;
+using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast.Geom
 {

src/DotRecast.Recast/Geom/RcChunkyTriMeshs.cs

@@ -0,0 +1,305 @@
+/*
+Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
+recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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.
+*/
+
+using System;
+using System.Collections.Generic;
+using DotRecast.Core.Numerics;
+
+namespace DotRecast.Recast.Geom
+{
+    public static class RcChunkyTriMeshs
+    {
+        /// Creates partitioned triangle mesh (AABB tree),
+        /// where each node contains at max trisPerChunk triangles.
+        public static bool CreateChunkyTriMesh(float[] verts, int[] tris, int ntris, int trisPerChunk, RcChunkyTriMesh cm)
+        {
+            int nchunks = (ntris + trisPerChunk - 1) / trisPerChunk;
+
+            cm.nodes = new List<RcChunkyTriMeshNode>(nchunks);
+            cm.ntris = ntris;
+
+            // Build tree
+            BoundsItem[] items = new BoundsItem[ntris];
+            for (int i = 0; i < ntris; ++i)
+            {
+                items[i] = new BoundsItem();
+            }
+
+            for (int i = 0; i < ntris; i++)
+            {
+                int t = i * 3;
+                BoundsItem it = items[i];
+                it.i = i;
+                // Calc triangle XZ bounds.
+                it.bmin.X = it.bmax.X = verts[tris[t] * 3 + 0];
+                it.bmin.Y = it.bmax.Y = verts[tris[t] * 3 + 2];
+                for (int j = 1; j < 3; ++j)
+                {
+                    int v = tris[t + j] * 3;
+                    if (verts[v] < it.bmin.X)
+                    {
+                        it.bmin.X = verts[v];
+                    }
+
+                    if (verts[v + 2] < it.bmin.Y)
+                    {
+                        it.bmin.Y = verts[v + 2];
+                    }
+
+                    if (verts[v] > it.bmax.X)
+                    {
+                        it.bmax.X = verts[v];
+                    }
+
+                    if (verts[v + 2] > it.bmax.Y)
+                    {
+                        it.bmax.Y = verts[v + 2];
+                    }
+                }
+            }
+
+            Subdivide(items, 0, ntris, trisPerChunk, cm.nodes, tris);
+
+            items = null;
+
+            // Calc max tris per node.
+            cm.maxTrisPerChunk = 0;
+            foreach (RcChunkyTriMeshNode node in cm.nodes)
+            {
+                bool isLeaf = node.i >= 0;
+                if (!isLeaf)
+                {
+                    continue;
+                }
+
+                if (node.tris.Length / 3 > cm.maxTrisPerChunk)
+                {
+                    cm.maxTrisPerChunk = node.tris.Length / 3;
+                }
+            }
+
+            return true;
+        }
+
+        /// Returns the chunk indices which overlap the input rectable.
+        public static List<RcChunkyTriMeshNode> GetChunksOverlappingRect(RcChunkyTriMesh cm, RcVec2f bmin, RcVec2f bmax)
+        {
+            // Traverse tree
+            List<RcChunkyTriMeshNode> ids = new List<RcChunkyTriMeshNode>();
+            int i = 0;
+            while (i < cm.nodes.Count)
+            {
+                RcChunkyTriMeshNode node = cm.nodes[i];
+                bool overlap = CheckOverlapRect(bmin, bmax, node.bmin, node.bmax);
+                bool isLeafNode = node.i >= 0;
+
+                if (isLeafNode && overlap)
+                {
+                    ids.Add(node);
+                }
+
+                if (overlap || isLeafNode)
+                {
+                    i++;
+                }
+                else
+                {
+                    i = -node.i;
+                }
+            }
+
+            return ids;
+        }
+
+        /// Returns the chunk indices which overlap the input segment.
+        public static List<RcChunkyTriMeshNode> GetChunksOverlappingSegment(RcChunkyTriMesh cm, RcVec2f p, RcVec2f q)
+        {
+            // Traverse tree
+            List<RcChunkyTriMeshNode> ids = new List<RcChunkyTriMeshNode>();
+            int i = 0;
+            while (i < cm.nodes.Count)
+            {
+                RcChunkyTriMeshNode node = cm.nodes[i];
+                bool overlap = CheckOverlapSegment(p, q, node.bmin, node.bmax);
+                bool isLeafNode = node.i >= 0;
+
+                if (isLeafNode && overlap)
+                {
+                    ids.Add(node);
+                }
+
+                if (overlap || isLeafNode)
+                {
+                    i++;
+                }
+                else
+                {
+                    i = -node.i;
+                }
+            }
+
+            return ids;
+        }
+
+
+        private static void CalcExtends(BoundsItem[] items, int imin, int imax, ref RcVec2f bmin, ref RcVec2f bmax)
+        {
+            bmin.X = items[imin].bmin.X;
+            bmin.Y = items[imin].bmin.Y;
+
+            bmax.X = items[imin].bmax.X;
+            bmax.Y = items[imin].bmax.Y;
+
+            for (int i = imin + 1; i < imax; ++i)
+            {
+                BoundsItem it = items[i];
+                if (it.bmin.X < bmin.X)
+                {
+                    bmin.X = it.bmin.X;
+                }
+
+                if (it.bmin.Y < bmin.Y)
+                {
+                    bmin.Y = it.bmin.Y;
+                }
+
+                if (it.bmax.X > bmax.X)
+                {
+                    bmax.X = it.bmax.X;
+                }
+
+                if (it.bmax.Y > bmax.Y)
+                {
+                    bmax.Y = it.bmax.Y;
+                }
+            }
+        }
+
+        private static int LongestAxis(float x, float y)
+        {
+            return y > x ? 1 : 0;
+        }
+
+        private static void Subdivide(BoundsItem[] items, int imin, int imax, int trisPerChunk, List<RcChunkyTriMeshNode> nodes, int[] inTris)
+        {
+            int inum = imax - imin;
+
+            RcChunkyTriMeshNode node = new RcChunkyTriMeshNode();
+            nodes.Add(node);
+
+            if (inum <= trisPerChunk)
+            {
+                // Leaf
+                CalcExtends(items, imin, imax, ref node.bmin, ref node.bmax);
+
+                // Copy triangles.
+                node.i = nodes.Count;
+                node.tris = new int[inum * 3];
+
+                int dst = 0;
+                for (int i = imin; i < imax; ++i)
+                {
+                    int src = items[i].i * 3;
+                    node.tris[dst++] = inTris[src];
+                    node.tris[dst++] = inTris[src + 1];
+                    node.tris[dst++] = inTris[src + 2];
+                }
+            }
+            else
+            {
+                // Split
+                CalcExtends(items, imin, imax, ref node.bmin, ref node.bmax);
+
+                int axis = LongestAxis(node.bmax.X - node.bmin.X, node.bmax.Y - node.bmin.Y);
+
+                if (axis == 0)
+                {
+                    Array.Sort(items, imin, imax - imin, BoundsItemXComparer.Shared);
+                    // Sort along x-axis
+                }
+                else if (axis == 1)
+                {
+                    Array.Sort(items, imin, imax - imin, BoundsItemYComparer.Shared);
+                    // Sort along y-axis
+                }
+
+                int isplit = imin + inum / 2;
+
+                // Left
+                Subdivide(items, imin, isplit, trisPerChunk, nodes, inTris);
+                // Right
+                Subdivide(items, isplit, imax, trisPerChunk, nodes, inTris);
+
+                // Negative index means escape.
+                node.i = -nodes.Count;
+            }
+        }
+
+        private static bool CheckOverlapRect(RcVec2f amin, RcVec2f amax, RcVec2f bmin, RcVec2f bmax)
+        {
+            bool overlap = true;
+            overlap = (amin.X > bmax.X || amax.X < bmin.X) ? false : overlap;
+            overlap = (amin.Y > bmax.Y || amax.Y < bmin.Y) ? false : overlap;
+            return overlap;
+        }
+
+
+        private static bool CheckOverlapSegment(RcVec2f p, RcVec2f q, RcVec2f bmin, RcVec2f bmax)
+        {
+            const float EPSILON = 1e-6f;
+
+            float tmin = 0;
+            float tmax = 1;
+            var d = new RcVec2f();
+            d.X = q.X - p.X;
+            d.Y = q.Y - p.Y;
+
+            for (int i = 0; i < 2; i++)
+            {
+                if (MathF.Abs(d.Get(i)) < EPSILON)
+                {
+                    // Ray is parallel to slab. No hit if origin not within slab
+                    if (p.Get(i) < bmin.Get(i) || p.Get(i) > bmax.Get(i))
+                        return false;
+                }
+                else
+                {
+                    // Compute intersection t value of ray with near and far plane of slab
+                    float ood = 1.0f / d.Get(i);
+                    float t1 = (bmin.Get(i) - p.Get(i)) * ood;
+                    float t2 = (bmax.Get(i) - p.Get(i)) * ood;
+                    if (t1 > t2)
+                    {
+                        (t1, t2) = (t2, t1);
+                    }
+
+                    if (t1 > tmin)
+                        tmin = t1;
+                    if (t2 < tmax)
+                        tmax = t2;
+                    if (tmin > tmax)
+                        return false;
+                }
+            }
+
+            return true;
+        }
+    }
+}

src/DotRecast.Recast/Geom/RcOffMeshConnection.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -33,7 +33,7 @@ namespace DotRecast.Recast.Geom
         public readonly int flags;
         public readonly int userId;
 
-        public RcOffMeshConnection(RcVec3f start, RcVec3f end, float radius, bool bidir, int area, int flags)
+        public RcOffMeshConnection(RcVec3f start, RcVec3f end, float radius, bool bidir, int area, int flags, int userId = 0)
         {
             verts = new float[6];
             verts[0] = start.X;
@@ -46,6 +46,7 @@ namespace DotRecast.Recast.Geom
             this.bidir = bidir;
             this.area = area;
             this.flags = flags;
+            this.userId = userId;
         }
     }
 }

src/DotRecast.Recast/Geom/RcTriMesh.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -19,6 +19,7 @@ freely, subject to the following restrictions:
 */
 
 using System.Collections.Generic;
+using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast.Geom
 {
@@ -32,7 +33,8 @@ namespace DotRecast.Recast.Geom
         {
             this.vertices = vertices;
             this.faces = faces;
-            chunkyTriMesh = new RcChunkyTriMesh(vertices, faces, faces.Length / 3, 32);
+            chunkyTriMesh = new RcChunkyTriMesh();
+            RcChunkyTriMeshs.CreateChunkyTriMesh(vertices, faces, faces.Length / 3, 32, chunkyTriMesh);
         }
 
         public int[] GetTris()
@@ -45,9 +47,9 @@ namespace DotRecast.Recast.Geom
             return vertices;
         }
 
-        public List<RcChunkyTriMeshNode> GetChunksOverlappingRect(float[] bmin, float[] bmax)
+        public List<RcChunkyTriMeshNode> GetChunksOverlappingRect(RcVec2f bmin, RcVec2f bmax)
         {
-            return chunkyTriMesh.GetChunksOverlappingRect(bmin, bmax);
+            return RcChunkyTriMeshs.GetChunksOverlappingRect(chunkyTriMesh, bmin, bmax);
         }
     }
 }

src/DotRecast.Recast/Geom/SimpleInputGeomProvider.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -39,7 +39,7 @@ namespace DotRecast.Recast.Geom
 
         public static SimpleInputGeomProvider LoadFile(string objFilePath)
         {
-            byte[] chunk = RcResources.Load(objFilePath);
+            byte[] chunk = RcIO.ReadFileIfFound(objFilePath);
             var context = RcObjImporter.LoadContext(chunk);
             return new SimpleInputGeomProvider(context.vertexPositions, context.meshFaces);
         }
@@ -77,12 +77,12 @@ namespace DotRecast.Recast.Geom
             this.faces = faces;
             normals = new float[faces.Length];
             CalculateNormals();
-            bmin = RcVecUtils.Create(vertices);
-            bmax = RcVecUtils.Create(vertices);
+            bmin = new RcVec3f(vertices);
+            bmax = new RcVec3f(vertices);
             for (int i = 1; i < vertices.Length / 3; i++)
             {
-                bmin = RcVecUtils.Min(bmin, vertices, i * 3);
-                bmax = RcVecUtils.Max(bmax, vertices, i * 3);
+                bmin = RcVec3f.Min(bmin, RcVec.Create(vertices, i * 3));
+                bmax = RcVec3f.Max(bmax, RcVec.Create(vertices, i * 3));
             }
 
             _mesh = new RcTriMesh(vertices, faces);

src/DotRecast.Recast/IRcBuilderProgressListener.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Recast
+namespace DotRecast.Recast
 {
     public interface IRcBuilderProgressListener
     {

src/DotRecast.Recast/RcAreaModification.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Recast/RcAreas.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -25,8 +25,7 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast
 {
-    using static RcConstants;
-    using static RcCommons;
+    using static RcRecast;
 
     public static class RcAreas
     {
@@ -457,12 +456,12 @@ namespace DotRecast.Recast
             int zStride = xSize; // For readability
 
             // Compute the bounding box of the polygon
-            RcVec3f bmin = RcVecUtils.Create(verts);
-            RcVec3f bmax = RcVecUtils.Create(verts);
+            RcVec3f bmin = new RcVec3f(verts);
+            RcVec3f bmax = new RcVec3f(verts);
             for (int i = 3; i < verts.Length; i += 3)
             {
-                bmin = RcVecUtils.Min(bmin, verts, i);
-                bmax = RcVecUtils.Max(bmax, verts, i);
+                bmin = RcVec3f.Min(bmin, RcVec.Create(verts, i));
+                bmax = RcVec3f.Max(bmax, RcVec.Create(verts, i));
             }
 
             bmin.Y = minY;
@@ -753,19 +752,19 @@ namespace DotRecast.Recast
                 int vertIndexB = vertIndex;
                 int vertIndexC = (vertIndex + 1) % numVerts;
 
-                RcVec3f vertA = RcVecUtils.Create(verts, vertIndexA * 3);
-                RcVec3f vertB = RcVecUtils.Create(verts, vertIndexB * 3);
-                RcVec3f vertC = RcVecUtils.Create(verts, vertIndexC * 3);
+                RcVec3f vertA = RcVec.Create(verts, vertIndexA * 3);
+                RcVec3f vertB = RcVec.Create(verts, vertIndexB * 3);
+                RcVec3f vertC = RcVec.Create(verts, vertIndexC * 3);
 
                 // From A to B on the x/z plane
                 RcVec3f prevSegmentDir = RcVec3f.Subtract(vertB, vertA);
                 prevSegmentDir.Y = 0; // Squash onto x/z plane
-                prevSegmentDir = RcVecUtils.SafeNormalize(prevSegmentDir);
+                prevSegmentDir = RcVec.SafeNormalize(prevSegmentDir);
 
                 // From B to C on the x/z plane
                 RcVec3f currSegmentDir = RcVec3f.Subtract(vertC, vertB);
                 currSegmentDir.Y = 0; // Squash onto x/z plane
-                currSegmentDir = RcVecUtils.SafeNormalize(currSegmentDir);
+                currSegmentDir = RcVec.SafeNormalize(currSegmentDir);
 
                 // The y component of the cross product of the two normalized segment directions.
                 // The X and Z components of the cross product are both zero because the two
@@ -792,7 +791,7 @@ namespace DotRecast.Recast
                 bool bevel = cornerMiterSqMag * MITER_LIMIT * MITER_LIMIT < 1.0f;
 
                 // Scale the corner miter so it's proportional to how much the corner should be offset compared to the edges.
-                if (cornerMiterSqMag > RcVecUtils.EPSILON)
+                if (cornerMiterSqMag > RcVec.EPSILON)
                 {
                     float scale = 1.0f / cornerMiterSqMag;
                     cornerMiterX *= scale;

src/DotRecast.Recast/RcAxis.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Recast
+namespace DotRecast.Recast
 {
     public static class RcAxis
     {

src/DotRecast.Recast/RcBuildContoursFlags.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Recast
+namespace DotRecast.Recast
 {
     /// Contour build flags.
     /// @see rcBuildContours

src/DotRecast.Recast/RcBuilder.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -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;
@@ -28,7 +30,7 @@ using DotRecast.Recast.Geom;
 
 namespace DotRecast.Recast
 {
-    using static RcCommons;
+    using static RcRecast;
     using static RcAreas;
 
     public class RcBuilder
@@ -45,132 +47,113 @@ 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)
-        {
-            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>();
-
+            List<Task> limits = new List<Task>(threads);
             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);
-                            lock (results)
-                            {
-                                results.Add(tile);
-                            }
+                            RcBuilderResult result = BuildTile(geom, cfg, bmin, bmax, tx, ty, progress, tw * th, keepInterResults);
+                            results.Enqueue(result);
                         }
                         catch (Exception e)
                         {
                             Console.WriteLine(e);
                         }
+                    }, null, cancellation);
 
-
-                        latch.Signal();
-                    }, cancellationToken);
-
-                    tasks.Add(task);
-                }
-            }
-
-            try
+                    limits.Add(task);
+                    if (threads <= limits.Count)
                     {
-                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,
-            int ty, RcAtomicInteger counter, int total)
+            var list = results.ToList();
+            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, keepInterResults);
             if (_progressListener != null)
             {
-                _progressListener.OnProgress(counter.IncrementAndGet(), total);
+                _progressListener.OnProgress(progress.IncrementAndGet(), total);
             }
 
+
             return result;
         }
 
-        public RcBuilderResult Build(IInputGeomProvider geom, RcBuilderConfig builderCfg)
+        public RcBuilderResult Build(IInputGeomProvider geom, RcBuilderConfig bcfg, bool keepInterResults)
         {
-            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);
-            return Build(ctx, builderCfg.tileX, builderCfg.tileZ, geom, cfg, solid);
+            RcHeightfield solid = RcVoxelizations.BuildSolidHeightfield(ctx, geom, bcfg);
+            return Build(ctx, bcfg.tileX, bcfg.tileZ, geom, cfg, solid, keepInterResults);
         }
 
-        public RcBuilderResult Build(RcContext ctx, int tileX, int tileZ, IInputGeomProvider geom, RcConfig cfg, RcHeightfield solid)
+        public RcBuilderResult Build(RcContext ctx, int tileX, int tileZ, IInputGeomProvider geom, RcConfig cfg, RcHeightfield solid, bool keepInterResults)
         {
             FilterHeightfield(ctx, solid, cfg);
             RcCompactHeightfield chf = BuildCompactHeightfield(ctx, geom, cfg, solid);
@@ -241,7 +224,17 @@ namespace DotRecast.Recast
             RcPolyMeshDetail dmesh = cfg.BuildMeshDetail
                 ? RcMeshDetails.BuildPolyMeshDetail(ctx, pmesh, chf, cfg.DetailSampleDist, cfg.DetailSampleMaxError)
                 : null;
-            return new RcBuilderResult(tileX, tileZ, solid, chf, cset, pmesh, dmesh, ctx);
+
+            return new RcBuilderResult(
+                tileX,
+                tileZ,
+                keepInterResults ? solid : null,
+                keepInterResults ? chf : null,
+                keepInterResults ? cset : null,
+                pmesh,
+                dmesh,
+                ctx
+            );
         }
 
         /*

src/DotRecast.Recast/RcBuilderConfig.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -92,7 +92,7 @@ namespace DotRecast.Recast
             }
             else
             {
-                RcCommons.CalcGridSize(this.bmin, this.bmax, cfg.Cs, out width, out height);
+                RcRecast.CalcGridSize(this.bmin, this.bmax, cfg.Cs, out width, out height);
             }
         }
     }

src/DotRecast.Recast/RcBuilderResult.cs

@@ -1,59 +1,29 @@
-using DotRecast.Core;
+using DotRecast.Core;
 
 namespace DotRecast.Recast
 {
     public class RcBuilderResult
     {
-        public readonly int tileX;
-        public readonly int tileZ;
+        public readonly int TileX;
+        public readonly int TileZ;
 
-        private readonly RcCompactHeightfield chf;
-        private readonly RcContourSet cs;
-        private readonly RcPolyMesh pmesh;
-        private readonly RcPolyMeshDetail dmesh;
-        private readonly RcHeightfield solid;
-        private readonly RcContext _context;
+        public readonly RcHeightfield SolidHeightfiled;
+        public readonly RcCompactHeightfield CompactHeightfield;
+        public readonly RcContourSet ContourSet;
+        public readonly RcPolyMesh Mesh;
+        public readonly RcPolyMeshDetail MeshDetail;
+        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;
-            this.tileZ = tileZ;
-            this.solid = solid;
-            this.chf = chf;
-            this.cs = cs;
-            this.pmesh = pmesh;
-            this.dmesh = dmesh;
-            _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;
+            TileX = tileX;
+            TileZ = tileZ;
+            SolidHeightfiled = solidHeightfiled;
+            CompactHeightfield = compactHeightfield;
+            ContourSet = contourSet;
+            Mesh = mesh;
+            MeshDetail = meshDetail;
+            Context = ctx;
         }
     }
 }

src/DotRecast.Recast/RcCompactCell.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Recast/RcCompactHeightfield.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Recast/RcCompactSpan.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Recast/RcCompactSpanBuilder.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Recast
+namespace DotRecast.Recast
 {
     public class RcCompactSpanBuilder
     {

src/DotRecast.Recast/RcCompacts.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -20,17 +20,14 @@ freely, subject to the following restrictions:
 using System;
 using System.Linq;
 using DotRecast.Core;
-using static DotRecast.Recast.RcConstants;
-
 
 namespace DotRecast.Recast
 {
-    using static RcCommons;
-
+    using static RcRecast;
 
     public static class RcCompacts
     {
-        private const int MAX_HEIGHT = RcConstants.RC_SPAN_MAX_HEIGHT;
+        private const int MAX_HEIGHT = RC_SPAN_MAX_HEIGHT;
 
         /// @}
         /// @name Compact Heightfield Functions

src/DotRecast.Recast/RcConfig.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Recast/RcConstants.cs

@@ -1,93 +0,0 @@
-/*
-Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.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
-{
-    public static class RcConstants
-    {
-        /// Represents the null area.
-        /// When a data element is given this value it is considered to no longer be 
-        /// assigned to a usable area.  (E.g. It is un-walkable.)
-        public const int RC_NULL_AREA = 0;
-        
-        /// The default area id used to indicate a walkable polygon. 
-        /// This is also the maximum allowed area id, and the only non-null area id 
-        /// recognized by some steps in the build process. 
-        public const int RC_WALKABLE_AREA = 63;
-
-        /// The value returned by #rcGetCon if the specified direction is not connected
-        /// to another span. (Has no neighbor.)
-        public const int RC_NOT_CONNECTED = 0x3f;
-        
-        /// Defines the number of bits allocated to rcSpan::smin and rcSpan::smax.
-        public const int RC_SPAN_HEIGHT_BITS = 20;
-
-        /// Defines the maximum value for rcSpan::smin and rcSpan::smax.
-        public const int RC_SPAN_MAX_HEIGHT = (1 << RC_SPAN_HEIGHT_BITS) - 1;
-
-        /// The number of spans allocated per span spool.
-        /// @see rcSpanPool
-        public const int RC_SPANS_PER_POOL = 2048;
-        
-        /// Heighfield border flag.
-        /// If a heightfield region ID has this bit set, then the region is a border
-        /// region and its spans are considered unwalkable.
-        /// (Used during the region and contour build process.)
-        /// @see rcCompactSpan::reg
-        public const int RC_BORDER_REG = 0x8000;
-
-        /// Polygon touches multiple regions.
-        /// If a polygon has this region ID it was merged with or created
-        /// from polygons of different regions during the polymesh
-        /// build step that removes redundant border vertices.
-        /// (Used during the polymesh and detail polymesh build processes)
-        /// @see rcPolyMesh::regs
-        public const int RC_MULTIPLE_REGS = 0;
-
-        // Border vertex flag.
-        /// If a region ID has this bit set, then the associated element lies on
-        /// a tile border. If a contour vertex's region ID has this bit set, the
-        /// vertex will later be removed in order to match the segments and vertices
-        /// at tile boundaries.
-        /// (Used during the build process.)
-        /// @see rcCompactSpan::reg, #rcContour::verts, #rcContour::rverts
-        public const int RC_BORDER_VERTEX = 0x10000;
-
-        /// Area border flag.
-        /// If a region ID has this bit set, then the associated element lies on
-        /// the border of an area.
-        /// (Used during the region and contour build process.)
-        /// @see rcCompactSpan::reg, #rcContour::verts, #rcContour::rverts
-        public const int RC_AREA_BORDER = 0x20000;
-
-        /// Applied to the region id field of contour vertices in order to extract the region id.
-        /// The region id field of a vertex may have several flags applied to it. So the
-        /// fields value can't be used directly.
-        /// @see rcContour::verts, rcContour::rverts
-        public const int RC_CONTOUR_REG_MASK = 0xffff;
-
-        /// A value which indicates an invalid index within a mesh.
-        /// @note This does not necessarily indicate an error.
-        /// @see rcPolyMesh::polys
-        public const int RC_MESH_NULL_IDX = 0xffff;
-
-        public const int RC_LOG_WARNING = 1;
-    }
-}

src/DotRecast.Recast/RcContour.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -20,25 +20,14 @@ freely, subject to the following restrictions:
 
 namespace DotRecast.Recast
 {
-    /** Represents a simple, non-overlapping contour in field space. */
+    /// Represents a simple, non-overlapping contour in field space.
     public class RcContour
     {
-        /** Simplified contour vertex and connection data. [Size: 4 * #nverts] */
-        public int[] verts;
-
-        /** The number of vertices in the simplified contour. */
-        public int nverts;
-
-        /** Raw contour vertex and connection data. [Size: 4 * #nrverts] */
-        public int[] rverts;
-
-        /** The number of vertices in the raw contour. */
-        public int nrverts;
-
-        /** The region id of the contour. */
-        public int area;
-
-        /** The area id of the contour. */
-        public int reg;
+        public int[] verts; //< Simplified contour vertex and connection data. [Size: 4 * #nverts]
+        public int nverts; //< The number of vertices in the simplified contour.
+        public int[] rverts; //< Raw contour vertex and connection data. [Size: 4 * #nrverts]
+        public int nrverts; //< The number of vertices in the raw contour.
+        public int reg; //< The region id of the contour.
+        public int area; //< The area id of the contour.
     }
 }

src/DotRecast.Recast/RcContourHole.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Recast
+namespace DotRecast.Recast
 {
     public class RcContourHole
     {

src/DotRecast.Recast/RcContourHoleComparer.cs

@@ -1,4 +1,4 @@
-using System.Collections.Generic;
+using System.Collections.Generic;
 
 namespace DotRecast.Recast
 {

src/DotRecast.Recast/RcContourRegion.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Recast
+namespace DotRecast.Recast
 {
     public class RcContourRegion
     {

src/DotRecast.Recast/RcContourSet.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Recast/RcContours.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -24,8 +24,8 @@ using DotRecast.Core;
 
 namespace DotRecast.Recast
 {
-    using static RcConstants;
-    using static RcCommons;
+    
+    using static RcRecast;
 
     public static class RcContours
     {

src/DotRecast.Recast/RcConvexVolume.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Recast/RcDirtyEntry.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Recast
+namespace DotRecast.Recast
 {
     // Struct to keep track of entries in the region table that have been changed.
     public readonly struct RcDirtyEntry

src/DotRecast.Recast/RcFilledVolumeRasterization.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -20,11 +20,11 @@ freely, subject to the following restrictions:
 using System;
 using DotRecast.Core;
 using DotRecast.Core.Numerics;
-using static DotRecast.Recast.RcConstants;
-
 
 namespace DotRecast.Recast
 {
+    using static RcRecast;
+
     public static class RcFilledVolumeRasterization
     {
         private const float EPSILON = 0.00001f;
@@ -176,7 +176,7 @@ namespace DotRecast.Recast
 
         private static void Plane(float[][] planes, int p, float[] v1, float[] v2, float[] vertices, int vert)
         {
-            RcVecUtils.Cross(planes[p], v1, v2);
+            RcVec.Cross(planes[p], v1, v2);
             planes[p][3] = planes[p][0] * vertices[vert] + planes[p][1] * vertices[vert + 1] + planes[p][2] * vertices[vert + 2];
         }
 
@@ -296,8 +296,8 @@ namespace DotRecast.Recast
 
             if (axis.Y * axis.Y > EPSILON)
             {
-                RcVec3f[] rectangleOnStartPlane = new RcVec3f[4];
-                RcVec3f[] rectangleOnEndPlane = new RcVec3f[4];
+                Span<RcVec3f> rectangleOnStartPlane = stackalloc RcVec3f[4];
+                Span<RcVec3f> rectangleOnEndPlane = stackalloc RcVec3f[4];
                 float ds = RcVec3f.Dot(axis, start);
                 float de = RcVec3f.Dot(axis, end);
                 for (int i = 0; i < 4; i++)
@@ -326,7 +326,7 @@ namespace DotRecast.Recast
             return s;
         }
 
-        private static float[] CylinderCapIntersection(RcVec3f start, float radiusSqr, float[] s, int i, RcVec3f[] rectangleOnPlane)
+        private static float[] CylinderCapIntersection(RcVec3f start, float radiusSqr, float[] s, int i, Span<RcVec3f> rectangleOnPlane)
         {
             int j = (i + 1) % 4;
             // Ray against sphere intersection
@@ -507,8 +507,8 @@ namespace DotRecast.Recast
             for (int i = 0; i < 8; i++)
             {
                 int vi = i * 3;
-                if (vertices[vi] >= rectangle[0] && vertices[vi] < rectangle[2] && vertices[vi + 2] >= rectangle[1]
-                    && vertices[vi + 2] < rectangle[3])
+                if (vertices[vi] >= rectangle[0] && vertices[vi] < rectangle[2] &&
+                    vertices[vi + 2] >= rectangle[1] && vertices[vi + 2] < rectangle[3])
                 {
                     yMin = Math.Min(yMin, vertices[vi + 1]);
                     yMax = Math.Max(yMax, vertices[vi + 1]);
@@ -525,7 +525,7 @@ namespace DotRecast.Recast
                 {
                     if (MathF.Abs(planes[j][1]) > EPSILON)
                     {
-                        float dotNormalPoint = RcVecUtils.Dot(planes[j], point);
+                        float dotNormalPoint = RcVec3f.Dot(new RcVec3f(planes[j]), point);
                         float t = (planes[j][3] - dotNormalPoint) / planes[j][1];
                         float y = point.Y + t;
                         bool valid = true;
@@ -729,15 +729,15 @@ namespace DotRecast.Recast
         private static bool RayTriangleIntersection(RcVec3f point, int plane, float[][] planes, out float y)
         {
             y = 0.0f;
-            float t = (planes[plane][3] - RcVecUtils.Dot(planes[plane], point)) / planes[plane][1];
-            float[] s = { point.X, point.Y + t, point.Z };
-            float u = RcVecUtils.Dot(s, planes[plane + 1]) - planes[plane + 1][3];
+            float t = (planes[plane][3] - RcVec3f.Dot(new RcVec3f(planes[plane]), point)) / planes[plane][1];
+            RcVec3f s = new RcVec3f(point.X, point.Y + t, point.Z);
+            float u = RcVec3f.Dot(s, new RcVec3f(planes[plane + 1])) - planes[plane + 1][3];
             if (u < 0.0f || u > 1.0f)
             {
                 return false;
             }
 
-            float v = RcVecUtils.Dot(s, planes[plane + 2]) - planes[plane + 2][3];
+            float v = RcVec3f.Dot(s, new RcVec3f(planes[plane + 2])) - planes[plane + 2][3];
             if (v < 0.0f)
             {
                 return false;
@@ -749,7 +749,7 @@ namespace DotRecast.Recast
                 return false;
             }
 
-            y = s[1];
+            y = s.Y;
             return true;
         }
 

src/DotRecast.Recast/RcFilters.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -23,8 +23,8 @@ using DotRecast.Core;
 
 namespace DotRecast.Recast
 {
-    using static RcConstants;
-    using static RcCommons;
+    
+    using static RcRecast;
 
     public static class RcFilters
     {

src/DotRecast.Recast/RcHeightPatch.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Recast
+namespace DotRecast.Recast
 {
     public class RcHeightPatch
     {

src/DotRecast.Recast/RcHeightfield.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -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;
+        public readonly int width; //< The width of the heightfield. (Along the x-axis in cell units.)
+        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.) */
-        public readonly int height;
-
-        /** 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;
+        // memory pool for rcSpan instances.
+        public RcSpanPool pools; //< Linked list of span pools.
+        public RcSpan freelist; //< The next free span.
 
         /** Border size in cell units */
         public readonly int borderSize;

src/DotRecast.Recast/RcHeightfieldLayer.cs

@@ -1,4 +1,4 @@
-using DotRecast.Core.Numerics;
+using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast
 {

src/DotRecast.Recast/RcHeightfieldLayerSet.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Recast/RcLayerRegion.cs

@@ -1,23 +1,23 @@
-using System.Collections.Generic;
+using System.Collections.Generic;
 
 namespace DotRecast.Recast
 {
     public class RcLayerRegion
     {
-        public int id;
-        public int layerId; // Layer ID
-        public bool @base; // Flag indicating if the region is the base of merged regions.
+        public readonly int index;
+        public List<int> layers;
+        public List<int> neis;
         public int ymin, ymax;
-        public List<int> layers; // Layer count
-        public List<int> neis; // Neighbour count
+        public byte layerId; // Layer ID
+        public bool @base; // Flag indicating if the region is the base of merged regions.
 
         public RcLayerRegion(int i)
         {
-            id = i;
-            ymin = 0xFFFF;
-            layerId = 0xff;
+            index = i;
             layers = new List<int>();
             neis = new List<int>();
+            ymin = 0xFFFF;
+            layerId = 0xff;
         }
     };
 }

src/DotRecast.Recast/RcLayerSweepSpan.cs

@@ -1,9 +1,9 @@
-namespace DotRecast.Recast
+namespace DotRecast.Recast
 {
     public class RcLayerSweepSpan
     {
         public int ns; // number samples
-        public int id; // region id
-        public int nei; // neighbour id
+        public byte id; // region id
+        public byte nei; // neighbour id
     };
 }

src/DotRecast.Recast/RcLayers.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -25,15 +25,10 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast
 {
-    using static RcConstants;
-    using static RcCommons;
+    using static RcRecast;
 
     public static class RcLayers
     {
-        const int RC_MAX_LAYERS = RcConstants.RC_NOT_CONNECTED;
-        const int RC_MAX_NEIS = 16;
-
-
         private static void AddUnique(List<int> a, int v)
         {
             if (!a.Contains(v))
@@ -61,7 +56,6 @@ namespace DotRecast.Recast
         /// @name Layer, Contour, Polymesh, and Detail Mesh Functions
         /// @see rcHeightfieldLayer, rcContourSet, rcPolyMesh, rcPolyMeshDetail
         /// @{
-
         /// Builds a layer set from the specified compact heightfield.
         /// @ingroup recast
         /// @param[in,out]	ctx				The build context to use during the operation.
@@ -80,10 +74,10 @@ namespace DotRecast.Recast
             int w = chf.width;
             int h = chf.height;
 
-            int[] srcReg = new int[chf.spanCount];
-            Array.Fill(srcReg, 0xFF);
+            Span<byte> srcReg = stackalloc byte[chf.spanCount];
+            srcReg.Fill(0xFF);
 
-            int nsweeps = chf.width; // Math.Max(chf.width, chf.height);
+            int nsweeps = chf.width;
             RcLayerSweepSpan[] sweeps = new RcLayerSweepSpan[nsweeps];
             for (int i = 0; i < sweeps.Length; i++)
             {
@@ -91,15 +85,15 @@ namespace DotRecast.Recast
             }
 
             // Partition walkable area into monotone regions.
-            int[] prevCount = new int[256];
-            int regId = 0;
+            Span<int> prevCount = stackalloc int[256];
+            byte regId = 0;
 
             // Sweep one line at a time.
             for (int y = borderSize; y < h - borderSize; ++y)
             {
                 // Collect spans from this row.
-                Array.Fill(prevCount, 0);
-                int sweepId = 0;
+                prevCount.Fill(0);
+                byte sweepId = 0;
 
                 for (int x = borderSize; x < w - borderSize; ++x)
                 {
@@ -111,7 +105,7 @@ namespace DotRecast.Recast
                         if (chf.areas[i] == RC_NULL_AREA)
                             continue;
 
-                        int sid = 0xFF;
+                        byte sid = 0xFF;
 
                         // -x
                         if (GetCon(ref s, 0) != RC_NOT_CONNECTED)
@@ -136,7 +130,7 @@ namespace DotRecast.Recast
                             int ax = x + GetDirOffsetX(3);
                             int ay = y + GetDirOffsetY(3);
                             int ai = chf.cells[ax + ay * w].index + GetCon(ref s, 3);
-                            int nr = srcReg[ai];
+                            byte nr = srcReg[ai];
                             if (nr != 0xff)
                             {
                                 // Set neighbour when first valid neighbour is encoutered.
@@ -266,9 +260,11 @@ namespace DotRecast.Recast
             }
 
             // Create 2D layers from regions.
-            int layerId = 0;
+            byte layerId = 0;
 
-            List<int> stack = new List<int>();
+            const int MAX_STACK = 64;
+            Span<byte> stack = stackalloc byte[MAX_STACK];
+            int nstack = 0;
 
             for (int i = 0; i < nregs; ++i)
             {
@@ -281,14 +277,16 @@ namespace DotRecast.Recast
                 root.layerId = layerId;
                 root.@base = true;
 
-                stack.Add(i);
+                nstack = 0;
+                stack[nstack++] = ((byte)i);
 
-                while (stack.Count != 0)
+                while (0 != nstack)
                 {
                     // Pop front
-                    int pop = stack[0]; // TODO : 여기에 stack 처럼 작동하게 했는데, 스택인지는 모르겠음
-                    stack.RemoveAt(0);
-                    RcLayerRegion reg = regs[pop];
+                    RcLayerRegion reg = regs[stack[0]];
+                    nstack--;
+                    for (int j = 0; j < nstack; ++j)
+                        stack[j] = stack[j + 1];
 
                     foreach (int nei in reg.neis)
                     {
@@ -307,8 +305,10 @@ namespace DotRecast.Recast
                         if ((ymax - ymin) >= 255)
                             continue;
 
+                        if (nstack < MAX_STACK)
+                        {
                             // Deepen
-                        stack.Add(nei);
+                            stack[nstack++] = (byte)nei;
 
                             // Mark layer id
                             regn.layerId = layerId;
@@ -322,6 +322,7 @@ namespace DotRecast.Recast
                             root.ymax = Math.Max(root.ymax, regn.ymax);
                         }
                     }
+                }
 
                 layerId++;
             }
@@ -335,7 +336,7 @@ namespace DotRecast.Recast
                 if (!ri.@base)
                     continue;
 
-                int newId = ri.layerId;
+                byte newId = ri.layerId;
 
                 for (;;)
                 {
@@ -411,7 +412,7 @@ namespace DotRecast.Recast
             }
 
             // Compact layerIds
-            int[] remap = new int[256];
+            Span<byte> remap = stackalloc byte[256];
 
             // Find number of unique layers.
             layerId = 0;

src/DotRecast.Recast/RcLevelStackEntry.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Recast
+namespace DotRecast.Recast
 {
     public readonly struct RcLevelStackEntry
     {

src/DotRecast.Recast/RcMeshDetails.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -22,178 +22,57 @@ using System;
 using System.Collections.Generic;
 using DotRecast.Core;
 using DotRecast.Core.Numerics;
-using static DotRecast.Recast.RcConstants;
+
 
 namespace DotRecast.Recast
 {
-    using static RcCommons;
-
+    using static RcRecast;
+    using static RcVec;
+    using static EdgeValues;
 
     public static class RcMeshDetails
     {
-        public const int MAX_VERTS = 127;
-        public const int MAX_TRIS = 255; // Max tris for delaunay is 2n-2-k (n=num verts, k=num hull verts).
-        public const int MAX_VERTS_PER_EDGE = 32;
-
-        public const int RC_UNSET_HEIGHT = RcConstants.RC_SPAN_MAX_HEIGHT;
-        public const int EV_UNDEF = -1;
-        public const int EV_HULL = -2;
+        public const int RC_UNSET_HEIGHT = RC_SPAN_MAX_HEIGHT;
 
 
-        private static float Vdot2(float[] a, float[] b)
-        {
-            return a[0] * b[0] + a[2] * b[2];
-        }
-
-        private static float Vdot2(RcVec3f a, RcVec3f b)
-        {
-            return a.X * b.X + a.Z * b.Z;
-        }
-
-
-        private static float VdistSq2(float[] verts, int p, int q)
-        {
-            float dx = verts[q + 0] - verts[p + 0];
-            float dy = verts[q + 2] - verts[p + 2];
-            return dx * dx + dy * dy;
-        }
-
-        private static float Vdist2(float[] verts, int p, int q)
-        {
-            return MathF.Sqrt(VdistSq2(verts, p, q));
-        }
-
-        private static float VdistSq2(float[] p, float[] q)
-        {
-            float dx = q[0] - p[0];
-            float dy = q[2] - p[2];
-            return dx * dx + dy * dy;
-        }
-
-        private static float VdistSq2(float[] p, RcVec3f q)
-        {
-            float dx = q.X - p[0];
-            float dy = q.Z - p[2];
-            return dx * dx + dy * dy;
-        }
-
-
-        private static float VdistSq2(RcVec3f p, RcVec3f q)
-        {
-            float dx = q.X - p.X;
-            float dy = q.Z - p.Z;
-            return dx * dx + dy * dy;
-        }
-
-
-        private static float Vdist2(float[] p, float[] q)
-        {
-            return MathF.Sqrt(VdistSq2(p, q));
-        }
-
-        private static float Vdist2(RcVec3f p, RcVec3f q)
-        {
-            return MathF.Sqrt(VdistSq2(p, q));
-        }
-
-        private static float Vdist2(float[] p, RcVec3f q)
-        {
-            return MathF.Sqrt(VdistSq2(p, q));
-        }
-
-
-        private static float VdistSq2(float[] p, float[] verts, int q)
-        {
-            float dx = verts[q + 0] - p[0];
-            float dy = verts[q + 2] - p[2];
-            return dx * dx + dy * dy;
-        }
-
-        private static float VdistSq2(RcVec3f p, float[] verts, int q)
-        {
-            float dx = verts[q + 0] - p.X;
-            float dy = verts[q + 2] - p.Z;
-            return dx * dx + dy * dy;
-        }
-
-
-        private static float Vdist2(float[] p, float[] verts, int q)
-        {
-            return MathF.Sqrt(VdistSq2(p, verts, q));
-        }
-
-        private static float Vdist2(RcVec3f p, float[] verts, int q)
-        {
-            return MathF.Sqrt(VdistSq2(p, verts, q));
-        }
-
-
-        private static float Vcross2(float[] verts, int p1, int p2, int p3)
-        {
-            float u1 = verts[p2 + 0] - verts[p1 + 0];
-            float v1 = verts[p2 + 2] - verts[p1 + 2];
-            float u2 = verts[p3 + 0] - verts[p1 + 0];
-            float v2 = verts[p3 + 2] - verts[p1 + 2];
-            return u1 * v2 - v1 * u2;
-        }
-
-        private static float Vcross2(float[] p1, float[] p2, float[] p3)
-        {
-            float u1 = p2[0] - p1[0];
-            float v1 = p2[2] - p1[2];
-            float u2 = p3[0] - p1[0];
-            float v2 = p3[2] - p1[2];
-            return u1 * v2 - v1 * u2;
-        }
-
-        private static float Vcross2(RcVec3f p1, RcVec3f p2, RcVec3f p3)
-        {
-            float u1 = p2.X - p1.X;
-            float v1 = p2.Z - p1.Z;
-            float u2 = p3.X - p1.X;
-            float v2 = p3.Z - p1.Z;
-            return u1 * v2 - v1 * u2;
-        }
-
-
-        private static bool CircumCircle(float[] verts, int p1, int p2, int p3, ref RcVec3f c, RcAtomicFloat r)
+        public static bool CircumCircle(RcVec3f p1, RcVec3f p2, RcVec3f p3, ref RcVec3f c, out float r)
         {
             const float EPS = 1e-6f;
             // Calculate the circle relative to p1, to avoid some precision issues.
             var v1 = new RcVec3f();
-            var v2 = RcVecUtils.Subtract(verts, p2, p1);
-            var v3 = RcVecUtils.Subtract(verts, p3, p1);
+            var v2 = p2 - p1;
+            var v3 = p3 - p1;
 
-            float cp = Vcross2(v1, v2, v3);
+            float cp = Cross2(v1, v2, v3);
             if (MathF.Abs(cp) > EPS)
             {
-                float v1Sq = Vdot2(v1, v1);
-                float v2Sq = Vdot2(v2, v2);
-                float v3Sq = Vdot2(v3, v3);
+                float v1Sq = Dot2(v1, v1);
+                float v2Sq = Dot2(v2, v2);
+                float v3Sq = Dot2(v3, v3);
                 c.X = (v1Sq * (v2.Z - v3.Z) + v2Sq * (v3.Z - v1.Z) + v3Sq * (v1.Z - v2.Z)) / (2 * cp);
                 c.Y = 0;
                 c.Z = (v1Sq * (v3.X - v2.X) + v2Sq * (v1.X - v3.X) + v3Sq * (v2.X - v1.X)) / (2 * cp);
-                r.Exchange(Vdist2(c, v1));
-                c = RcVecUtils.Add(c, verts, p1);
+                r = Dist2(c, v1);
+                c = c + p1;
                 return true;
             }
 
-            c = RcVecUtils.Create(verts, p1);
-            r.Exchange(0f);
+            c = p1;
+            r = 0f;
             return false;
         }
 
-        private static float DistPtTri(RcVec3f p, float[] verts, int a, int b, int c)
+        public static float DistPtTri(RcVec3f p, RcVec3f a, RcVec3f b, RcVec3f c)
         {
-            var v0 = RcVecUtils.Subtract(verts, c, a);
-            var v1 = RcVecUtils.Subtract(verts, b, a);
-            var v2 = RcVecUtils.Subtract(p, verts, a);
+            var v0 = c - a;
+            var v1 = b - a;
+            var v2 = p - a;
 
-            float dot00 = Vdot2(v0, v0);
-            float dot01 = Vdot2(v0, v1);
-            float dot02 = Vdot2(v0, v2);
-            float dot11 = Vdot2(v1, v1);
-            float dot12 = Vdot2(v1, v2);
+            float dot00 = Dot2(v0, v0);
+            float dot01 = Dot2(v0, v1);
+            float dot02 = Dot2(v0, v2);
+            float dot11 = Dot2(v1, v1);
+            float dot12 = Dot2(v1, v2);
 
             // Compute barycentric coordinates
             float invDenom = 1.0f / (dot00 * dot11 - dot01 * dot01);
@@ -204,14 +83,14 @@ namespace DotRecast.Recast
             const float EPS = 1e-4f;
             if (u >= -EPS && v >= -EPS && (u + v) <= 1 + EPS)
             {
-                float y = verts[a + 1] + v0.Y * u + v1.Y * v;
+                float y = a.Y + v0.Y * u + v1.Y * v;
                 return MathF.Abs(y - p.Y);
             }
 
             return float.MaxValue;
         }
 
-        private static float DistancePtSeg(float[] verts, int pt, int p, int q)
+        public static float DistancePtSeg(float[] verts, int pt, int p, int q)
         {
             float pqx = verts[q + 0] - verts[p + 0];
             float pqy = verts[q + 1] - verts[p + 1];
@@ -242,7 +121,7 @@ namespace DotRecast.Recast
             return dx * dx + dy * dy + dz * dz;
         }
 
-        private static float DistancePtSeg2d(RcVec3f verts, float[] poly, int p, int q)
+        public static float DistancePtSeg2d(RcVec3f verts, float[] poly, int p, int q)
         {
             float pqx = poly[q + 0] - poly[p + 0];
             float pqz = poly[q + 2] - poly[p + 2];
@@ -270,7 +149,7 @@ namespace DotRecast.Recast
             return dx * dx + dz * dz;
         }
 
-        private static float DistancePtSeg2d(float[] verts, int pt, float[] poly, int p, int q)
+        public static float DistancePtSeg2d(float[] verts, int pt, float[] poly, int p, int q)
         {
             float pqx = poly[q + 0] - poly[p + 0];
             float pqz = poly[q + 2] - poly[p + 2];
@@ -298,15 +177,15 @@ namespace DotRecast.Recast
             return dx * dx + dz * dz;
         }
 
-        private static float DistToTriMesh(RcVec3f p, float[] verts, int nverts, List<int> tris, int ntris)
+        public static float DistToTriMesh(RcVec3f p, float[] verts, int nverts, List<int> tris, int ntris)
         {
             float dmin = float.MaxValue;
             for (int i = 0; i < ntris; ++i)
             {
-                int va = tris[i * 4 + 0] * 3;
-                int vb = tris[i * 4 + 1] * 3;
-                int vc = tris[i * 4 + 2] * 3;
-                float d = DistPtTri(p, verts, va, vb, vc);
+                RcVec3f va = RcVec.Create(verts, tris[i * 4 + 0] * 3);
+                RcVec3f vb = RcVec.Create(verts, tris[i * 4 + 1] * 3);
+                RcVec3f vc = RcVec.Create(verts, tris[i * 4 + 2] * 3);
+                float d = DistPtTri(p, va, vb, vc);
                 if (d < dmin)
                 {
                     dmin = d;
@@ -321,7 +200,7 @@ namespace DotRecast.Recast
             return dmin;
         }
 
-        private static float DistToPoly(int nvert, float[] verts, RcVec3f p)
+        public static float DistToPoly(int nvert, float[] verts, RcVec3f p)
         {
             float dmin = float.MaxValue;
             int i, j;
@@ -342,7 +221,7 @@ namespace DotRecast.Recast
             return c ? -dmin : dmin;
         }
 
-        private static int GetHeight(float fx, float fy, float fz, float cs, float ics, float ch, int radius,
+        public static int GetHeight(float fx, float fy, float fz, float cs, float ics, float ch, int radius,
             RcHeightPatch hp)
         {
             int ix = (int)MathF.Floor(fx * ics + 0.01f);
@@ -425,7 +304,7 @@ namespace DotRecast.Recast
             return h;
         }
 
-        private static int FindEdge(List<int> edges, int s, int t)
+        public static int FindEdge(List<int> edges, int s, int t)
         {
             for (int i = 0; i < edges.Count / 4; i++)
             {
@@ -439,7 +318,7 @@ namespace DotRecast.Recast
             return EV_UNDEF;
         }
 
-        private static void AddEdge(RcContext ctx, List<int> edges, int maxEdges, int s, int t, int l, int r)
+        public static void AddEdge(RcContext ctx, List<int> edges, int maxEdges, int s, int t, int l, int r)
         {
             if (edges.Count / 4 >= maxEdges)
             {
@@ -457,7 +336,7 @@ namespace DotRecast.Recast
             }
         }
 
-        private static void UpdateLeftFace(List<int> edges, int e, int s, int t, int f)
+        public static void UpdateLeftFace(List<int> edges, int e, int s, int t, int f)
         {
             if (edges[e + 0] == s && edges[e + 1] == t && edges[e + 2] == EV_UNDEF)
             {
@@ -469,13 +348,13 @@ namespace DotRecast.Recast
             }
         }
 
-        private static bool OverlapSegSeg2d(float[] verts, int a, int b, int c, int d)
+        public static bool OverlapSegSeg2d(float[] verts, int a, int b, int c, int d)
         {
-            float a1 = Vcross2(verts, a, b, d);
-            float a2 = Vcross2(verts, a, b, c);
+            float a1 = Cross2(verts, a, b, d);
+            float a2 = Cross2(verts, a, b, c);
             if (a1 * a2 < 0.0f)
             {
-                float a3 = Vcross2(verts, c, d, a);
+                float a3 = Cross2(verts, c, d, a);
                 float a4 = a3 + a2 - a1;
                 if (a3 * a4 < 0.0f)
                 {
@@ -486,7 +365,7 @@ namespace DotRecast.Recast
             return false;
         }
 
-        private static bool OverlapEdges(float[] pts, List<int> edges, int s1, int t1)
+        public static bool OverlapEdges(float[] pts, List<int> edges, int s1, int t1)
         {
             for (int i = 0; i < edges.Count / 4; ++i)
             {
@@ -507,7 +386,7 @@ namespace DotRecast.Recast
             return false;
         }
 
-        static int CompleteFacet(RcContext ctx, float[] pts, int npts, List<int> edges, int maxEdges, int nfaces, int e)
+        public static int CompleteFacet(RcContext ctx, float[] pts, int npts, List<int> edges, int maxEdges, int nfaces, int e)
         {
             const float EPS = 1e-5f;
 
@@ -534,7 +413,7 @@ namespace DotRecast.Recast
             // Find best point on left of edge.
             int pt = npts;
             RcVec3f c = new RcVec3f();
-            RcAtomicFloat r = new RcAtomicFloat(-1f);
+            float r = -1f;
             for (int u = 0; u < npts; ++u)
             {
                 if (u == s || u == t)
@@ -542,28 +421,32 @@ namespace DotRecast.Recast
                     continue;
                 }
 
-                if (Vcross2(pts, s * 3, t * 3, u * 3) > EPS)
+                RcVec3f vs = RcVec.Create(pts, s * 3);
+                RcVec3f vt = RcVec.Create(pts, t * 3);
+                RcVec3f vu = RcVec.Create(pts, u * 3);
+
+                if (Cross2(vs, vt, vu) > EPS)
                 {
-                    if (r.Get() < 0)
+                    if (r < 0)
                     {
                         // The circle is not updated yet, do it now.
                         pt = u;
-                        CircumCircle(pts, s * 3, t * 3, u * 3, ref c, r);
+                        CircumCircle(vs, vt, vu, ref c, out r);
                         continue;
                     }
 
-                    float d = Vdist2(c, pts, u * 3);
+                    float d = Dist2(c, vu);
                     float tol = 0.001f;
-                    if (d > r.Get() * (1 + tol))
+                    if (d > r * (1 + tol))
                     {
                         // Outside current circumcircle, skip.
                         continue;
                     }
-                    else if (d < r.Get() * (1 - tol))
+                    else if (d < r * (1 - tol))
                     {
                         // Inside safe circumcircle, update circle.
                         pt = u;
-                        CircumCircle(pts, s * 3, t * 3, u * 3, ref c, r);
+                        CircumCircle(vs, vt, vu, ref c, out r);
                     }
                     else
                     {
@@ -581,7 +464,7 @@ namespace DotRecast.Recast
 
                         // Edge is valid.
                         pt = u;
-                        CircumCircle(pts, s * 3, t * 3, u * 3, ref c, r);
+                        CircumCircle(vs, vt, vu, ref c, out r);
                     }
                 }
             }
@@ -624,7 +507,7 @@ namespace DotRecast.Recast
             return nfaces;
         }
 
-        private static void DelaunayHull(RcContext ctx, int npts, float[] pts, int nhull, int[] hull, List<int> tris)
+        public static void DelaunayHull(RcContext ctx, int npts, float[] pts, int nhull, int[] hull, List<int> tris)
         {
             int nfaces = 0;
             int maxEdges = npts * 10;
@@ -720,7 +603,7 @@ namespace DotRecast.Recast
         }
 
         // Calculate minimum extend of the polygon.
-        private static float PolyMinExtent(float[] verts, int nverts)
+        public static float PolyMinExtent(float[] verts, int nverts)
         {
             float minDist = float.MaxValue;
             for (int i = 0; i < nverts; i++)
@@ -746,7 +629,7 @@ namespace DotRecast.Recast
             return MathF.Sqrt(minDist);
         }
 
-        private static void TriangulateHull(int nverts, float[] verts, int nhull, int[] hull, int nin, List<int> tris)
+        public static void TriangulateHull(int nverts, float[] verts, int nhull, int[] hull, int nin, List<int> tris)
         {
             int start = 0, left = 1, right = nhull - 1;
 
@@ -766,7 +649,7 @@ namespace DotRecast.Recast
                 int pv = hull[pi] * 3;
                 int cv = hull[i] * 3;
                 int nv = hull[ni] * 3;
-                float d = Vdist2(verts, pv, cv) + Vdist2(verts, cv, nv) + Vdist2(verts, nv, pv);
+                float d = Dist2(verts, pv, cv) + Dist2(verts, cv, nv) + Dist2(verts, nv, pv);
                 if (d < dmin)
                 {
                     start = i;
@@ -796,8 +679,8 @@ namespace DotRecast.Recast
                 int nvleft = hull[nleft] * 3;
                 int cvright = hull[right] * 3;
                 int nvright = hull[nright] * 3;
-                float dleft = Vdist2(verts, cvleft, nvleft) + Vdist2(verts, nvleft, cvright);
-                float dright = Vdist2(verts, cvright, nvright) + Vdist2(verts, cvleft, nvright);
+                float dleft = Dist2(verts, cvleft, nvleft) + Dist2(verts, nvleft, cvright);
+                float dright = Dist2(verts, cvright, nvright) + Dist2(verts, cvleft, nvright);
 
                 if (dleft < dright)
                 {
@@ -818,33 +701,37 @@ namespace DotRecast.Recast
             }
         }
 
-        private static float GetJitterX(int i)
+        public static float GetJitterX(int i)
         {
             return (((i * 0x8da6b343) & 0xffff) / 65535.0f * 2.0f) - 1.0f;
         }
 
-        private static float GetJitterY(int i)
+        public static float GetJitterY(int i)
         {
             return (((i * 0xd8163841) & 0xffff) / 65535.0f * 2.0f) - 1.0f;
         }
 
-        static int BuildPolyDetail(RcContext ctx, float[] @in, int nin, float sampleDist, float sampleMaxError,
-            int heightSearchRadius, RcCompactHeightfield chf, RcHeightPatch hp, float[] verts, List<int> tris)
+        public static int BuildPolyDetail(RcContext ctx, float[] @in, int nin, 
+                                            float sampleDist, float sampleMaxError, 
+                                            int heightSearchRadius, RcCompactHeightfield chf, 
+                                            RcHeightPatch hp, float[] verts, 
+                                            ref List<int> tris, ref List<int> edges, ref List<int> samples)
         {
-            List<int> samples = new List<int>(512);
-
-            int nverts = 0;
+            const int MAX_VERTS = 127;
+            const int MAX_TRIS = 255; // Max tris for delaunay is 2n-2-k (n=num verts, k=num hull verts).
+            const int MAX_VERTS_PER_EDGE = 32;
             float[] edge = new float[(MAX_VERTS_PER_EDGE + 1) * 3];
             int[] hull = new int[MAX_VERTS];
             int nhull = 0;
 
-            nverts = nin;
+            int nverts = nin;
 
             for (int i = 0; i < nin; ++i)
             {
-                RcVecUtils.Copy(verts, i * 3, @in, i * 3);
+                RcVec.Copy(verts, i * 3, @in, i * 3);
             }
 
+            edges.Clear();
             tris.Clear();
 
             float cs = chf.cs;
@@ -957,7 +844,7 @@ namespace DotRecast.Recast
                     {
                         for (int k = nidx - 2; k > 0; --k)
                         {
-                            RcVecUtils.Copy(verts, nverts * 3, edge, idx[k] * 3);
+                            RcVec.Copy(verts, nverts * 3, edge, idx[k] * 3);
                             hull[nhull++] = nverts;
                             nverts++;
                         }
@@ -966,7 +853,7 @@ namespace DotRecast.Recast
                     {
                         for (int k = 1; k < nidx - 1; ++k)
                         {
-                            RcVecUtils.Copy(verts, nverts * 3, edge, idx[k] * 3);
+                            RcVec.Copy(verts, nverts * 3, edge, idx[k] * 3);
                             hull[nhull++] = nverts;
                             nverts++;
                         }
@@ -997,12 +884,12 @@ namespace DotRecast.Recast
             if (sampleDist > 0)
             {
                 // Create sample locations in a grid.
-                RcVec3f bmin = RcVecUtils.Create(@in);
-                RcVec3f bmax = RcVecUtils.Create(@in);
+                RcVec3f bmin = new RcVec3f(@in);
+                RcVec3f bmax = new RcVec3f(@in);
                 for (int i = 1; i < nin; ++i)
                 {
-                    bmin = RcVecUtils.Min(bmin, @in, i * 3);
-                    bmax = RcVecUtils.Max(bmax, @in, i * 3);
+                    bmin = RcVec3f.Min(bmin, RcVec.Create(@in, i * 3));
+                    bmax = RcVec3f.Max(bmax, RcVec.Create(@in, i * 3));
                 }
 
                 int x0 = (int)MathF.Floor(bmin.X / sampleDist);
@@ -1105,7 +992,7 @@ namespace DotRecast.Recast
             return nverts;
         }
 
-        static bool OnHull(int a, int b, int nhull, int[] hull)
+        public static bool OnHull(int a, int b, int nhull, int[] hull)
         {
             // All internal sampled points come after the hull so we can early out for those.
             if (a >= nhull || b >= nhull)
@@ -1121,7 +1008,7 @@ namespace DotRecast.Recast
         }
 
         // Find edges that lie on hull and mark them as such.
-        static void SetTriFlags(List<int> tris, int nhull, int[] hull)
+        public static void SetTriFlags(List<int> tris, int nhull, int[] hull)
         {
             // Matches DT_DETAIL_EDGE_BOUNDARY
             const int DETAIL_EDGE_BOUNDARY = 0x1;
@@ -1140,7 +1027,7 @@ namespace DotRecast.Recast
         }
 
 
-        static void SeedArrayWithPolyCenter(RcContext ctx, RcCompactHeightfield chf, int[] meshpoly, int poly, int npoly,
+        public static void SeedArrayWithPolyCenter(RcContext ctx, RcCompactHeightfield chf, int[] meshpoly, int poly, int npoly,
             int[] verts, int bs, RcHeightPatch hp, List<int> array)
         {
             // Note: Reads to the compact heightfield are offset by border size (bs)
@@ -1289,22 +1176,25 @@ namespace DotRecast.Recast
             hp.data[cx - hp.xmin + (cy - hp.ymin) * hp.width] = cs2.y;
         }
 
-        const int RETRACT_SIZE = 256;
 
-        static void Push3(List<int> queue, int v1, int v2, int v3)
+        public static void Push3(List<int> queue, int v1, int v2, int v3)
         {
             queue.Add(v1);
             queue.Add(v2);
             queue.Add(v3);
         }
 
-        static void GetHeightData(RcContext ctx, RcCompactHeightfield chf, int[] meshpolys, int poly, int npoly, int[] verts,
-            int bs, RcHeightPatch hp, int region)
+        public static void GetHeightData(RcContext ctx, RcCompactHeightfield chf,
+            int[] meshpolys, int poly, int npoly,
+            int[] verts, int bs,
+            ref RcHeightPatch hp, ref List<int> queue,
+            int region)
         {
             // Note: Reads to the compact heightfield are offset by border size (bs)
             // since border size offset is already removed from the polymesh vertices.
 
-            List<int> queue = new List<int>(512);
+            queue.Clear();
+            // Set all heights to RC_UNSET_HEIGHT.
             Array.Fill(hp.data, RC_UNSET_HEIGHT, 0, (hp.width * hp.height) - (0));
 
             bool empty = true;
@@ -1370,6 +1260,7 @@ namespace DotRecast.Recast
                 SeedArrayWithPolyCenter(ctx, chf, meshpolys, poly, npoly, verts, bs, hp, queue);
             }
 
+            const int RETRACT_SIZE = 256;
             int head = 0;
 
             // We assume the seed is centered in the polygon, so a BFS to collect
@@ -1441,7 +1332,10 @@ namespace DotRecast.Recast
             int borderSize = mesh.borderSize;
             int heightSearchRadius = (int)Math.Max(1, MathF.Ceiling(mesh.maxEdgeError));
 
+            List<int> edges = new List<int>(64);
             List<int> tris = new List<int>(512);
+            List<int> arr = new List<int>(512);
+            List<int> samples = new List<int>(512);
             float[] verts = new float[256 * 3];
             RcHeightPatch hp = new RcHeightPatch();
             int nPolyVerts = 0;
@@ -1526,18 +1420,20 @@ namespace DotRecast.Recast
                 hp.ymin = bounds[i * 4 + 2];
                 hp.width = bounds[i * 4 + 1] - bounds[i * 4 + 0];
                 hp.height = bounds[i * 4 + 3] - bounds[i * 4 + 2];
-                GetHeightData(ctx, chf, mesh.polys, p, npoly, mesh.verts, borderSize, hp, mesh.regs[i]);
+                GetHeightData(ctx, chf, mesh.polys, p, npoly, mesh.verts, borderSize, ref hp, ref arr, mesh.regs[i]);
 
                 // Build detail mesh.
-                int nverts = BuildPolyDetail(ctx, poly, npoly, sampleDist, sampleMaxError, heightSearchRadius, chf, hp,
-                    verts, tris);
+                int nverts = BuildPolyDetail(ctx, poly, npoly,
+                    sampleDist, sampleMaxError,
+                    heightSearchRadius, chf, hp,
+                    verts, ref tris,
+                    ref edges, ref samples);
 
                 // Move detail verts to world space.
                 for (int j = 0; j < nverts; ++j)
                 {
                     verts[j * 3 + 0] += orig.X;
                     verts[j * 3 + 1] += orig.Y + chf.ch; // Is this offset necessary? See
-                    // https://groups.google.com/d/msg/recastnavigation/UQFN6BGCcV0/-1Ny4koOBpkJ
                     verts[j * 3 + 2] += orig.Z;
                 }
 
@@ -1614,7 +1510,7 @@ namespace DotRecast.Recast
         }
 
         /// @see rcAllocPolyMeshDetail, rcPolyMeshDetail
-        private static RcPolyMeshDetail MergePolyMeshDetails(RcContext ctx, RcPolyMeshDetail[] meshes, int nmeshes)
+        public static RcPolyMeshDetail MergePolyMeshDetails(RcContext ctx, RcPolyMeshDetail[] meshes, int nmeshes)
         {
             using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_MERGE_POLYMESHDETAIL);
 
@@ -1665,7 +1561,7 @@ namespace DotRecast.Recast
 
                 for (int k = 0; k < dm.nverts; ++k)
                 {
-                    RcVecUtils.Copy(mesh.verts, mesh.nverts * 3, dm.verts, k * 3);
+                    RcVec.Copy(mesh.verts, mesh.nverts * 3, dm.verts, k * 3);
                     mesh.nverts++;
                 }
 

src/DotRecast.Recast/RcMeshs.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -24,7 +24,7 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast
 {
-    using static RcConstants;
+    using static RcRecast;
 
     public static class RcMeshs
     {
@@ -715,8 +715,13 @@ namespace DotRecast.Recast
                 int nv = CountPolyVerts(mesh.polys, p, nvp);
                 bool hasRem = false;
                 for (int j = 0; j < nv; ++j)
+                {
                     if (mesh.polys[p + j] == rem)
+                    {
                         hasRem = true;
+                    }
+                }
+
                 if (hasRem)
                 {
                     // Collect edges which does not touch the removed vertex.
@@ -956,7 +961,7 @@ namespace DotRecast.Recast
                 mesh.npolys++;
                 if (mesh.npolys > maxTris)
                 {
-                    throw new Exception("removeVertex: Too many polygons " + mesh.npolys + " (max:" + maxTris + ".");
+                    throw new Exception($"removeVertex: Too many polygons {mesh.npolys} max:({maxTris}).");
                 }
             }
         }
@@ -1033,11 +1038,23 @@ namespace DotRecast.Recast
                 // Triangulate contour
                 for (int j = 0; j < cont.nverts; ++j)
                     indices[j] = j;
+
                 int ntris = Triangulate(cont.nverts, cont.verts, indices, tris);
                 if (ntris <= 0)
                 {
                     // Bad triangulation, should not happen.
-                    ctx.Warn("buildPolyMesh: Bad triangulation Contour " + i + ".");
+                    /*
+                    printf("\tconst float bmin[3] = {%ff,%ff,%ff};\n", cset.bmin[0], cset.bmin[1], cset.bmin[2]);
+                    printf("\tconst float cs = %ff;\n", cset.cs);
+                    printf("\tconst float ch = %ff;\n", cset.ch);
+                    printf("\tconst int verts[] = {\n");
+                    for (int k = 0; k < cont.nverts; ++k)
+                    {
+                       const int* v = &cont.verts[k*4];
+                       printf("\t\t%d,%d,%d,%d,\n", v[0], v[1], v[2], v[3]);
+                    }
+                    printf("\t};\n\tconst int nverts = sizeof(verts)/(sizeof(int)*4);\n");*/
+                    ctx.Warn($"BuildPolyMesh: Bad triangulation Contour {i}.");
                     ntris = -ntris;
                 }
 
@@ -1198,14 +1215,12 @@ namespace DotRecast.Recast
 
             if (mesh.nverts > MAX_MESH_VERTS_POLY)
             {
-                throw new Exception("rcBuildPolyMesh: The resulting mesh has too many vertices " + mesh.nverts
-                                                                                                 + " (max " + MAX_MESH_VERTS_POLY + "). Data can be corrupted.");
+                throw new Exception($"BuildPolyMesh: The resulting mesh has too many vertices {mesh.nverts} (max {MAX_MESH_VERTS_POLY}). Data can be corrupted.");
             }
 
             if (mesh.npolys > MAX_MESH_VERTS_POLY)
             {
-                throw new Exception("rcBuildPolyMesh: The resulting mesh has too many polygons " + mesh.npolys
-                                                                                                 + " (max " + MAX_MESH_VERTS_POLY + "). Data can be corrupted.");
+                throw new Exception($"BuildPolyMesh: The resulting mesh has too many polygons {mesh.npolys} (max {MAX_MESH_VERTS_POLY}). Data can be corrupted.");
             }
 
             return mesh;

src/DotRecast.Recast/RcPartition.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Recast
+namespace DotRecast.Recast
 {
     public enum RcPartition
     {

src/DotRecast.Recast/RcPartitionType.cs

@@ -1,4 +1,4 @@
-using System.Linq;
+using System.Linq;
 
 namespace DotRecast.Recast
 {

src/DotRecast.Recast/RcPolyMesh.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 Recast4J Copyright (c) 2015 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Recast/RcPolyMeshDetail.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

src/DotRecast.Recast/RcPolyMeshRaycast.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -17,6 +17,7 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using System;
 using System.Collections.Generic;
 using DotRecast.Core;
 using DotRecast.Core.Numerics;
@@ -30,9 +31,9 @@ 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;
                     }
@@ -45,6 +46,7 @@ namespace DotRecast.Recast
         private static bool Raycast(RcPolyMesh poly, RcPolyMeshDetail meshDetail, RcVec3f sp, RcVec3f sq, out float hitTime)
         {
             hitTime = 0;
+            Span<RcVec3f> tempVs = stackalloc RcVec3f[3];
             if (meshDetail != null)
             {
                 for (int i = 0; i < meshDetail.nmeshes; ++i)
@@ -57,7 +59,7 @@ namespace DotRecast.Recast
                     int tris = btris * 4;
                     for (int j = 0; j < ntris; ++j)
                     {
-                        RcVec3f[] vs = new RcVec3f[3];
+                        Span<RcVec3f> vs = tempVs;
                         for (int k = 0; k < 3; ++k)
                         {
                             vs[k].X = meshDetail.verts[verts + meshDetail.tris[tris + j * 4 + k] * 3];

src/DotRecast.Recast/RcPotentialDiagonalComparer.cs

@@ -1,4 +1,4 @@
-using System.Collections.Generic;
+using System.Collections.Generic;
 
 namespace DotRecast.Recast
 {

src/DotRecast.Recast/RcRasterizations.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -21,10 +21,12 @@ freely, subject to the following restrictions:
 using System;
 using DotRecast.Core;
 using DotRecast.Core.Numerics;
-using static DotRecast.Recast.RcConstants;
+
 
 namespace DotRecast.Recast
 {
+    using static RcRecast;
+
     public static class RcRasterizations
     {
         /// Check whether two bounding boxes overlap
@@ -42,6 +44,63 @@ 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.
@@ -150,13 +209,13 @@ namespace DotRecast.Recast
         /// @param[out]	outVerts2Count	The number of resulting polygon 2 vertices
         /// @param[in]	axisOffset		THe offset along the specified axis
         /// @param[in]	axis			The separating axis
-        private static void DividePoly(float[] inVerts, int inVertsOffset, int inVertsCount,
+        private static void DividePoly(Span<float> inVerts, int inVertsOffset, int inVertsCount,
             int outVerts1, out int outVerts1Count,
             int outVerts2, out int outVerts2Count,
             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];
@@ -174,7 +233,7 @@ namespace DotRecast.Recast
                     inVerts[outVerts1 + poly1Vert * 3 + 0] = inVerts[inVertsOffset + inVertB * 3 + 0] + (inVerts[inVertsOffset + inVertA * 3 + 0] - inVerts[inVertsOffset + inVertB * 3 + 0]) * s;
                     inVerts[outVerts1 + poly1Vert * 3 + 1] = inVerts[inVertsOffset + inVertB * 3 + 1] + (inVerts[inVertsOffset + inVertA * 3 + 1] - inVerts[inVertsOffset + inVertB * 3 + 1]) * s;
                     inVerts[outVerts1 + poly1Vert * 3 + 2] = inVerts[inVertsOffset + inVertB * 3 + 2] + (inVerts[inVertsOffset + inVertA * 3 + 2] - inVerts[inVertsOffset + inVertB * 3 + 2]) * s;
-                    RcVecUtils.Copy(inVerts, outVerts2 + poly2Vert * 3, inVerts, outVerts1 + poly1Vert * 3);
+                    RcVec.Copy(inVerts, outVerts2 + poly2Vert * 3, inVerts, outVerts1 + poly1Vert * 3);
                     poly1Vert++;
                     poly2Vert++;
 
@@ -182,12 +241,12 @@ namespace DotRecast.Recast
                     // since these were already added above
                     if (inVertAxisDelta[inVertA] > 0)
                     {
-                        RcVecUtils.Copy(inVerts, outVerts1 + poly1Vert * 3, inVerts, inVertsOffset + inVertA * 3);
+                        RcVec.Copy(inVerts, outVerts1 + poly1Vert * 3, inVerts, inVertsOffset + inVertA * 3);
                         poly1Vert++;
                     }
                     else if (inVertAxisDelta[inVertA] < 0)
                     {
-                        RcVecUtils.Copy(inVerts, outVerts2 + poly2Vert * 3, inVerts, inVertsOffset + inVertA * 3);
+                        RcVec.Copy(inVerts, outVerts2 + poly2Vert * 3, inVerts, inVertsOffset + inVertA * 3);
                         poly2Vert++;
                     }
                 }
@@ -196,7 +255,7 @@ namespace DotRecast.Recast
                     // add the i'th point to the right polygon. Addition is done even for points on the dividing line
                     if (inVertAxisDelta[inVertA] >= 0)
                     {
-                        RcVecUtils.Copy(inVerts, outVerts1 + poly1Vert * 3, inVerts, inVertsOffset + inVertA * 3);
+                        RcVec.Copy(inVerts, outVerts1 + poly1Vert * 3, inVerts, inVertsOffset + inVertA * 3);
                         poly1Vert++;
                         if (inVertAxisDelta[inVertA] != 0)
                         {
@@ -204,7 +263,7 @@ namespace DotRecast.Recast
                         }
                     }
 
-                    RcVecUtils.Copy(inVerts, outVerts2 + poly2Vert * 3, inVerts, inVertsOffset + inVertA * 3);
+                    RcVec.Copy(inVerts, outVerts2 + poly2Vert * 3, inVerts, inVertsOffset + inVertA * 3);
                     poly2Vert++;
                 }
             }
@@ -236,13 +295,13 @@ namespace DotRecast.Recast
             int flagMergeThreshold)
         {
             // Calculate the bounding box of the triangle.
-            RcVec3f triBBMin = RcVecUtils.Create(verts, v0 * 3);
-            triBBMin = RcVecUtils.Min(triBBMin, verts, v1 * 3);
-            triBBMin = RcVecUtils.Min(triBBMin, verts, v2 * 3);
+            RcVec3f triBBMin = RcVec.Create(verts, v0 * 3);
+            triBBMin = RcVec3f.Min(triBBMin, RcVec.Create(verts, v1 * 3));
+            triBBMin = RcVec3f.Min(triBBMin, RcVec.Create(verts, v2 * 3));
 
-            RcVec3f triBBMax = RcVecUtils.Create(verts, v0 * 3);
-            triBBMax = RcVecUtils.Max(triBBMax, verts, v1 * 3);
-            triBBMax = RcVecUtils.Max(triBBMax, verts, v2 * 3);
+            RcVec3f triBBMax = RcVec.Create(verts, v0 * 3);
+            triBBMax = RcVec3f.Max(triBBMax, RcVec.Create(verts, v1 * 3));
+            triBBMax = RcVec3f.Max(triBBMax, RcVec.Create(verts, v2 * 3));
 
             // If the triangle does not touch the bounding box of the heightfield, skip the triangle.
             if (!OverlapBounds(triBBMin, triBBMax, heightfieldBBMin, heightfieldBBMax))
@@ -263,15 +322,15 @@ namespace DotRecast.Recast
             z1 = Math.Clamp(z1, 0, h - 1);
 
             // Clip the triangle into all grid cells it touches.
-            float[] buf = new float[7 * 3 * 4];
+            Span<float> buf = stackalloc float[7 * 3 * 4];
             int @in = 0;
             int inRow = 7 * 3;
             int p1 = inRow + 7 * 3;
             int p2 = p1 + 7 * 3;
 
-            RcVecUtils.Copy(buf, 0, verts, v0 * 3);
-            RcVecUtils.Copy(buf, 3, verts, v1 * 3);
-            RcVecUtils.Copy(buf, 6, verts, v2 * 3);
+            RcVec.Copy(buf, 0, verts, v0 * 3);
+            RcVec.Copy(buf, 3, verts, v1 * 3);
+            RcVec.Copy(buf, 6, verts, v2 * 3);
             int nvRow;
             int nvIn = 3;
 

src/DotRecast.Recast/RcRecast.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -24,10 +24,81 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast
 {
-    using static RcConstants;
-
-    public static class RcCommons
+    public static class RcRecast
     {
+        /// Represents the null area.
+        /// When a data element is given this value it is considered to no longer be 
+        /// assigned to a usable area.  (E.g. It is un-walkable.)
+        public const int RC_NULL_AREA = 0;
+
+        /// The default area id used to indicate a walkable polygon. 
+        /// This is also the maximum allowed area id, and the only non-null area id 
+        /// recognized by some steps in the build process. 
+        public const int RC_WALKABLE_AREA = 63;
+
+        /// The value returned by #rcGetCon if the specified direction is not connected
+        /// to another span. (Has no neighbor.)
+        public const int RC_NOT_CONNECTED = 0x3f;
+
+        /// Defines the number of bits allocated to rcSpan::smin and rcSpan::smax.
+        public const int RC_SPAN_HEIGHT_BITS = 20;
+
+        /// Defines the maximum value for rcSpan::smin and rcSpan::smax.
+        public const int RC_SPAN_MAX_HEIGHT = (1 << RC_SPAN_HEIGHT_BITS) - 1;
+
+        /// The number of spans allocated per span spool.
+        /// @see rcSpanPool
+        public const int RC_SPANS_PER_POOL = 2048;
+        
+        // Must be 255 or smaller (not 256) because layer IDs are stored as
+        // a byte where 255 is a special value.
+        public const int RC_MAX_LAYERS = RC_NOT_CONNECTED;
+        public const int RC_MAX_NEIS = 16;
+
+        /// Heighfield border flag.
+        /// If a heightfield region ID has this bit set, then the region is a border
+        /// region and its spans are considered unwalkable.
+        /// (Used during the region and contour build process.)
+        /// @see rcCompactSpan::reg
+        public const int RC_BORDER_REG = 0x8000;
+
+        /// Polygon touches multiple regions.
+        /// If a polygon has this region ID it was merged with or created
+        /// from polygons of different regions during the polymesh
+        /// build step that removes redundant border vertices.
+        /// (Used during the polymesh and detail polymesh build processes)
+        /// @see rcPolyMesh::regs
+        public const int RC_MULTIPLE_REGS = 0;
+
+        // Border vertex flag.
+        /// If a region ID has this bit set, then the associated element lies on
+        /// a tile border. If a contour vertex's region ID has this bit set, the
+        /// vertex will later be removed in order to match the segments and vertices
+        /// at tile boundaries.
+        /// (Used during the build process.)
+        /// @see rcCompactSpan::reg, #rcContour::verts, #rcContour::rverts
+        public const int RC_BORDER_VERTEX = 0x10000;
+
+        /// Area border flag.
+        /// If a region ID has this bit set, then the associated element lies on
+        /// the border of an area.
+        /// (Used during the region and contour build process.)
+        /// @see rcCompactSpan::reg, #rcContour::verts, #rcContour::rverts
+        public const int RC_AREA_BORDER = 0x20000;
+
+        /// Applied to the region id field of contour vertices in order to extract the region id.
+        /// The region id field of a vertex may have several flags applied to it. So the
+        /// fields value can't be used directly.
+        /// @see rcContour::verts, rcContour::rverts
+        public const int RC_CONTOUR_REG_MASK = 0xffff;
+
+        /// A value which indicates an invalid index within a mesh.
+        /// @note This does not necessarily indicate an error.
+        /// @see rcPolyMesh::polys
+        public const int RC_MESH_NULL_IDX = 0xffff;
+
+        public const int RC_LOG_WARNING = 1;
+
         private static readonly int[] DirOffsetX = { -1, 0, 1, 0, };
         private static readonly int[] DirOffsetY = { 0, 1, 0, -1 };
         private static readonly int[] DirForOffset = { 3, 0, -1, 2, 1 };
@@ -127,7 +198,10 @@ namespace DotRecast.Recast
             for (int i = 0; i < nt; ++i)
             {
                 int tri = i * 3;
-                CalcTriNormal(verts, tris[tri], tris[tri + 1], tris[tri + 2], ref norm);
+                RcVec3f v0 = RcVec.Create(verts, tris[tri + 0] * 3);
+                RcVec3f v1 = RcVec.Create(verts, tris[tri + 1] * 3);
+                RcVec3f v2 = RcVec.Create(verts, tris[tri + 2] * 3);
+                CalcTriNormal(v0, v1, v2, ref norm);
                 // Check if the face is walkable.
                 if (norm.Y > walkableThr)
                     areas[i] = areaMod.Apply(areas[i]);
@@ -136,10 +210,10 @@ namespace DotRecast.Recast
             return areas;
         }
 
-        public static void CalcTriNormal(float[] verts, int v0, int v1, int v2, ref RcVec3f norm)
+        public static void CalcTriNormal(RcVec3f v0, RcVec3f v1, RcVec3f v2, ref RcVec3f norm)
         {
-            var e0 = RcVecUtils.Subtract(verts, v1 * 3, v0 * 3);
-            var e1 = RcVecUtils.Subtract(verts, v2 * 3, v0 * 3);
+            var e0 = v1 - v0;
+            var e1 = v2 - v0;
             norm = RcVec3f.Cross(e0, e1);
             norm = RcVec3f.Normalize(norm);
         }
@@ -162,7 +236,10 @@ namespace DotRecast.Recast
             for (int i = 0; i < nt; ++i)
             {
                 int tri = i * 3;
-                CalcTriNormal(verts, tris[tri], tris[tri + 1], tris[tri + 2], ref norm);
+                RcVec3f v0 = RcVec.Create(verts, tris[tri + 0] * 3);
+                RcVec3f v1 = RcVec.Create(verts, tris[tri + 1] * 3);
+                RcVec3f v2 = RcVec.Create(verts, tris[tri + 2] * 3);
+                CalcTriNormal(v0, v1, v2, ref norm);
                 // Check if the face is walkable.
                 if (norm.Y <= walkableThr)
                     areas[i] = RC_NULL_AREA;

src/DotRecast.Recast/RcRegion.cs

@@ -1,4 +1,4 @@
-using System.Collections.Generic;
+using System.Collections.Generic;
 
 namespace DotRecast.Recast
 {

src/DotRecast.Recast/RcRegions.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -25,8 +25,8 @@ using DotRecast.Core;
 
 namespace DotRecast.Recast
 {
-    using static RcConstants;
-    using static RcCommons;
+    
+    using static RcRecast;
 
     public static class RcRegions
     {
@@ -1665,8 +1665,8 @@ namespace DotRecast.Recast
 
             ctx.StartTimer(RcTimerLabel.RC_TIMER_BUILD_REGIONS_WATERSHED);
 
-            int LOG_NB_STACKS = 3;
-            int NB_STACKS = 1 << LOG_NB_STACKS;
+            const int LOG_NB_STACKS = 3;
+            const int NB_STACKS = 1 << LOG_NB_STACKS;
             List<List<RcLevelStackEntry>> lvlStacks = new List<List<RcLevelStackEntry>>();
             for (int i = 0; i < NB_STACKS; ++i)
             {

src/DotRecast.Recast/RcSpan.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -20,19 +20,13 @@ freely, subject to the following restrictions:
 
 namespace DotRecast.Recast
 {
-    /** Represents a span in a heightfield. */
+    /// Represents a span in a heightfield.
+    /// @see rcHeightfield
     public class RcSpan
     {
-        /** The lower limit of the span. [Limit: < smax] */
-        public int smin;
-
-        /** The upper limit of the span. [Limit: <= SPAN_MAX_HEIGHT] */
-        public int smax;
-
-        /** The area id assigned to the span. */
-        public int area;
-
-        /** The next span higher up in column. */
-        public RcSpan next;
+        public int smin; //< The lower limit of the span. [Limit: < #smax]
+        public int smax; //< The upper limit of the span. [Limit: <= #RC_SPAN_MAX_HEIGHT]
+        public int area; //< The area id assigned to the span.
+        public RcSpan next; //< The next span higher up in column.
     }
 }

src/DotRecast.Recast/RcSpanPool.cs

@@ -0,0 +1,38 @@
+/*
+Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
+DotRecast Copyright (c) 2023-2024 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[RcRecast.RC_SPANS_PER_POOL];
+            for (int i = 0; i < items.Length; ++i)
+            {
+                items[i] = new RcSpan();
+            }
+        }
+    }
+}

src/DotRecast.Recast/RcSweepSpan.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Recast
+namespace DotRecast.Recast
 {
     public class RcSweepSpan
     {

src/DotRecast.Recast/RcVoxelizations.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -19,6 +19,7 @@ freely, subject to the following restrictions:
 
 using System.Collections.Generic;
 using DotRecast.Core;
+using DotRecast.Core.Numerics;
 using DotRecast.Recast.Geom;
 
 namespace DotRecast.Recast
@@ -44,18 +45,18 @@ namespace DotRecast.Recast
                 float[] verts = geom.GetVerts();
                 if (cfg.UseTiles)
                 {
-                    float[] tbmin = new float[2];
-                    float[] tbmax = new float[2];
-                    tbmin[0] = builderCfg.bmin.X;
-                    tbmin[1] = builderCfg.bmin.Z;
-                    tbmax[0] = builderCfg.bmax.X;
-                    tbmax[1] = builderCfg.bmax.Z;
+                    RcVec2f tbmin;
+                    RcVec2f tbmax;
+                    tbmin.X = builderCfg.bmin.X;
+                    tbmin.Y = builderCfg.bmin.Z;
+                    tbmax.X = builderCfg.bmax.X;
+                    tbmax.Y = builderCfg.bmax.Z;
                     List<RcChunkyTriMeshNode> nodes = geom.GetChunksOverlappingRect(tbmin, tbmax);
                     foreach (RcChunkyTriMeshNode node in nodes)
                     {
                         int[] tris = node.tris;
                         int ntris = tris.Length / 3;
-                        int[] m_triareas = RcCommons.MarkWalkableTriangles(ctx, cfg.WalkableSlopeAngle, verts, tris, ntris, cfg.WalkableAreaMod);
+                        int[] m_triareas = RcRecast.MarkWalkableTriangles(ctx, cfg.WalkableSlopeAngle, verts, tris, ntris, cfg.WalkableAreaMod);
                         RcRasterizations.RasterizeTriangles(ctx, verts, tris, m_triareas, ntris, solid, cfg.WalkableClimb);
                     }
                 }
@@ -63,7 +64,7 @@ namespace DotRecast.Recast
                 {
                     int[] tris = geom.GetTris();
                     int ntris = tris.Length / 3;
-                    int[] m_triareas = RcCommons.MarkWalkableTriangles(ctx, cfg.WalkableSlopeAngle, verts, tris, ntris, cfg.WalkableAreaMod);
+                    int[] m_triareas = RcRecast.MarkWalkableTriangles(ctx, cfg.WalkableSlopeAngle, verts, tris, ntris, cfg.WalkableAreaMod);
                     RcRasterizations.RasterizeTriangles(ctx, verts, tris, m_triareas, ntris, solid, cfg.WalkableClimb);
                 }
             }

src/package.json

@@ -1,5 +1,5 @@
 {
   "name": "com.rnd.dotrecast",
   "displayName": "DotRecast",
-  "version": "0.1.4-exp.1"
+  "version": "0.4.1"
 }

test/DotRecast.Benchmark/BenchmarkProgram.cs

@@ -0,0 +1,22 @@
+using System.Collections.Immutable;
+using System.Linq;
+using BenchmarkDotNet.Running;
+using DotRecast.Benchmark.Benchmarks;
+
+namespace DotRecast.Benchmark;
+
+public static class BenchmarkProgram
+{
+    public static int Main(string[] args)
+    {
+        var runs = ImmutableArray.Create(
+            BenchmarkConverter.TypeToBenchmarks(typeof(VectorBenchmarks)),
+            BenchmarkConverter.TypeToBenchmarks(typeof(PriorityQueueBenchmarks)),
+            BenchmarkConverter.TypeToBenchmarks(typeof(StackallocBenchmarks))
+        );
+
+        var summary = BenchmarkRunner.Run(runs.ToArray());
+
+        return 0;
+    }
+}

test/DotRecast.Benchmark/Benchmarks/PriorityQueueBenchmarks.cs

@@ -0,0 +1,278 @@
+using System;
+using System.Collections.Generic;
+using BenchmarkDotNet.Attributes;
+using DotRecast.Core.Collections;
+
+namespace DotRecast.Benchmark.Benchmarks;
+
+/*
+
+// * Summary *
+BenchmarkDotNet v0.13.12, Windows 11 (10.0.22631.3958/23H2/2023Update/SunValley3)
+AMD Ryzen 5 3600, 1 CPU, 12 logical and 6 physical cores
+.NET SDK 8.0.101
+  [Host]     : .NET 8.0.1 (8.0.123.58001), X64 RyuJIT AVX2
+  DefaultJob : .NET 8.0.1 (8.0.123.58001), X64 RyuJIT AVX2
+
+| Method                         | Count | Mean                | Error            | StdDev           |
+|------------------------------- |------ |--------------------:|-----------------:|-----------------:|
+| Enqueue_RcSortedQueue          | 10    |            87.49 ns |         0.774 ns |         0.724 ns |
+| Enqueue_RcBinaryMinHeap        | 10    |           185.23 ns |         1.730 ns |         1.533 ns |
+| Enqueue_PriorityQueue          | 10    |           202.95 ns |         1.611 ns |         1.428 ns |
+| DequeueAll_RcSortedQueue       | 10    |           460.97 ns |         2.169 ns |         2.029 ns |
+| DequeueAll_RcBinaryMinHeap     | 10    |           573.17 ns |         2.542 ns |         2.378 ns |
+| DequeueAll_PriorityQueue       | 10    |           500.68 ns |         2.364 ns |         2.212 ns |
+| EnqueueDequeue_RcSortedQueue   | 10    |           525.43 ns |         1.842 ns |         1.632 ns |
+| EnqueueDequeue_RcBinaryMinHeap | 10    |           455.65 ns |         2.410 ns |         2.254 ns |
+| EnqueueDequeue_PriorityQueue   | 10    |           381.82 ns |         6.036 ns |         5.646 ns |
+| Enqueue_RcSortedQueue          | 100   |           730.57 ns |         5.229 ns |         4.635 ns |
+| Enqueue_RcBinaryMinHeap        | 100   |         3,012.15 ns |        10.875 ns |         9.640 ns |
+| Enqueue_PriorityQueue          | 100   |         2,306.80 ns |        26.694 ns |        23.663 ns |
+| DequeueAll_RcSortedQueue       | 100   |         6,241.67 ns |        31.856 ns |        29.798 ns |
+| DequeueAll_RcBinaryMinHeap     | 100   |        13,692.29 ns |        38.829 ns |        34.421 ns |
+| DequeueAll_PriorityQueue       | 100   |        12,482.93 ns |        93.955 ns |        87.886 ns |
+| EnqueueDequeue_RcSortedQueue   | 100   |        64,002.79 ns |       316.081 ns |       280.197 ns |
+| EnqueueDequeue_RcBinaryMinHeap | 100   |         8,655.79 ns |        23.703 ns |        22.172 ns |
+| EnqueueDequeue_PriorityQueue   | 100   |         7,806.20 ns |       105.801 ns |        98.967 ns |
+| Enqueue_RcSortedQueue          | 1000  |         7,566.23 ns |       149.010 ns |       218.418 ns |
+| Enqueue_RcBinaryMinHeap        | 1000  |        36,277.43 ns |        96.710 ns |        90.462 ns |
+| Enqueue_PriorityQueue          | 1000  |        28,564.19 ns |       186.866 ns |       174.795 ns |
+| DequeueAll_RcSortedQueue       | 1000  |       108,574.26 ns |       745.459 ns |       697.303 ns |
+| DequeueAll_RcBinaryMinHeap     | 1000  |       210,346.25 ns |       332.478 ns |       311.000 ns |
+| DequeueAll_PriorityQueue       | 1000  |       189,536.32 ns |     1,180.045 ns |     1,046.079 ns |
+| EnqueueDequeue_RcSortedQueue   | 1000  |     8,957,965.42 ns |    45,715.567 ns |    42,762.370 ns |
+| EnqueueDequeue_RcBinaryMinHeap | 1000  |       131,615.02 ns |       394.216 ns |       368.750 ns |
+| EnqueueDequeue_PriorityQueue   | 1000  |       114,799.89 ns |     1,269.621 ns |     1,060.191 ns |
+| Enqueue_RcSortedQueue          | 10000 |        77,143.76 ns |       996.372 ns |       932.007 ns |
+| Enqueue_RcBinaryMinHeap        | 10000 |       417,620.57 ns |       853.343 ns |       756.466 ns |
+| Enqueue_PriorityQueue          | 10000 |       278,791.68 ns |     1,566.093 ns |     1,464.924 ns |
+| DequeueAll_RcSortedQueue       | 10000 |     1,435,539.99 ns |     9,329.910 ns |     8,727.204 ns |
+| DequeueAll_RcBinaryMinHeap     | 10000 |     2,956,366.90 ns |     6,344.030 ns |     5,934.210 ns |
+| DequeueAll_PriorityQueue       | 10000 |     2,642,186.54 ns |     9,482.374 ns |     8,869.819 ns |
+| EnqueueDequeue_RcSortedQueue   | 10000 | 1,318,277,320.00 ns | 6,725,701.525 ns | 6,291,225.379 ns |
+| EnqueueDequeue_RcBinaryMinHeap | 10000 |     1,712,170.68 ns |     5,674.513 ns |     5,307.943 ns |
+| EnqueueDequeue_PriorityQueue   | 10000 |     1,466,910.77 ns |     4,394.686 ns |     4,110.792 ns |
+
+*/
+
+public class PriorityQueueBenchmarks
+{
+    [Params(10, 100, 1000, 10000)] public int Count;
+
+    private RcSortedQueue<Node> _sq;
+    private RcBinaryMinHeap<Node> _bmHeap;
+    private PriorityQueue<Node, Node> _pq;
+
+    private float[] _priority;
+
+    class Node
+    {
+        public int id;
+        public float total;
+    }
+
+    [GlobalSetup]
+    public void Setup()
+    {
+        static int Comp(Node x, Node y)
+        {
+            var v = x.total.CompareTo(y.total);
+            if (v != 0)
+                return v;
+            return x.id.CompareTo(y.id);
+        }
+
+        _sq = new(Comp);
+        _bmHeap = new(Count, Comp);
+        _pq = new(Count, Comparer<Node>.Create(Comp));
+
+        _priority = new float[Count];
+        for (int i = 0; i < Count; i++)
+        {
+            _priority[i] = (float)Random.Shared.NextDouble() * 100f;
+        }
+    }
+
+    [Benchmark]
+    public void Enqueue_RcSortedQueue()
+    {
+        _sq.Clear();
+        for (int i = 0; i < Count; i++)
+        {
+            _sq.Enqueue(new Node
+            {
+                id = i,
+                total = _priority[i],
+            });
+        }
+    }
+
+    [Benchmark]
+    public void Enqueue_RcBinaryMinHeap()
+    {
+        _bmHeap.Clear();
+        for (int i = 0; i < Count; i++)
+        {
+            _bmHeap.Push(new Node
+            {
+                id = i,
+                total = _priority[i],
+            });
+        }
+    }
+
+    [Benchmark]
+    public void Enqueue_PriorityQueue()
+    {
+        _pq.Clear();
+        for (int i = 0; i < Count; i++)
+        {
+            var node = new Node
+            {
+                id = i,
+                total = _priority[i],
+            };
+            _pq.Enqueue(node, node);
+        }
+    }
+
+    [Benchmark]
+    public void DequeueAll_RcSortedQueue()
+    {
+        _sq.Clear();
+        for (int i = 0; i < Count; i++)
+        {
+            _sq.Enqueue(new Node
+            {
+                id = i,
+                total = _priority[i],
+            });
+        }
+
+        while (_sq.Count() > 0)
+        {
+            _sq.Dequeue();
+        }
+    }
+
+    [Benchmark]
+    public void DequeueAll_RcBinaryMinHeap()
+    {
+        _bmHeap.Clear();
+        for (int i = 0; i < Count; i++)
+        {
+            _bmHeap.Push(new Node
+            {
+                id = i,
+                total = _priority[i],
+            });
+        }
+
+        while (_bmHeap.Count > 0)
+        {
+            _bmHeap.Pop();
+        }
+    }
+
+    [Benchmark]
+    public void DequeueAll_PriorityQueue()
+    {
+        _pq.Clear();
+        for (int i = 0; i < Count; i++)
+        {
+            var node = new Node
+            {
+                id = i,
+                total = _priority[i],
+            };
+            _pq.Enqueue(node, node);
+        }
+
+        while (_pq.Count > 0)
+        {
+            _pq.Dequeue();
+        }
+    }
+
+
+    [Benchmark]
+    public void EnqueueDequeue_RcSortedQueue()
+    {
+        _sq.Clear();
+        int half = Count / 2;
+        for (int i = 0; i < half; i++)
+        {
+            _sq.Enqueue(new Node
+            {
+                id = i,
+                total = _priority[i],
+            });
+        }
+        
+        for (int i = half; i < Count; i++)
+        {
+            _sq.Enqueue(new Node
+            {
+                id = i,
+                total = _priority[i],
+            });
+
+            _sq.Dequeue();
+        }
+
+    }
+
+    [Benchmark]
+    public void EnqueueDequeue_RcBinaryMinHeap()
+    {
+        _bmHeap.Clear();
+        int half = Count / 2;
+        for (int i = 0; i < half; i++)
+        {
+            _bmHeap.Push(new Node
+            {
+                id = i,
+                total = _priority[i],
+            });
+        }
+        
+        for (int i = half; i < Count; i++)
+        {
+            _bmHeap.Push(new Node
+            {
+                id = i,
+                total = _priority[i],
+            });
+
+            _bmHeap.Pop();
+        }
+
+    }
+
+    [Benchmark]
+    public void EnqueueDequeue_PriorityQueue()
+    {
+        _pq.Clear();
+        int half = Count / 2;
+        for (int i = 0; i < half; i++)
+        {
+            var node = new Node
+            {
+                id = i,
+                total = _priority[i],
+            };
+            _pq.Enqueue(node, node);
+        }
+
+        for (int i = half; i < Count; i++)
+        {
+            var node = new Node
+            {
+                id = i,
+                total = _priority[i],
+            };
+            _pq.Enqueue(node, node);
+            _pq.Dequeue();
+        }
+    }
+}

test/DotRecast.Benchmark/Benchmarks/StackallocBenchmarks.cs

@@ -0,0 +1,71 @@
+using System;
+using System.Runtime.CompilerServices;
+using BenchmarkDotNet.Attributes;
+using BenchmarkDotNet.Engines;
+
+namespace DotRecast.Benchmark.Benchmarks;
+
+/*
+
+| Method                         | TestArraySize | Mean         | Error      | StdDev      | Median       |
+|------------------------------- |-------------- |-------------:|-----------:|------------:|-------------:|
+| Stackalloc_Long                | 16            |     3.016 ns |  0.0179 ns |   0.0149 ns |     3.017 ns |
+| Stackalloc_Long_SkipLocalsInit | 16            |     2.265 ns |  0.0197 ns |   0.0184 ns |     2.258 ns |
+| New_Long                       | 16            |     5.917 ns |  0.1964 ns |   0.5634 ns |     5.761 ns |
+| New_Long_SkipLocalsInit        | 16            |     5.703 ns |  0.1371 ns |   0.3935 ns |     5.661 ns |
+| Stackalloc_Long                | 256           |    39.418 ns |  0.2737 ns |   0.2285 ns |    39.410 ns |
+| Stackalloc_Long_SkipLocalsInit | 256           |     2.274 ns |  0.0147 ns |   0.0131 ns |     2.274 ns |
+| New_Long                       | 256           |    53.901 ns |  2.9999 ns |   8.4614 ns |    51.449 ns |
+| New_Long_SkipLocalsInit        | 256           |    53.480 ns |  1.8716 ns |   5.4298 ns |    51.858 ns |
+| Stackalloc_Long                | 1024          |   137.037 ns |  0.3652 ns |   0.3416 ns |   137.031 ns |
+| Stackalloc_Long_SkipLocalsInit | 1024          |     3.669 ns |  0.0254 ns |   0.0226 ns |     3.668 ns |
+| New_Long                       | 1024          |   197.324 ns |  9.2795 ns |  27.0687 ns |   186.588 ns |
+| New_Long_SkipLocalsInit        | 1024          |   210.996 ns | 10.0255 ns |  27.9471 ns |   206.110 ns |
+| Stackalloc_Long                | 8192          | 1,897.989 ns |  7.1814 ns |   5.9968 ns | 1,897.814 ns |
+| Stackalloc_Long_SkipLocalsInit | 8192          |    20.598 ns |  0.2645 ns |   0.2344 ns |    20.572 ns |
+| New_Long                       | 8192          | 1,324.061 ns | 39.8447 ns | 116.2288 ns | 1,298.794 ns |
+| New_Long_SkipLocalsInit        | 8192          | 1,305.211 ns | 35.1855 ns | 102.0796 ns | 1,295.539 ns |
+*/
+
+public class StackallocBenchmarks
+{
+    private readonly Consumer _consumer = new();
+
+    [Params(1 << 4, 1 << 8, 1 << 10, 1 << 13)]
+    public int HashTableSize;
+
+    [Benchmark]
+    public void Stackalloc_Long()
+    {
+        Span<long> hashTable = stackalloc long[HashTableSize];
+
+        _consumer.Consume(hashTable[0]);
+    }
+
+    [Benchmark]
+    [SkipLocalsInit]
+    public void Stackalloc_Long_SkipLocalsInit()
+    {
+        Span<long> hashTable = stackalloc long[HashTableSize];
+
+        _consumer.Consume(hashTable[0]);
+    }
+
+    [Benchmark]
+    public void New_Long()
+    {
+        Span<long> hashTable = new long[HashTableSize];
+
+        _consumer.Consume(hashTable[0]);
+    }
+
+
+    [Benchmark]
+    [SkipLocalsInit]
+    public void New_Long_SkipLocalsInit()
+    {
+        Span<long> hashTable = new long[HashTableSize];
+
+        _consumer.Consume(hashTable[0]);
+    }
+}

test/DotRecast.Benchmark/Benchmarks/VectorBenchmarks.cs

@@ -0,0 +1,73 @@
+using BenchmarkDotNet.Attributes;
+using BenchmarkDotNet.Engines;
+using DotRecast.Core.Numerics;
+
+namespace DotRecast.Benchmark.Benchmarks;
+
+/*
+| Method            | Mean      | Error     | StdDev    |
+|------------------ |----------:|----------:|----------:|
+| Dot_Vector3       | 0.6395 ns | 0.0125 ns | 0.0104 ns |
+| Dot_RcVec3f       | 0.2275 ns | 0.0281 ns | 0.0375 ns |
+| Cross_Vector3     | 1.1652 ns | 0.0102 ns | 0.0085 ns |
+| Cross_RcVec3f     | 1.1687 ns | 0.0140 ns | 0.0124 ns |
+| Normalize_Vector3 | 1.7964 ns | 0.0173 ns | 0.0162 ns |
+| Normalize_RcVec3f | 1.2806 ns | 0.0088 ns | 0.0078 ns |
+*/
+
+public class VectorBenchmarks
+{
+    private readonly Consumer _consumer = new();
+
+    [Benchmark]
+    public void Dot_Vector3()
+    {
+        var v1 = new System.Numerics.Vector3(1, 2, 3);
+        var v2 = new System.Numerics.Vector3(1, 2, 3);
+        var v = System.Numerics.Vector3.Dot(v1, v2);
+        _consumer.Consume(v);
+    }
+
+    [Benchmark]
+    public void Dot_RcVec3f()
+    {
+        var v1 = new RcVec3f(1, 2, 3);
+        var v2 = new RcVec3f(1, 2, 3);
+        var v = RcVec3f.Dot(v1, v2);
+        _consumer.Consume(v);
+    }
+
+    [Benchmark]
+    public void Cross_Vector3()
+    {
+        var v1 = new System.Numerics.Vector3(1, 2, 3);
+        var v2 = new System.Numerics.Vector3(1, 2, 3);
+        var v = System.Numerics.Vector3.Cross(v1, v2);
+        _consumer.Consume(v);
+    }
+
+    [Benchmark]
+    public void Cross_RcVec3f()
+    {
+        var v1 = new RcVec3f(1, 2, 3);
+        var v2 = new RcVec3f(1, 2, 3);
+        var v = RcVec3f.Cross(v1, v2);
+        _consumer.Consume(v);
+    }
+
+    [Benchmark]
+    public void Normalize_Vector3()
+    {
+        var v1 = new System.Numerics.Vector3(1, 2, 3);
+        var v = System.Numerics.Vector3.Normalize(v1);
+        _consumer.Consume(v);
+    }
+
+    [Benchmark]
+    public void Normalize_RcVec3f()
+    {
+        var v1 = new RcVec3f(1, 2, 3);
+        var v = RcVec3f.Normalize(v1);
+        _consumer.Consume(v);
+    }
+}

test/DotRecast.Benchmark/DotRecast.Benchmark.csproj

@@ -0,0 +1,18 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <OutputType>Exe</OutputType>
+    <TargetFrameworks>net6.0;net7.0;net8.0</TargetFrameworks>
+    <AllowUnsafeBlocks>true</AllowUnsafeBlocks>
+    <IsPackable>false</IsPackable>
+  </PropertyGroup>
+
+  <ItemGroup>
+    <PackageReference Include="BenchmarkDotNet" Version="0.14.0" />
+  </ItemGroup>
+
+  <ItemGroup>
+    <ProjectReference Include="..\..\src\DotRecast.Core\DotRecast.Core.csproj" />
+  </ItemGroup>
+
+</Project>

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

@@ -7,15 +7,15 @@
     </PropertyGroup>
 
     <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="NUnit3TestAdapter" Version="4.5.0"/>
-        <PackageReference Include="NUnit.Analyzers" Version="4.0.1">
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.1" />
+        <PackageReference Include="Moq" Version="4.20.72" />
+        <PackageReference Include="NUnit" Version="4.2.2" />
+        <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
+        <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
             <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/RcArrayBenchmarkTests.cs

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

test/DotRecast.Core.Test/RcBinaryMinHeapTest.cs

@@ -0,0 +1,147 @@
+using DotRecast.Core.Collections;
+using NUnit.Framework;
+
+namespace DotRecast.Core.Test;
+
+public class RcBinaryMinHeapTest
+{
+    private static readonly RcAtomicLong Gen = new();
+
+    private class Node
+    {
+        public readonly long Id;
+        public long Value;
+
+        public Node(int value)
+        {
+            Id = Gen.IncrementAndGet();
+            Value = value;
+        }
+    }
+
+    [Test]
+    public void TestPush()
+    {
+        var minHeap = new RcBinaryMinHeap<Node>((x, y) => x.Value.CompareTo(y.Value));
+
+        minHeap.Push(new Node(5));
+        minHeap.Push(new Node(3));
+        minHeap.Push(new Node(7));
+        minHeap.Push(new Node(2));
+        minHeap.Push(new Node(4));
+
+        // Push 후 힙의 속성을 검증
+        AssertHeapProperty(minHeap.ToArray());
+    }
+
+    [Test]
+    public void TestPop()
+    {
+        var minHeap = new RcBinaryMinHeap<Node>((x, y) => x.Value.CompareTo(y.Value));
+
+        minHeap.Push(new Node(5));
+        minHeap.Push(new Node(3));
+        minHeap.Push(new Node(7));
+        minHeap.Push(new Node(2));
+        minHeap.Push(new Node(4));
+
+        // Pop을 통해 최소 값부터 순서대로 제거하면서 검증
+        Assert.That(minHeap.Pop().Value, Is.EqualTo(2));
+        Assert.That(minHeap.Pop().Value, Is.EqualTo(3));
+        Assert.That(minHeap.Pop().Value, Is.EqualTo(4));
+        Assert.That(minHeap.Pop().Value, Is.EqualTo(5));
+        Assert.That(minHeap.Pop().Value, Is.EqualTo(7));
+
+        // 모든 요소를 Pop한 후에는 비어있어야 함
+        Assert.That(minHeap.IsEmpty(), Is.True);
+    }
+
+
+    [Test]
+    public void TestTop()
+    {
+        var minHeap = new RcBinaryMinHeap<Node>((x, y) => x.Value.CompareTo(y.Value));
+
+        minHeap.Push(new Node(5));
+        minHeap.Push(new Node(3));
+        minHeap.Push(new Node(7));
+
+        Assert.That(minHeap.Top().Value, Is.EqualTo(3));
+        AssertHeapProperty(minHeap.ToArray());
+    }
+
+    [Test]
+    public void TestModify()
+    {
+        var minHeap = new RcBinaryMinHeap<Node>((x, y) => x.Value.CompareTo(y.Value));
+
+        var node7 = new Node(7);
+        minHeap.Push(new Node(5));
+        minHeap.Push(new Node(3));
+        minHeap.Push(node7);
+        minHeap.Push(new Node(2));
+        minHeap.Push(new Node(4));
+
+        node7.Value = 1;
+        var result = minHeap.Modify(node7); // Modify value 7 to 1
+        var result2 = minHeap.Modify(new Node(4));
+
+        Assert.That(result, Is.EqualTo(true));
+        Assert.That(result2, Is.EqualTo(false));
+        Assert.That(minHeap.Top().Value, Is.EqualTo(1));
+        AssertHeapProperty(minHeap.ToArray());
+    }
+
+    [Test]
+    public void TestCount()
+    {
+        var minHeap = new RcBinaryMinHeap<Node>((x, y) => x.Value.CompareTo(y.Value));
+
+        minHeap.Push(new Node(5));
+        minHeap.Push(new Node(3));
+        minHeap.Push(new Node(7));
+
+        Assert.That(minHeap.Count, Is.EqualTo(3));
+
+        minHeap.Pop();
+
+        Assert.That(minHeap.Count, Is.EqualTo(2));
+
+        minHeap.Clear();
+
+        Assert.That(minHeap.Count, Is.EqualTo(0));
+    }
+
+    [Test]
+    public void TestIsEmpty()
+    {
+        var minHeap = new RcBinaryMinHeap<Node>((x, y) => x.Value.CompareTo(y.Value));
+
+        Assert.That(minHeap.IsEmpty(), Is.True);
+
+        minHeap.Push(new Node(5));
+
+        Assert.That(minHeap.IsEmpty(), Is.False);
+
+        minHeap.Pop();
+
+        Assert.That(minHeap.IsEmpty(), Is.True);
+    }
+
+    private void AssertHeapProperty(Node[] array)
+    {
+        for (int i = 0; i < array.Length / 2; i++)
+        {
+            int leftChildIndex = 2 * i + 1;
+            int rightChildIndex = 2 * i + 2;
+
+            // 왼쪽 자식 노드가 있는지 확인하고 비교
+            if (leftChildIndex < array.Length)
+                Assert.That(array[i].Value, Is.LessThanOrEqualTo(array[leftChildIndex].Value));
+
+            // 오른쪽 자식 노드가 있는지 확인하고 비교
+            if (rightChildIndex < array.Length)
+                Assert.That(array[i].Value, Is.LessThanOrEqualTo(array[rightChildIndex].Value));
+        }
+    }
+}

test/DotRecast.Core.Test/RcCyclicBufferTest.cs

@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Collections.Generic;
 using System.Linq;
 using DotRecast.Core.Buffers;

test/DotRecast.Core.Test/RcHashCodesTest.cs

@@ -1,4 +1,4 @@
-using NUnit.Framework;
+using NUnit.Framework;
 
 namespace DotRecast.Core.Test;
 

test/DotRecast.Core.Test/RcIoTests.cs

@@ -0,0 +1,38 @@
+using System;
+using System.IO;
+using NUnit.Framework;
+
+namespace DotRecast.Core.Test;
+
+public class RcIoTests
+{
+    [Test]
+    public void Test()
+    {
+        const long tileRef = 281474976710656L;
+        const int dataSize = 344;
+        
+        byte[] actual;
+        
+        {
+            using MemoryStream ms = new MemoryStream();
+            using BinaryWriter bw = new BinaryWriter(ms);
+
+            RcIO.Write(bw, tileRef, RcByteOrder.LITTLE_ENDIAN);
+            RcIO.Write(bw, dataSize, RcByteOrder.LITTLE_ENDIAN);
+
+            bw.Flush();
+            actual= ms.ToArray();
+        }
+
+        {
+            using MemoryStream ms = new MemoryStream(actual);
+            using BinaryReader br = new BinaryReader(ms);
+            var byteBuffer = RcIO.ToByteBuffer(br);
+            byteBuffer.Order(RcByteOrder.LITTLE_ENDIAN);
+
+            Assert.That(byteBuffer.GetLong(), Is.EqualTo(tileRef));
+            Assert.That(byteBuffer.GetInt(), Is.EqualTo(dataSize));
+        }
+    }
+}

test/DotRecast.Core.Test/RcMathTest.cs

@@ -0,0 +1,38 @@
+using System;
+using NUnit.Framework;
+
+namespace DotRecast.Core.Test;
+
+public class RcMathTest
+{
+    [Test]
+    public void TestSqr()
+    {
+        Assert.That(RcMath.Sqr(0), Is.EqualTo(0));
+        Assert.That(RcMath.Sqr(5), Is.EqualTo(25));
+        Assert.That(RcMath.Sqr(-5), Is.EqualTo(25));
+        Assert.That(RcMath.Sqr(float.PositiveInfinity), Is.EqualTo(float.PositiveInfinity));
+        Assert.That(RcMath.Sqr(float.NegativeInfinity), Is.EqualTo(float.PositiveInfinity));
+        Assert.That(RcMath.Sqr(float.NaN), Is.EqualTo(float.NaN));
+    }
+
+    [Test]
+    public void TestLerp()
+    {
+        //
+        Assert.That(RcMath.Lerp(-10, 10, 2f), Is.EqualTo(30));
+        Assert.That(RcMath.Lerp(-10, 10, 1f), Is.EqualTo(10));
+        Assert.That(RcMath.Lerp(-10, 10, 0.5f), Is.EqualTo(0));
+        Assert.That(RcMath.Lerp(-10, 10, 0.25f), Is.EqualTo(-5));
+        Assert.That(RcMath.Lerp(-10, 10, 0), Is.EqualTo(-10));
+        Assert.That(RcMath.Lerp(-10, 10, -0.5f), Is.EqualTo(-20));
+        Assert.That(RcMath.Lerp(-10, 10, -1f), Is.EqualTo(-30));
+
+        //
+        Assert.That(RcMath.Lerp(10, 10, 0.5f), Is.EqualTo(10));
+        Assert.That(RcMath.Lerp(10, 10, 0.8f), Is.EqualTo(10));
+
+        //
+        Assert.That(RcMath.Lerp(10, -10, 0.75f), Is.EqualTo(-5));
+    }
+}

test/DotRecast.Core.Test/RcRentedArrayTest.cs

@@ -1,5 +1,6 @@
-using System;
+using System;
 using System.Collections.Generic;
+using System.Linq;
 using DotRecast.Core.Buffers;
 using NUnit.Framework;
 
@@ -56,4 +57,50 @@ 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.Core.Test/RcSortedQueueTest.cs

@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Collections;
 using System.Collections.Generic;
 using DotRecast.Core.Collections;

test/DotRecast.Core.Test/RcSpanTest.cs

@@ -0,0 +1,148 @@
+using System;
+using System.Collections.Generic;
+using NUnit.Framework;
+
+namespace DotRecast.Core.Test;
+
+public class RcSpanTest
+{
+    [Test]
+    public void TestCopy()
+    {
+        // Test for copying all elements to the destination span.
+        {
+            Span<long> src = stackalloc long[] { 1, 2, 3 };
+            Span<long> dst = stackalloc long[] { 0, 0, 0 };
+
+            RcSpans.Copy(src, dst);
+            Assert.That(src.ToArray(), Is.EqualTo(dst.ToArray()));
+        }
+
+        // Test for successful copying when the destination Span has a larger size.
+        {
+            Span<long> src = stackalloc long[] { 1, 2 };
+            Span<long> dst = stackalloc long[] { 0, 0, 0, 0 };
+
+            RcSpans.Copy(src, dst);
+            Assert.That(src.ToArray(), Is.EqualTo(dst.Slice(0, src.Length).ToArray()));
+        }
+
+        // Test for an error when copying to a Span with a smaller size.
+        {
+            Assert.Throws<ArgumentException>(() =>
+            {
+                Span<long> src = stackalloc long[] { 1, 2, 3, 4, 5 };
+                Span<long> dst = stackalloc long[] { 0, 0, 0 };
+                RcSpans.Copy(src, dst);
+            });
+        }
+
+        // Test for copying a specific range of elements from the source span to a specific range in the destination span.
+        {
+            Span<long> src = stackalloc long[] { 1, 2, 3, 4, 5 };
+            Span<long> dst = stackalloc long[] { 0, 0, 0 };
+
+            RcSpans.Copy(src, 2, dst, 0, 2);
+            Assert.That(src.Slice(2, 2).ToArray(), Is.EqualTo(dst.Slice(0, 2).ToArray()));
+        }
+
+        // Test for copying a specific range of elements from the source span to a specific range in the destination span.
+        {
+            Span<long> src = stackalloc long[] { 5, 4, 3, 2, 1 };
+            Span<long> dst = stackalloc long[] { 0, 0, 0 };
+
+            RcSpans.Copy(src, 2, dst, 0, 3);
+            Assert.That(src.Slice(2, 3).ToArray(), Is.EqualTo(dst.ToArray()));
+        }
+
+        // Test for src (index + length) over
+        Assert.Throws<ArgumentOutOfRangeException>(() =>
+        {
+            Span<long> src = stackalloc long[] { 5, 4, 3, 2, 1 };
+            Span<long> dst = stackalloc long[] { 0, 0, 0 };
+
+            //
+            RcSpans.Copy(src, 3, dst, 0, 3);
+        });
+
+        // Test for src (index + length) over
+        Assert.Throws<ArgumentOutOfRangeException>(() =>
+        {
+            Span<long> src = stackalloc long[] { 5, 4, 3, 2, 1 };
+            Span<long> dst = stackalloc long[] { 0, 0, 0 };
+
+            //
+            RcSpans.Copy(src, 5, dst, 0, 1);
+        });
+
+
+        // Test for dst (idx + length) over 
+        Assert.Throws<ArgumentException>(() =>
+        {
+            Span<long> src = stackalloc long[] { 5, 4, 3, 2, 1 };
+            Span<long> dst = stackalloc long[] { 0, 0, 0 };
+
+            //
+            RcSpans.Copy(src, 0, dst, 1, 3);
+        });
+
+        // Test for dst (idx + length) over 
+        Assert.Throws<ArgumentException>(() =>
+        {
+            Span<long> src = stackalloc long[] { 5, 4, 3, 2, 1 };
+            Span<long> dst = stackalloc long[] { 0, 0, 0 };
+
+            //
+            RcSpans.Copy(src, 0, dst, 0, 4);
+        });
+    }
+
+    [Test]
+    public void TestMove()
+    {
+        // [3, 2, 1] -> [3, 1, 1]
+        {
+            var expected = new List<long>() { 3, 1, 1 };
+            Span<long> src = stackalloc long[] { 3, 2, 1 };
+            RcSpans.Move(src, 2, 1, 1);
+            Assert.That(src.ToArray(), Is.EqualTo(expected));
+        }
+
+        // [3, 2, 1] -> [2, 1, 1]
+        {
+            var expected = new List<long>() { 2, 1, 1 };
+            Span<long> src = stackalloc long[] { 3, 2, 1 };
+            RcSpans.Move(src, 1, 0, 2);
+            Assert.That(src.ToArray(), Is.EqualTo(expected));
+        }
+
+        // [3, 2, 1] -> [3, 2, 1]
+        {
+            var expected = new List<long>() { 3, 2, 1 };
+            Span<long> src = stackalloc long[] { 3, 2, 1 };
+            RcSpans.Move(src, 0, 0, 3);
+            Assert.That(src.ToArray(), Is.EqualTo(expected));
+        }
+
+        // length over
+        Assert.Throws<ArgumentOutOfRangeException>(() =>
+        {
+            Span<long> src = stackalloc long[] { 3, 2, 1 };
+            RcSpans.Move(src, 0, 0, 4);
+        });
+        
+        // source index over
+        Assert.Throws<ArgumentOutOfRangeException>(() =>
+        {
+            Span<long> src = stackalloc long[] { 3, 2, 1 };
+            RcSpans.Move(src, 3, 0, 1);
+        });
+        
+        // destination index over
+        Assert.Throws<ArgumentOutOfRangeException>(() =>
+        {
+            Span<long> src = stackalloc long[] { 3, 2, 1 };
+            RcSpans.Move(src, 0, 3, 1);
+        });
+    }
+}

test/DotRecast.Core.Test/RcStackArrayTest.cs

@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Collections.Generic;
 using DotRecast.Core.Collections;
 using NUnit.Framework;

test/DotRecast.Core.Test/Vector3Test.cs

@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Numerics;
 using DotRecast.Core.Numerics;
 using NUnit.Framework;

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -25,7 +25,6 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Crowd.Test;
 
-
 public class AbstractCrowdTest
 {
     protected readonly long[] startRefs =
@@ -63,8 +62,9 @@ public class AbstractCrowdTest
     [SetUp]
     public void SetUp()
     {
-        nmd = new RecastTestMeshBuilder().GetMeshData();
-        navmesh = new DtNavMesh(nmd, 6, 0);
+        nmd = TestMeshDataFactory.Create();
+        navmesh = new DtNavMesh();
+        navmesh.Init(nmd, 6, 0);
         query = new DtNavMeshQuery(navmesh);
         DtCrowdConfig config = new DtCrowdConfig(0.6f);
         crowd = new DtCrowd(config, navmesh);
@@ -153,7 +153,7 @@ public class AbstractCrowdTest
         RcVec3f vel = RcVec3f.Subtract(tgt, pos);
         vel.Y = 0.0f;
         vel = RcVec3f.Normalize(vel);
-        vel = vel.Scale(speed);
+        vel = vel * speed;
         return vel;
     }
 

test/DotRecast.Detour.Crowd.Test/Crowd1Test.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

test/DotRecast.Detour.Crowd.Test/Crowd4Test.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

test/DotRecast.Detour.Crowd.Test/Crowd4VelocityTest.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

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

@@ -7,15 +7,15 @@
     </PropertyGroup>
 
     <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="NUnit3TestAdapter" Version="4.5.0"/>
-        <PackageReference Include="NUnit.Analyzers" Version="4.0.1">
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.1" />
+        <PackageReference Include="Moq" Version="4.20.72" />
+        <PackageReference Include="NUnit" Version="4.2.2" />
+        <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
+        <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
             <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/DtPathCorridorTest.cs

@@ -0,0 +1,73 @@
+/*
+recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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.
+*/
+
+using System;
+using System.Collections.Generic;
+using DotRecast.Core.Numerics;
+using NUnit.Framework;
+
+namespace DotRecast.Detour.Crowd.Test;
+
+public class DtPathCorridorTest
+{
+    private readonly DtPathCorridor corridor = new DtPathCorridor();
+    private readonly IDtQueryFilter filter = new DtQueryDefaultFilter();
+
+    [SetUp]
+    public void SetUp()
+    {
+        corridor.Init(256);
+        corridor.Reset(0, new RcVec3f(10, 20, 30));
+    }
+
+    [Test]
+    public void ShouldKeepOriginalPathInFindCornersWhenNothingCanBePruned()
+    {
+        var straightPath = new DtStraightPath[4];
+        straightPath[0] = new DtStraightPath(new RcVec3f(11, 20, 30.00001f), 0, 0);
+        straightPath[1] = new DtStraightPath(new RcVec3f(12, 20, 30.00002f), 0, 0);
+        straightPath[2] = new DtStraightPath(new RcVec3f(11f, 21, 32f), 0, 0);
+        straightPath[3] = new DtStraightPath(new RcVec3f(11f, 21, 32f), 0, 0);
+        var query = new DtNavMeshQueryMock(straightPath, DtStatus.DT_SUCCESS);
+
+        Span<DtStraightPath> path = stackalloc DtStraightPath[8];
+        var npath = corridor.FindCorners(path, 8, query, filter);
+        Assert.That(npath, Is.EqualTo(4));
+        Assert.That(path.Slice(0, npath).ToArray(), Is.EqualTo(straightPath));
+    }
+
+
+    [Test]
+    public void ShouldPrunePathInFindCorners()
+    {
+        DtStraightPath[] straightPath = new DtStraightPath[5];
+        straightPath[0] = (new DtStraightPath(new RcVec3f(10, 20, 30.00001f), 0, 0)); // too close
+        straightPath[1] = (new DtStraightPath(new RcVec3f(10, 20, 30.00002f), 0, 0)); // too close
+        straightPath[2] = (new DtStraightPath(new RcVec3f(11f, 21, 32f), 0, 0));
+        straightPath[3] = (new DtStraightPath(new RcVec3f(12f, 22, 33f), DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION, 0)); // offmesh
+        straightPath[4] = (new DtStraightPath(new RcVec3f(11f, 21, 32f), DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION, 0)); // offmesh
+
+        var query = new DtNavMeshQueryMock(straightPath, DtStatus.DT_SUCCESS);
+
+        Span<DtStraightPath> path = stackalloc DtStraightPath[8];
+        int npath = corridor.FindCorners(path, 8, query, filter);
+        Assert.That(npath, Is.EqualTo(2));
+        Assert.That(path.Slice(0, npath).ToArray(), Is.EqualTo(new DtStraightPath[] { straightPath[2], straightPath[3] }));
+    }
+}

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

@@ -1,101 +0,0 @@
-/*
-recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.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.
-*/
-
-using System.Collections.Generic;
-using DotRecast.Core.Numerics;
-
-using Moq;
-using NUnit.Framework;
-
-namespace DotRecast.Detour.Crowd.Test;
-
-
-public class PathCorridorTest
-{
-    private readonly DtPathCorridor corridor = new DtPathCorridor();
-    private readonly IDtQueryFilter filter = new DtQueryDefaultFilter();
-
-    [SetUp]
-    public void SetUp()
-    {
-        corridor.Init(256);
-        corridor.Reset(0, new RcVec3f(10, 20, 30));
-    }
-
-    [Test]
-    public void ShouldKeepOriginalPathInFindCornersWhenNothingCanBePruned()
-    {
-        List<DtStraightPath> straightPath = new();
-        straightPath.Add(new DtStraightPath(new RcVec3f(11, 20, 30.00001f), 0, 0));
-        straightPath.Add(new DtStraightPath(new RcVec3f(12, 20, 30.00002f), 0, 0));
-        straightPath.Add(new DtStraightPath(new RcVec3f(11f, 21, 32f), 0, 0));
-        straightPath.Add(new DtStraightPath(new RcVec3f(11f, 21, 32f), 0, 0));
-        var mockQuery = new Mock<DtNavMeshQuery>(It.IsAny<DtNavMesh>());
-        mockQuery.Setup(q => q.FindStraightPath(
-                It.IsAny<RcVec3f>(),
-                It.IsAny<RcVec3f>(),
-                It.IsAny<List<long>>(),
-                ref It.Ref<List<DtStraightPath>>.IsAny,
-                It.IsAny<int>(),
-                It.IsAny<int>())
-            )
-            .Callback((RcVec3f startPos, RcVec3f endPos, List<long> path,
-                ref List<DtStraightPath> refStraightPath, int maxStraightPath, int options) =>
-            {
-                refStraightPath = straightPath;
-            })
-            .Returns(() => DtStatus.DT_SUCCESS);
-
-        var path = new List<DtStraightPath>();
-        corridor.FindCorners(ref path, int.MaxValue, mockQuery.Object, filter);
-        Assert.That(path.Count, Is.EqualTo(4));
-        Assert.That(path, Is.EqualTo(straightPath));
-    }
-
-    [Test]
-    public void ShouldPrunePathInFindCorners()
-    {
-        List<DtStraightPath> straightPath = new();
-        straightPath.Add(new DtStraightPath(new RcVec3f(10, 20, 30.00001f), 0, 0)); // too close
-        straightPath.Add(new DtStraightPath(new RcVec3f(10, 20, 30.00002f), 0, 0)); // too close
-        straightPath.Add(new DtStraightPath(new RcVec3f(11f, 21, 32f), 0, 0));
-        straightPath.Add(new DtStraightPath(new RcVec3f(12f, 22, 33f), DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION, 0)); // offmesh
-        straightPath.Add(new DtStraightPath(new RcVec3f(11f, 21, 32f), DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION, 0)); // offmesh
-
-        var mockQuery = new Mock<DtNavMeshQuery>(It.IsAny<DtNavMesh>());
-        mockQuery.Setup(q => q.FindStraightPath(
-                It.IsAny<RcVec3f>(),
-                It.IsAny<RcVec3f>(),
-                It.IsAny<List<long>>(),
-                ref It.Ref<List<DtStraightPath>>.IsAny,
-                It.IsAny<int>(),
-                It.IsAny<int>())
-            ).Callback((RcVec3f startPos, RcVec3f endPos, List<long> path,
-                ref List<DtStraightPath> refStraightPath, int maxStraightPath, int options) =>
-            {
-                refStraightPath = straightPath;
-            })
-            .Returns(() => DtStatus.DT_SUCCESS);
-
-        var path = new List<DtStraightPath>();
-        corridor.FindCorners(ref path, int.MaxValue, mockQuery.Object, filter);
-        Assert.That(path.Count, Is.EqualTo(2));
-        Assert.That(path, Is.EqualTo(new List<DtStraightPath> { straightPath[2], straightPath[3] }));
-    }
-}

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

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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

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

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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
@@ -22,46 +23,42 @@ using DotRecast.Recast.Geom;
 
 namespace DotRecast.Detour.Crowd.Test;
 
-public class RecastTestMeshBuilder
+public class TestMeshDataFactory
 {
-    private readonly DtMeshData meshData;
-    public const float m_cellSize = 0.3f;
-    public const float m_cellHeight = 0.2f;
-    public const float m_agentHeight = 2.0f;
-    public const float m_agentRadius = 0.6f;
-    public const float m_agentMaxClimb = 0.9f;
-    public const float m_agentMaxSlope = 45.0f;
-    public const int m_regionMinSize = 8;
-    public const int m_regionMergeSize = 20;
-    public const float m_edgeMaxLen = 12.0f;
-    public const float m_edgeMaxError = 1.3f;
-    public const int m_vertsPerPoly = 6;
-    public const float m_detailSampleDist = 6.0f;
-    public const float m_detailSampleMaxError = 1.0f;
+    private const float m_cellSize = 0.3f;
+    private const float m_cellHeight = 0.2f;
+    private const float m_agentHeight = 2.0f;
+    private const float m_agentRadius = 0.6f;
+    private const float m_agentMaxClimb = 0.9f;
+    private const float m_agentMaxSlope = 45.0f;
+    private const int m_regionMinSize = 8;
+    private const int m_regionMergeSize = 20;
+    private const float m_edgeMaxLen = 12.0f;
+    private const float m_edgeMaxError = 1.3f;
+    private const int m_vertsPerPoly = 6;
+    private const float m_detailSampleDist = 6.0f;
+    private const float m_detailSampleMaxError = 1.0f;
 
-    public RecastTestMeshBuilder()
-        : this(SimpleInputGeomProvider.LoadFile("dungeon.obj"),
-            RcPartition.WATERSHED,
-            m_cellSize, m_cellHeight,
-            m_agentMaxSlope, m_agentHeight, m_agentRadius, m_agentMaxClimb,
-            m_regionMinSize, m_regionMergeSize,
-            m_edgeMaxLen, m_edgeMaxError,
-            m_vertsPerPoly,
-            m_detailSampleDist, m_detailSampleMaxError)
+    public static DtMeshData Create()
     {
-    }
+        IInputGeomProvider geom = SimpleInputGeomProvider.LoadFile("dungeon.obj");
+        RcPartition partition = RcPartition.WATERSHED;
+        float cellSize = m_cellSize;
+        float cellHeight = m_cellHeight;
+        float agentMaxSlope = m_agentMaxSlope;
+        float agentHeight = m_agentHeight;
+        float agentRadius = m_agentRadius;
+        float agentMaxClimb = m_agentMaxClimb;
+        int regionMinSize = m_regionMinSize;
+        int regionMergeSize = m_regionMergeSize;
+        float edgeMaxLen = m_edgeMaxLen;
+        float edgeMaxError = m_edgeMaxError;
+        int vertsPerPoly = m_vertsPerPoly;
+        float detailSampleDist = m_detailSampleDist;
+        float detailSampleMaxError = m_detailSampleMaxError;
 
-    public RecastTestMeshBuilder(IInputGeomProvider geom,
-        RcPartition partitionType,
-        float cellSize, float cellHeight,
-        float agentMaxSlope, float agentHeight, float agentRadius, float agentMaxClimb,
-        int regionMinSize, int regionMergeSize,
-        float edgeMaxLen, float edgeMaxError,
-        int vertsPerPoly,
-        float detailSampleDist, float detailSampleMaxError)
-    {
         RcConfig cfg = new RcConfig(
-            partitionType,
+            partition,
             cellSize, cellHeight,
             agentMaxSlope, agentHeight, agentRadius, agentMaxClimb,
             regionMinSize, regionMergeSize,
@@ -72,32 +69,32 @@ public class RecastTestMeshBuilder
             SampleAreaModifications.SAMPLE_AREAMOD_GROUND, true);
         RcBuilderConfig bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax());
         RcBuilder rcBuilder = new RcBuilder();
-        RcBuilderResult rcResult = rcBuilder.Build(geom, bcfg);
-        RcPolyMesh m_pmesh = rcResult.GetMesh();
-        for (int i = 0; i < m_pmesh.npolys; ++i)
+        RcBuilderResult rcResult = rcBuilder.Build(geom, bcfg, false);
+        RcPolyMesh pmesh = rcResult.Mesh;
+        for (int i = 0; i < pmesh.npolys; ++i)
         {
-            m_pmesh.flags[i] = 1;
+            pmesh.flags[i] = 1;
         }
 
-        RcPolyMeshDetail m_dmesh = rcResult.GetMeshDetail();
+        RcPolyMeshDetail dmesh = rcResult.MeshDetail;
         DtNavMeshCreateParams option = new DtNavMeshCreateParams();
-        option.verts = m_pmesh.verts;
-        option.vertCount = m_pmesh.nverts;
-        option.polys = m_pmesh.polys;
-        option.polyAreas = m_pmesh.areas;
-        option.polyFlags = m_pmesh.flags;
-        option.polyCount = m_pmesh.npolys;
-        option.nvp = m_pmesh.nvp;
-        option.detailMeshes = m_dmesh.meshes;
-        option.detailVerts = m_dmesh.verts;
-        option.detailVertsCount = m_dmesh.nverts;
-        option.detailTris = m_dmesh.tris;
-        option.detailTriCount = m_dmesh.ntris;
+        option.verts = pmesh.verts;
+        option.vertCount = pmesh.nverts;
+        option.polys = pmesh.polys;
+        option.polyAreas = pmesh.areas;
+        option.polyFlags = pmesh.flags;
+        option.polyCount = pmesh.npolys;
+        option.nvp = pmesh.nvp;
+        option.detailMeshes = dmesh.meshes;
+        option.detailVerts = dmesh.verts;
+        option.detailVertsCount = dmesh.nverts;
+        option.detailTris = dmesh.tris;
+        option.detailTriCount = dmesh.ntris;
         option.walkableHeight = agentHeight;
         option.walkableRadius = agentRadius;
         option.walkableClimb = agentMaxClimb;
-        option.bmin = m_pmesh.bmin;
-        option.bmax = m_pmesh.bmax;
+        option.bmin = pmesh.bmin;
+        option.bmax = pmesh.bmax;
         option.cs = cellSize;
         option.ch = cellHeight;
         option.buildBvTree = true;
@@ -120,11 +117,8 @@ public class RecastTestMeshBuilder
         option.offMeshConUserID = new int[1];
         option.offMeshConUserID[0] = 0x4567;
         option.offMeshConCount = 1;
-        meshData = DtNavMeshBuilder.CreateNavMeshData(option);
-    }
+        var meshData = DtNavMeshBuilder.CreateNavMeshData(option);
 
-    public DtMeshData GetMeshData()
-    {
         return meshData;
     }
 }

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

@@ -7,19 +7,19 @@
     </PropertyGroup>
 
     <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="NUnit3TestAdapter" Version="4.5.0"/>
-        <PackageReference Include="NUnit.Analyzers" Version="4.0.1">
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.1" />
+        <PackageReference Include="Moq" Version="4.20.72" />
+        <PackageReference Include="NUnit" Version="4.2.2" />
+        <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
+        <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
             <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

@@ -1,3 +1,4 @@
+using System;
 using System.Collections.Generic;
 using System.IO;
 using System.Threading.Tasks;
@@ -6,11 +7,11 @@ using DotRecast.Core.Numerics;
 using DotRecast.Detour.Dynamic.Colliders;
 using DotRecast.Detour.Dynamic.Io;
 using DotRecast.Detour.Dynamic.Test.Io;
+using DotRecast.Detour.Io;
 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);
@@ -22,7 +23,7 @@ public class DynamicNavMeshTest
     [Test]
     public void E2eTest()
     {
-        byte[] bytes = RcResources.Load("test_tiles.voxels");
+        byte[] bytes = RcIO.ReadFileIfFound("test_tiles.voxels");
         using var ms = new MemoryStream(bytes);
         using var br = new BinaryReader(ms);
 
@@ -32,9 +33,7 @@ public class DynamicNavMeshTest
         // create dynamic navmesh
         DtDynamicNavMesh mesh = new DtDynamicNavMesh(f);
         // build navmesh asynchronously using multiple threads
-        Task<bool> future = mesh.Build(Task.Factory);
-        // wait for build to complete
-        bool _ = future.Result;
+        mesh.Build(Task.Factory);
 
         // create new query
         DtNavMeshQuery query = new DtNavMeshQuery(mesh.NavMesh());
@@ -54,9 +53,8 @@ public class DynamicNavMeshTest
         long colliderId = mesh.AddCollider(colldier);
 
         // update navmesh asynchronously
-        future = mesh.Update(Task.Factory);
-        // wait for update to complete
-        _ = future.Result;
+        mesh.Update(Task.Factory);
+
         // create new query
         query = new DtNavMeshQuery(mesh.NavMesh());
 
@@ -70,9 +68,7 @@ public class DynamicNavMeshTest
         // remove obstacle
         mesh.RemoveCollider(colliderId);
         // update navmesh asynchronously
-        future = mesh.Update(Task.Factory);
-        // wait for update to complete
-        _ = future.Result;
+        mesh.Update(Task.Factory);
         // create new query
         query = new DtNavMeshQuery(mesh.NavMesh());
 
@@ -84,4 +80,101 @@ public class DynamicNavMeshTest
         // path length should be back to the initial value
         Assert.That(path.Count, Is.EqualTo(16));
     }
+
+
+    [Test]
+    public void ShouldSaveAndLoadDynamicNavMesh()
+    {
+        using var writerMs = new MemoryStream();
+        using var bw = new BinaryWriter(writerMs);
+
+
+        int maxVertsPerPoly = 6;
+        // load voxels from file
+
+        {
+            byte[] bytes = RcIO.ReadFileIfFound("test_tiles.voxels");
+            using var readMs = new MemoryStream(bytes);
+            using var br = new BinaryReader(readMs);
+
+            DtVoxelFileReader reader = new DtVoxelFileReader(DtVoxelTileLZ4ForTestCompressor.Shared);
+            DtVoxelFile f = reader.Read(br);
+
+            // create dynamic navmesh
+            DtDynamicNavMesh mesh = new DtDynamicNavMesh(f);
+
+            // build navmesh asynchronously using multiple threads
+            mesh.Build(Task.Factory);
+
+            // Save the resulting nav mesh and re-use it
+            new DtMeshSetWriter().Write(bw, mesh.NavMesh(), RcByteOrder.LITTLE_ENDIAN, true);
+            maxVertsPerPoly = mesh.NavMesh().GetMaxVertsPerPoly();
+        }
+
+        {
+            byte[] bytes = RcIO.ReadFileIfFound("test_tiles.voxels");
+            using var readMs = new MemoryStream(bytes);
+            using var br = new BinaryReader(readMs);
+
+            // load voxels from file
+            DtVoxelFileReader reader = new DtVoxelFileReader(DtVoxelTileLZ4ForTestCompressor.Shared);
+            DtVoxelFile f = reader.Read(br);
+
+            // create dynamic navmesh
+            DtDynamicNavMesh mesh = new DtDynamicNavMesh(f);
+            // use the saved nav mesh instead of building from scratch
+            DtNavMesh navMesh = new DtMeshSetReader().Read(new RcByteBuffer(writerMs.ToArray()), maxVertsPerPoly);
+            mesh.NavMesh(navMesh);
+
+            DtNavMeshQuery query = new DtNavMeshQuery(mesh.NavMesh());
+            IDtQueryFilter filter = new DtQueryDefaultFilter();
+
+            // find path
+            _ = query.FindNearestPoly(START_POS, EXTENT, filter, out var startNearestRef, out var startNearestPos, out var _);
+            _ = query.FindNearestPoly(END_POS, EXTENT, filter, out var endNearestRef, out var endNearestPos, out var _);
+
+            List<long> path = new List<long>();
+            query.FindPath(startNearestRef, endNearestRef, startNearestPos, endNearestPos, filter, ref path, DtFindPathOption.AnyAngle);
+
+            // check path length without any obstacles
+            Assert.That(path.Count, Is.EqualTo(16));
+
+            // place obstacle
+            DtCollider colldier = new DtSphereCollider(SPHERE_POS, 20, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_GROUND, 0.1f);
+            long colliderId = mesh.AddCollider(colldier);
+
+            // update navmesh asynchronously
+            mesh.Update(Task.Factory);
+
+            // create new query
+            query = new DtNavMeshQuery(mesh.NavMesh());
+
+            // find path again
+            _ = query.FindNearestPoly(START_POS, EXTENT, filter, out startNearestRef, out startNearestPos, out var _);
+            _ = query.FindNearestPoly(END_POS, EXTENT, filter, out endNearestRef, out endNearestPos, out var _);
+
+            path = new List<long>();
+            query.FindPath(startNearestRef, endNearestRef, startNearestPos, endNearestPos, filter, ref path, DtFindPathOption.AnyAngle);
+
+            // check path length with obstacles
+            Assert.That(path.Count, Is.EqualTo(19));
+
+            // remove obstacle
+            mesh.RemoveCollider(colliderId);
+            // update navmesh asynchronously
+            mesh.Update(Task.Factory);
+
+            // create new query
+            query = new DtNavMeshQuery(mesh.NavMesh());
+            // find path one more time
+            _ = query.FindNearestPoly(START_POS, EXTENT, filter, out startNearestRef, out startNearestPos, out var _);
+            _ = query.FindNearestPoly(END_POS, EXTENT, filter, out endNearestRef, out endNearestPos, out var _);
+
+            path = new List<long>();
+            query.FindPath(startNearestRef, endNearestRef, startNearestPos, endNearestPos, filter, ref path, DtFindPathOption.AnyAngle);
+
+            // path length should be back to the initial value
+            Assert.That(path.Count, Is.EqualTo(16));
+        }
+    }
 }

test/DotRecast.Detour.Dynamic.Test/Io/DtVoxelTileLZ4ForTestCompressor.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

test/DotRecast.Detour.Dynamic.Test/Io/VoxelFileReaderTest.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -31,7 +31,7 @@ public class VoxelFileReaderTest
     [Test]
     public void ShouldReadSingleTileFile()
     {
-        byte[] bytes = RcResources.Load("test.voxels");
+        byte[] bytes = RcIO.ReadFileIfFound("test.voxels");
         using var ms = new MemoryStream(bytes);
         using var br = new BinaryReader(ms);
 
@@ -57,7 +57,7 @@ public class VoxelFileReaderTest
     [Test]
     public void ShouldReadMultiTileFile()
     {
-        byte[] bytes = RcResources.Load("test_tiles.voxels");
+        byte[] bytes = RcIO.ReadFileIfFound("test_tiles.voxels");
         using var ms = new MemoryStream(bytes);
         using var br = new BinaryReader(ms);
 

test/DotRecast.Detour.Dynamic.Test/Io/VoxelFileReaderWriterTest.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -32,7 +32,7 @@ public class VoxelFileReaderWriterTest
     [TestCase(true)]
     public void ShouldReadSingleTileFile(bool compression)
     {
-        byte[] bytes = RcResources.Load("test.voxels");
+        byte[] bytes = RcIO.ReadFileIfFound("test.voxels");
         using var ms = new MemoryStream(bytes);
         using var br = new BinaryReader(ms);
 
@@ -60,7 +60,7 @@ public class VoxelFileReaderWriterTest
     [TestCase(true)]
     public void ShouldReadMultiTileFile(bool compression)
     {
-        byte[] bytes = RcResources.Load("test_tiles.voxels");
+        byte[] bytes = RcIO.ReadFileIfFound("test_tiles.voxels");
         using var ms = new MemoryStream(bytes);
         using var br = new BinaryReader(ms);
 

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

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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

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

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -31,7 +31,6 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Dynamic.Test;
 
-
 public class VoxelQueryTest
 {
     private const int TILE_WIDTH = 100;
@@ -94,19 +93,19 @@ public class VoxelQueryTest
 
     private DtDynamicNavMesh CreateDynaMesh()
     {
-        var bytes = RcResources.Load("test_tiles.voxels");
+        var bytes = RcIO.ReadFileIfFound("test_tiles.voxels");
         using var ms = new MemoryStream(bytes);
         using var br = new BinaryReader(ms);
 
         // 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);
-        // wait for build to complete
-        var _ = future.Result;
+        mesh.Build(Task.Factory);
         return mesh;
     }
 }

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

@@ -7,15 +7,15 @@
     </PropertyGroup>
 
     <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="NUnit3TestAdapter" Version="4.5.0"/>
-        <PackageReference Include="NUnit.Analyzers" Version="4.0.1">
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.1" />
+        <PackageReference Include="Moq" Version="4.20.72" />
+        <PackageReference Include="NUnit" Version="4.2.2" />
+        <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
+        <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
             <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.Extras.Test/Unity/Astar/UnityAStarPathfindingImporterTest.cs

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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

test/DotRecast.Detour.Test/AbstractDetourTest.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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
@@ -21,7 +22,6 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-
 public abstract class AbstractDetourTest
 {
     protected static readonly long[] startRefs =
@@ -64,6 +64,8 @@ public abstract class AbstractDetourTest
 
     protected DtNavMesh CreateNavMesh()
     {
-        return new DtNavMesh(new RecastTestMeshBuilder().GetMeshData(), 6, 0);
+        var mesh = new DtNavMesh();
+        mesh.Init(TestMeshDataFactory.Create(), 6, 0);
+        return mesh;
     }
 }

test/DotRecast.Detour.Test/ConvexConvexIntersectionTest.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -17,6 +17,7 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using System;
 using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
@@ -29,9 +30,10 @@ public class ConvexConvexIntersectionTest
     {
         float[] p = { -4, 0, 0, -3, 0, 3, 2, 0, 3, 3, 0, -3, -2, 0, -4 };
         float[] q = { -4, 0, 0, -3, 0, 3, 2, 0, 3, 3, 0, -3, -2, 0, -4 };
-        float[] intersection = DtConvexConvexIntersections.Intersect(p, q);
+        float[] buffer = new float[128];
+        Span<float> intersection = DtConvexConvexIntersections.Intersect(p, q, buffer);
         Assert.That(intersection.Length, Is.EqualTo(5 * 3));
-        Assert.That(intersection, Is.EqualTo(p));
+        Assert.That(intersection.ToArray(), Is.EquivalentTo(p));
     }
 
     [Test]
@@ -39,8 +41,9 @@ public class ConvexConvexIntersectionTest
     {
         float[] p = { -5, 0, -5, -5, 0, 4, 1, 0, 4, 1, 0, -5 };
         float[] q = { -4, 0, 0, -3, 0, 3, 2, 0, 3, 3, 0, -3, -2, 0, -4 };
-        float[] intersection = DtConvexConvexIntersections.Intersect(p, q);
+        float[] buffer = new float[128];
+        Span<float> intersection = DtConvexConvexIntersections.Intersect(p, q, buffer);
         Assert.That(intersection.Length, Is.EqualTo(5 * 3));
-        Assert.That(intersection, Is.EqualTo(new[] { 1, 0, 3, 1, 0, -3.4f, -2, 0, -4, -4, 0, 0, -3, 0, 3 }));
+        Assert.That(intersection.ToArray(), Is.EquivalentTo(new[] { 1, 0, 3, 1, 0, -3.4f, -2, 0, -4, -4, 0, 0, -3, 0, 3 }));
     }
 }

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

@@ -7,15 +7,15 @@
     </PropertyGroup>
 
     <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="NUnit3TestAdapter" Version="4.5.0"/>
-        <PackageReference Include="NUnit.Analyzers" Version="4.0.1">
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.1" />
+        <PackageReference Include="Moq" Version="4.20.72" />
+        <PackageReference Include="NUnit" Version="4.2.2" />
+        <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
+        <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
             <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/DtNodePoolTest.cs

@@ -1,4 +1,4 @@
-using System.Collections.Immutable;
+using System.Collections.Immutable;
 using System.Linq;
 using NUnit.Framework;
 

test/DotRecast.Detour.Test/DtNodeQueueTest.cs

@@ -1,4 +1,4 @@
-using System.Collections.Generic;
+using System.Collections.Generic;
 using DotRecast.Core;
 using DotRecast.Core.Collections;
 using NUnit.Framework;

test/DotRecast.Detour.Test/FindCollectPolyTest.cs

@@ -0,0 +1,68 @@
+using System;
+using System.Linq;
+using DotRecast.Core.Numerics;
+using NUnit.Framework;
+
+namespace DotRecast.Detour.Test;
+
+public class FindCollectPolyTest : AbstractDetourTest
+{
+    private static readonly long[][] POLY_REFS =
+    {
+        new long[]
+        {
+            281474976710697L,
+            281474976710695L,
+            281474976710696L,
+            281474976710691L,
+        },
+        new long[]
+        {
+            281474976710769L,
+            281474976710773L,
+        },
+        new long[]
+        {
+            281474976710676L,
+            281474976710678L,
+            281474976710679L,
+            281474976710674L,
+            281474976710677L,
+            281474976710683L,
+            281474976710680L,
+            281474976710684L,
+        },
+
+        new long[]
+        {
+            281474976710748L,
+            281474976710753L,
+            281474976710752L,
+            281474976710750L,
+        },
+
+        new long[]
+        {
+            281474976710736L,
+            281474976710733L,
+            281474976710735L,
+        }
+    };
+
+    [Test]
+    public void TestFindNearestPoly()
+    {
+        IDtQueryFilter filter = new DtQueryDefaultFilter();
+        RcVec3f extents = new RcVec3f(2, 4, 2);
+        var polys = new long[32];
+        for (int i = 0; i < startRefs.Length; i++)
+        {
+            Array.Fill(polys, 0);
+            RcVec3f startPos = startPoss[i];
+            var status = query.QueryPolygons(startPos, extents, filter, polys, out var polyCount, 32);
+            Assert.That(status.Succeeded(), Is.True, $"index({i})");
+            Assert.That(polyCount, Is.EqualTo(POLY_REFS[i].Length), $"index({i})");
+            Assert.That(polys.AsSpan(0, polyCount).ToArray(), Is.EqualTo(POLY_REFS[i]), $"index({i})");
+        }
+    }
+}

test/DotRecast.Detour.Test/FindDistanceToWallTest.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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

test/DotRecast.Detour.Test/FindLocalNeighbourhoodTest.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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

test/DotRecast.Detour.Test/FindNearestPolyTest.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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
@@ -21,10 +22,12 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-
 public class FindNearestPolyTest : AbstractDetourTest
 {
-    private static readonly long[] POLY_REFS = { 281474976710696L, 281474976710773L, 281474976710680L, 281474976710753L, 281474976710733L };
+    private static readonly long[] POLY_REFS =
+    {
+        281474976710696L, 281474976710773L, 281474976710680L, 281474976710753L, 281474976710733L
+    };
 
     private static readonly RcVec3f[] POLY_POS =
     {
@@ -44,11 +47,11 @@ public class FindNearestPolyTest : AbstractDetourTest
         {
             RcVec3f startPos = startPoss[i];
             var status = query.FindNearestPoly(startPos, extents, filter, out var nearestRef, out var nearestPt, out var _);
-            Assert.That(status.Succeeded(), Is.True);
-            Assert.That(nearestRef, Is.EqualTo(POLY_REFS[i]));
-            Assert.That(nearestPt.X, Is.EqualTo(POLY_POS[i].X).Within(0.001f));
-            Assert.That(nearestPt.Y, Is.EqualTo(POLY_POS[i].Y).Within(0.001f));
-            Assert.That(nearestPt.Z, Is.EqualTo(POLY_POS[i].Z).Within(0.001f));
+            Assert.That(status.Succeeded(), Is.True, $"index({i})");
+            Assert.That(nearestRef, Is.EqualTo(POLY_REFS[i]), $"index({i})");
+            Assert.That(nearestPt.X, Is.EqualTo(POLY_POS[i].X).Within(0.001f), $"index({i})");
+            Assert.That(nearestPt.Y, Is.EqualTo(POLY_POS[i].Y).Within(0.001f), $"index({i})");
+            Assert.That(nearestPt.Z, Is.EqualTo(POLY_POS[i].Z).Within(0.001f), $"index({i})");
         }
     }
 

test/DotRecast.Detour.Test/FindPathTest.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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
@@ -16,13 +17,13 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using System;
 using System.Collections.Generic;
 using DotRecast.Core.Numerics;
 using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-
 public class FindPathTest : AbstractDetourTest
 {
     private static readonly DtStatus[] STATUSES =
@@ -184,6 +185,7 @@ public class FindPathTest : AbstractDetourTest
     {
         IDtQueryFilter filter = new DtQueryDefaultFilter();
         var path = new List<long>();
+        Span<DtStraightPath> straightPath = stackalloc DtStraightPath[256];
         for (int i = 0; i < STRAIGHT_PATHS.Length; i++)
         {
             // startRefs.Length; i++) {
@@ -192,9 +194,8 @@ public class FindPathTest : AbstractDetourTest
             var startPos = startPoss[i];
             var endPos = endPoss[i];
             var status = query.FindPath(startRef, endRef, startPos, endPos, filter, ref path, DtFindPathOption.NoOption);
-            var straightPath = new List<DtStraightPath>();
-            query.FindStraightPath(startPos, endPos, path, ref straightPath, int.MaxValue, 0);
-            Assert.That(straightPath.Count, Is.EqualTo(STRAIGHT_PATHS[i].Length));
+            query.FindStraightPath(startPos, endPos, path, path.Count, straightPath, out var nstraightPath, 256, 0);
+            Assert.That(nstraightPath, Is.EqualTo(STRAIGHT_PATHS[i].Length));
             for (int j = 0; j < STRAIGHT_PATHS[i].Length; j++)
             {
                 Assert.That(straightPath[j].refs, Is.EqualTo(STRAIGHT_PATHS[i][j].refs));

test/DotRecast.Detour.Test/FindPolysAroundCircleTest.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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

test/DotRecast.Detour.Test/FindPolysAroundShapeTest.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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

test/DotRecast.Detour.Test/GetPolyWallSegmentsTest.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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
@@ -16,13 +17,13 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using System;
 using System.Collections.Generic;
 using DotRecast.Core;
 using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-
 public class GetPolyWallSegmentsTest : AbstractDetourTest
 {
     private static readonly RcSegmentVert[][] VERTICES =
@@ -82,28 +83,30 @@ public class GetPolyWallSegmentsTest : AbstractDetourTest
     [Test]
     public void TestFindDistanceToWall()
     {
-        var segmentVerts = new List<RcSegmentVert>();
-        var segmentRefs = new List<long>();
+        const int MAX_SEGS = DtDetour.DT_VERTS_PER_POLYGON * 4;
+        Span<RcSegmentVert> segs = stackalloc RcSegmentVert[MAX_SEGS];
+        Span<long> refs = stackalloc long[MAX_SEGS];
+        int nsegs = 0;
 
         IDtQueryFilter filter = new DtQueryDefaultFilter();
         for (int i = 0; i < startRefs.Length; i++)
         {
-            var result = query.GetPolyWallSegments(startRefs[i], true, filter, ref segmentVerts, ref segmentRefs);
-            Assert.That(segmentVerts.Count, Is.EqualTo(VERTICES[i].Length));
-            Assert.That(segmentRefs.Count, Is.EqualTo(REFS[i].Length));
+            var result = query.GetPolyWallSegments(startRefs[i], filter, segs, refs, ref nsegs, MAX_SEGS);
+            Assert.That(nsegs, Is.EqualTo(VERTICES[i].Length));
+            Assert.That(nsegs, Is.EqualTo(REFS[i].Length));
             for (int v = 0; v < VERTICES[i].Length / 6; v++)
             {
-                Assert.That(segmentVerts[v].vmin.X, Is.EqualTo(VERTICES[i][v].vmin.X).Within(0.001f));
-                Assert.That(segmentVerts[v].vmin.Y, Is.EqualTo(VERTICES[i][v].vmin.Y).Within(0.001f));
-                Assert.That(segmentVerts[v].vmin.Z, Is.EqualTo(VERTICES[i][v].vmin.Z).Within(0.001f));
-                Assert.That(segmentVerts[v].vmax.X, Is.EqualTo(VERTICES[i][v].vmax.X).Within(0.001f));
-                Assert.That(segmentVerts[v].vmax.Y, Is.EqualTo(VERTICES[i][v].vmax.Y).Within(0.001f));
-                Assert.That(segmentVerts[v].vmax.Z, Is.EqualTo(VERTICES[i][v].vmax.Z).Within(0.001f));
+                Assert.That(segs[v].vmin.X, Is.EqualTo(VERTICES[i][v].vmin.X).Within(0.001f));
+                Assert.That(segs[v].vmin.Y, Is.EqualTo(VERTICES[i][v].vmin.Y).Within(0.001f));
+                Assert.That(segs[v].vmin.Z, Is.EqualTo(VERTICES[i][v].vmin.Z).Within(0.001f));
+                Assert.That(segs[v].vmax.X, Is.EqualTo(VERTICES[i][v].vmax.X).Within(0.001f));
+                Assert.That(segs[v].vmax.Y, Is.EqualTo(VERTICES[i][v].vmax.Y).Within(0.001f));
+                Assert.That(segs[v].vmax.Z, Is.EqualTo(VERTICES[i][v].vmax.Z).Within(0.001f));
             }
 
             for (int v = 0; v < REFS[i].Length; v++)
             {
-                Assert.That(segmentRefs[v], Is.EqualTo(REFS[i][v]));
+                Assert.That(refs[v], Is.EqualTo(REFS[i][v]));
             }
         }
     }

test/DotRecast.Detour.Test/Io/MeshDataReaderWriterTest.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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
@@ -32,8 +33,7 @@ public class MeshDataReaderWriterTest
     [SetUp]
     public void SetUp()
     {
-        RecastTestMeshBuilder rcBuilder = new RecastTestMeshBuilder();
-        meshData = rcBuilder.GetMeshData();
+        meshData = TestMeshDataFactory.Create();
     }
 
     [Test]
@@ -117,11 +117,8 @@ public class MeshDataReaderWriterTest
         for (int i = 0; i < meshData.header.bvNodeCount; i++)
         {
             Assert.That(readData.bvTree[i].i, Is.EqualTo(meshData.bvTree[i].i));
-            for (int j = 0; j < 3; j++)
-            {
-                Assert.That(readData.bvTree[i].bmin[j], Is.EqualTo(meshData.bvTree[i].bmin[j]));
-                Assert.That(readData.bvTree[i].bmax[j], Is.EqualTo(meshData.bvTree[i].bmax[j]));
-            }
+            Assert.That(readData.bvTree[i].bmin, Is.EqualTo(meshData.bvTree[i].bmin));
+            Assert.That(readData.bvTree[i].bmax, Is.EqualTo(meshData.bvTree[i].bmax));
         }
 
         for (int i = 0; i < meshData.header.offMeshConCount; i++)

test/DotRecast.Detour.Test/Io/MeshSetReaderTest.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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
@@ -24,7 +25,6 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test.Io;
 
-
 public class MeshSetReaderTest
 {
     private readonly DtMeshSetReader reader = new DtMeshSetReader();
@@ -32,27 +32,35 @@ public class MeshSetReaderTest
     [Test]
     public void TestNavmesh()
     {
-        byte[] @is = RcResources.Load("all_tiles_navmesh.bin");
+        byte[] @is = RcIO.ReadFileIfFound("all_tiles_navmesh.bin");
         using var ms = new MemoryStream(@is);
         using var br = new BinaryReader(ms);
         DtNavMesh mesh = reader.Read(br, 6);
         Assert.That(mesh.GetMaxTiles(), Is.EqualTo(128));
         Assert.That(mesh.GetParams().maxPolys, Is.EqualTo(0x8000));
         Assert.That(mesh.GetParams().tileWidth, Is.EqualTo(9.6f).Within(0.001f));
-        List<DtMeshTile> tiles = mesh.GetTilesAt(4, 7);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        const int MAX_NEIS = 32;
+        DtMeshTile[] tiles = new DtMeshTile[MAX_NEIS];
+        int nneis = 0;
+
+        nneis = mesh.GetTilesAt(4, 7, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(7));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(22 * 3));
-        tiles = mesh.GetTilesAt(1, 6);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        nneis = mesh.GetTilesAt(1, 6, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(7));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(26 * 3));
-        tiles = mesh.GetTilesAt(6, 2);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        nneis = mesh.GetTilesAt(6, 2, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(1));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(4 * 3));
-        tiles = mesh.GetTilesAt(7, 6);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        nneis = mesh.GetTilesAt(7, 6, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(8));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(24 * 3));
     }
@@ -60,7 +68,7 @@ public class MeshSetReaderTest
     [Test]
     public void TestDungeon()
     {
-        byte[] @is = RcResources.Load("dungeon_all_tiles_navmesh.bin");
+        byte[] @is = RcIO.ReadFileIfFound("dungeon_all_tiles_navmesh.bin");
         using var ms = new MemoryStream(@is);
         using var br = new BinaryReader(ms);
 
@@ -68,20 +76,28 @@ public class MeshSetReaderTest
         Assert.That(mesh.GetMaxTiles(), Is.EqualTo(128));
         Assert.That(mesh.GetParams().maxPolys, Is.EqualTo(0x8000));
         Assert.That(mesh.GetParams().tileWidth, Is.EqualTo(9.6f).Within(0.001f));
-        List<DtMeshTile> tiles = mesh.GetTilesAt(6, 9);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        const int MAX_NEIS = 32;
+        DtMeshTile[] tiles = new DtMeshTile[MAX_NEIS];
+        int nneis = 0;
+
+        nneis = mesh.GetTilesAt(6, 9, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(2));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(7 * 3));
-        tiles = mesh.GetTilesAt(2, 9);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        nneis = mesh.GetTilesAt(2, 9, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(2));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(9 * 3));
-        tiles = mesh.GetTilesAt(4, 3);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        nneis = mesh.GetTilesAt(4, 3, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(3));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(6 * 3));
-        tiles = mesh.GetTilesAt(2, 8);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        nneis = mesh.GetTilesAt(2, 8, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(5));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(17 * 3));
     }
@@ -89,7 +105,7 @@ public class MeshSetReaderTest
     [Test]
     public void TestDungeon32Bit()
     {
-        byte[] @is = RcResources.Load("dungeon_all_tiles_navmesh_32bit.bin");
+        byte[] @is = RcIO.ReadFileIfFound("dungeon_all_tiles_navmesh_32bit.bin");
         using var ms = new MemoryStream(@is);
         using var br = new BinaryReader(ms);
 
@@ -97,20 +113,28 @@ public class MeshSetReaderTest
         Assert.That(mesh.GetMaxTiles(), Is.EqualTo(128));
         Assert.That(mesh.GetParams().maxPolys, Is.EqualTo(0x8000));
         Assert.That(mesh.GetParams().tileWidth, Is.EqualTo(9.6f).Within(0.001f));
-        List<DtMeshTile> tiles = mesh.GetTilesAt(6, 9);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        const int MAX_NEIS = 32;
+        DtMeshTile[] tiles = new DtMeshTile[MAX_NEIS];
+        int nneis = 0;
+
+        nneis = mesh.GetTilesAt(6, 9, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(2));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(7 * 3));
-        tiles = mesh.GetTilesAt(2, 9);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        nneis = mesh.GetTilesAt(2, 9, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(2));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(9 * 3));
-        tiles = mesh.GetTilesAt(4, 3);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        nneis = mesh.GetTilesAt(4, 3, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(3));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(6 * 3));
-        tiles = mesh.GetTilesAt(2, 8);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        nneis = mesh.GetTilesAt(2, 8, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(5));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(17 * 3));
     }

test/DotRecast.Detour.Test/Io/MeshSetReaderWriterTest.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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
@@ -28,7 +29,6 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test.Io;
 
-
 public class MeshSetReaderWriterTest
 {
     private readonly DtMeshSetWriter writer = new DtMeshSetWriter();
@@ -66,11 +66,12 @@ public class MeshSetReaderWriterTest
         header.option.maxTiles = m_maxTiles;
         header.option.maxPolys = m_maxPolysPerTile;
         header.numTiles = 0;
-        DtNavMesh mesh = new DtNavMesh(header.option, 6);
+        DtNavMesh mesh = new DtNavMesh();
+        mesh.Init(header.option, 6);
 
         RcVec3f bmin = geom.GetMeshBoundsMin();
         RcVec3f bmax = geom.GetMeshBoundsMax();
-        RcCommons.CalcTileCount(bmin, bmax, m_cellSize, m_tileSize, m_tileSize, out var tw, out var th);
+        RcRecast.CalcTileCount(bmin, bmax, m_cellSize, m_tileSize, m_tileSize, out var tw, out var th);
         for (int y = 0; y < th; ++y)
         {
             for (int x = 0; x < tw; ++x)
@@ -92,7 +93,7 @@ public class MeshSetReaderWriterTest
                 if (data != null)
                 {
                     mesh.RemoveTile(mesh.GetTileRefAt(x, y, 0));
-                    mesh.AddTile(data, 0, 0);
+                    mesh.AddTile(data, 0, 0, out _);
                 }
             }
         }
@@ -107,20 +108,28 @@ public class MeshSetReaderWriterTest
         Assert.That(mesh.GetMaxTiles(), Is.EqualTo(128));
         Assert.That(mesh.GetParams().maxPolys, Is.EqualTo(0x8000));
         Assert.That(mesh.GetParams().tileWidth, Is.EqualTo(9.6f).Within(0.001f));
-        List<DtMeshTile> tiles = mesh.GetTilesAt(6, 9);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        const int MAX_NEIS = 32;
+        DtMeshTile[] tiles = new DtMeshTile[MAX_NEIS];
+        int nneis = 0;
+
+        nneis = mesh.GetTilesAt(6, 9, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(2));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(7 * 3));
-        tiles = mesh.GetTilesAt(2, 9);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        nneis = mesh.GetTilesAt(2, 9, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(2));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(9 * 3));
-        tiles = mesh.GetTilesAt(4, 3);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        nneis = mesh.GetTilesAt(4, 3, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(3));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(6 * 3));
-        tiles = mesh.GetTilesAt(2, 8);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        nneis = mesh.GetTilesAt(2, 8, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(5));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(17 * 3));
     }

test/DotRecast.Detour.Test/MoveAlongSurfaceTest.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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
@@ -16,13 +17,13 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using System;
 using System.Collections.Generic;
 using DotRecast.Core.Numerics;
 using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-
 public class MoveAlongSurfaceTest : AbstractDetourTest
 {
     private static readonly long[][] VISITED =
@@ -69,20 +70,21 @@ public class MoveAlongSurfaceTest : AbstractDetourTest
     public void TestMoveAlongSurface()
     {
         IDtQueryFilter filter = new DtQueryDefaultFilter();
-        var visited = new List<long>();
+        const int MAX_VISITED = 32;
+        Span<long> visited = stackalloc long[MAX_VISITED];
         for (int i = 0; i < startRefs.Length; i++)
         {
             long startRef = startRefs[i];
             RcVec3f startPos = startPoss[i];
             RcVec3f endPos = endPoss[i];
-            var status = query.MoveAlongSurface(startRef, startPos, endPos, filter, out var result, ref visited);
+            var status = query.MoveAlongSurface(startRef, startPos, endPos, filter, out var result, visited, out var nvisited, MAX_VISITED);
             Assert.That(status.Succeeded(), Is.True);
 
             Assert.That(result.X, Is.EqualTo(POSITION[i].X).Within(0.01f));
             Assert.That(result.Y, Is.EqualTo(POSITION[i].Y).Within(0.01f));
             Assert.That(result.Z, Is.EqualTo(POSITION[i].Z).Within(0.01f));
 
-            Assert.That(visited.Count, Is.EqualTo(VISITED[i].Length));
+            Assert.That(nvisited, Is.EqualTo(VISITED[i].Length));
             for (int j = 0; j < 3; j++)
             {
                 Assert.That(visited[j], Is.EqualTo(VISITED[i][j]));

test/DotRecast.Detour.Test/NavMeshBuilderTest.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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
@@ -21,6 +22,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
+using static DtDetour;
 
 public class NavMeshBuilderTest
 {
@@ -29,7 +31,7 @@ public class NavMeshBuilderTest
     [SetUp]
     public void SetUp()
     {
-        nmd = new RecastTestMeshBuilder().GetMeshData();
+        nmd = TestMeshDataFactory.Create();
     }
 
     [Test]
@@ -52,12 +54,12 @@ public class NavMeshBuilderTest
 
         for (int i = 0; i < 2; i++)
         {
-            Assert.That(RcVecUtils.Create(nmd.verts, 223 * 3 + (i * 3)), Is.EqualTo(nmd.offMeshCons[0].pos[i]));
+            Assert.That(RcVec.Create(nmd.verts, 223 * 3 + (i * 3)), Is.EqualTo(nmd.offMeshCons[0].pos[i]));
         }
 
         Assert.That(nmd.offMeshCons[0].rad, Is.EqualTo(0.1f));
         Assert.That(nmd.offMeshCons[0].poly, Is.EqualTo(118));
-        Assert.That(nmd.offMeshCons[0].flags, Is.EqualTo(DtNavMesh.DT_OFFMESH_CON_BIDIR));
+        Assert.That(nmd.offMeshCons[0].flags, Is.EqualTo(DT_OFFMESH_CON_BIDIR));
         Assert.That(nmd.offMeshCons[0].side, Is.EqualTo(0xFF));
         Assert.That(nmd.offMeshCons[0].userId, Is.EqualTo(0x4567));
         Assert.That(nmd.polys[118].vertCount, Is.EqualTo(2));

test/DotRecast.Detour.Test/PolygonByCircleConstraintTest.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -17,6 +17,7 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using System;
 using DotRecast.Core.Numerics;
 using NUnit.Framework;
 
@@ -32,9 +33,12 @@ public class PolygonByCircleConstraintTest
     {
         float[] polygon = { -2, 0, 2, 2, 0, 2, 2, 0, -2, -2, 0, -2 };
         RcVec3f center = new RcVec3f(1, 0, 1);
-        float[] constrained = _constraint.Apply(polygon, center, 6);
+        var radius = 6;
         
-        Assert.That(constrained, Is.EqualTo(polygon));
+        float[] buffer = new float[128];
+        Span<float> constrained = _constraint.Apply(polygon, center, radius, buffer);
+
+        Assert.That(constrained.ToArray(), Is.EquivalentTo(polygon));
     }
 
     [Test]
@@ -43,10 +47,13 @@ public class PolygonByCircleConstraintTest
         int expectedSize = 21;
         float[] polygon = { -2, 0, 2, 2, 0, 2, 2, 0, -2, -2, 0, -2 };
         RcVec3f center = new RcVec3f(2, 0, 0);
+        var radius = 3;
+
+        float[] buffer = new float[128];
+        Span<float> constrained = _constraint.Apply(polygon, center, radius, buffer);
 
-        float[] constrained = _constraint.Apply(polygon, center, 3);
         Assert.That(constrained.Length, Is.EqualTo(expectedSize));
-        Assert.That(constrained, Is.SupersetOf(new[] { 2f, 0f, 2f, 2f, 0f, -2f }));
+        Assert.That(constrained.ToArray(), Is.SupersetOf(new[] { 2f, 0f, 2f, 2f, 0f, -2f }));
     }
 
     [Test]
@@ -55,7 +62,10 @@ public class PolygonByCircleConstraintTest
         int expectedSize = 12 * 3;
         float[] polygon = { -4, 0, 0, -3, 0, 3, 2, 0, 3, 3, 0, -3, -2, 0, -4 };
         RcVec3f center = new RcVec3f(-1, 0, -1);
-        float[] constrained = _constraint.Apply(polygon, center, 2);
+        var radius = 2;
+        
+        float[] buffer = new float[128];
+        Span<float> constrained = _constraint.Apply(polygon, center, radius, buffer);
 
         Assert.That(constrained.Length, Is.EqualTo(expectedSize));
 
@@ -73,10 +83,13 @@ public class PolygonByCircleConstraintTest
         int expectedSize = 9 * 3;
         float[] polygon = { -4, 0, 0, -3, 0, 3, 2, 0, 3, 3, 0, -3, -2, 0, -4 };
         RcVec3f center = new RcVec3f(-2, 0, -1);
-        float[] constrained = _constraint.Apply(polygon, center, 3);
+        var radius = 3;
+        
+        float[] buffer = new float[128];
+        Span<float> constrained = _constraint.Apply(polygon, center, radius, buffer);
 
         Assert.That(constrained.Length, Is.EqualTo(expectedSize));
-        Assert.That(constrained, Is.SupersetOf(new[] { -2f, 0f, -4f, -4f, 0f, 0f, -3.4641016f, 0.0f, 1.60769534f, -2.0f, 0.0f, 2.0f }));
+        Assert.That(constrained.ToArray(), Is.SupersetOf(new[] { -2f, 0f, -4f, -4f, 0f, 0f, -3.4641016f, 0.0f, 1.60769534f, -2.0f, 0.0f, 2.0f }));
     }
 
     [Test]
@@ -85,9 +98,12 @@ public class PolygonByCircleConstraintTest
         int expectedSize = 7 * 3;
         float[] polygon = { -4, 0, 0, -3, 0, 3, 2, 0, 3, 3, 0, -3, -2, 0, -4 };
         RcVec3f center = new RcVec3f(4, 0, 0);
-        float[] constrained = _constraint.Apply(polygon, center, 4);
+        var radius = 4;
+        
+        float[] buffer = new float[128];
+        Span<float> constrained = _constraint.Apply(polygon, center, radius, buffer);
 
         Assert.That(constrained.Length, Is.EqualTo(expectedSize));
-        Assert.That(constrained, Is.SupersetOf(new[] { 1.53589869f, 0f, 3f, 2f, 0f, 3f, 3f, 0f, -3f }));
+        Assert.That(constrained.ToArray(), Is.SupersetOf(new[] { 1.53589869f, 0f, 3f, 2f, 0f, 3f, 3f, 0f, -3f }));
     }
 }

test/DotRecast.Detour.Test/RandomPointTest.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2021 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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
@@ -19,21 +20,22 @@ freely, subject to the following restrictions:
 using System;
 using DotRecast.Core;
 using DotRecast.Core.Numerics;
-
 using NUnit.Framework;
 
 
 namespace DotRecast.Detour.Test;
 
-
 public class RandomPointTest : AbstractDetourTest
 {
     [Test]
+    [Repeat(10)]
     public void TestRandom()
     {
         RcRand f = new RcRand(1);
         IDtQueryFilter filter = new DtQueryDefaultFilter();
-        for (int i = 0; i < 1000; i++)
+
+        var begin = RcFrequency.Ticks;
+        for (int i = 0; i < 10000; i++)
         {
             var status = query.FindRandomPoint(filter, f, out var randomRef, out var randomPt);
             Assert.That(status.Succeeded(), Is.True);
@@ -55,6 +57,9 @@ public class RandomPointTest : AbstractDetourTest
             Assert.That(randomPt.Z >= bmin[1], Is.True);
             Assert.That(randomPt.Z <= bmax[1], Is.True);
         }
+
+        var ticks = RcFrequency.Ticks - begin;
+        Console.WriteLine($"RandomPointTest::TestRandom() - {(double)ticks / TimeSpan.TicksPerMillisecond} ms");
     }
 
     [Test]
@@ -103,7 +108,7 @@ public class RandomPointTest : AbstractDetourTest
             var status = query.FindRandomPointWithinCircle(randomRef, randomPt, radius, filter, f, out var nextRandomRef, out var nextRandomPt);
             Assert.That(status.Failed(), Is.False);
 
-            float distance = RcVecUtils.Dist2D(randomPt, nextRandomPt);
+            float distance = RcVec.Dist2D(randomPt, nextRandomPt);
             Assert.That(distance <= radius, Is.True);
 
             randomRef = nextRandomRef;

test/DotRecast.Detour.Test/SampleAreaModifications.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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

test/DotRecast.Detour.Test/TestDetourBuilder.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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
@@ -27,8 +28,8 @@ public class TestDetourBuilder : DetourBuilder
         float agentMaxClimb, int x, int y, bool applyRecastDemoFlags)
     {
         RcBuilder rcBuilder = new RcBuilder();
-        RcBuilderResult rcResult = rcBuilder.Build(geom, rcConfig);
-        RcPolyMesh pmesh = rcResult.GetMesh();
+        RcBuilderResult rcResult = rcBuilder.Build(geom, rcConfig, false);
+        RcPolyMesh pmesh = rcResult.Mesh;
 
         if (applyRecastDemoFlags)
         {
@@ -58,7 +59,7 @@ 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/TestMeshDataFactory.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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
@@ -16,15 +17,13 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-using DotRecast.Core.Numerics;
 using DotRecast.Recast;
 using DotRecast.Recast.Geom;
 
 namespace DotRecast.Detour.Test;
 
-public class RecastTestMeshBuilder
+public static class TestMeshDataFactory
 {
-    private readonly DtMeshData meshData;
     private const float m_cellSize = 0.3f;
     private const float m_cellHeight = 0.2f;
     private const float m_agentHeight = 2.0f;
@@ -39,27 +38,24 @@ public class RecastTestMeshBuilder
     private const float m_detailSampleDist = 6.0f;
     private const float m_detailSampleMaxError = 1.0f;
 
-    public RecastTestMeshBuilder()
-        : this(SimpleInputGeomProvider.LoadFile("dungeon.obj"),
-            RcPartition.WATERSHED,
-            m_cellSize, m_cellHeight,
-            m_agentMaxSlope, m_agentHeight, m_agentRadius, m_agentMaxClimb,
-            m_regionMinSize, m_regionMergeSize,
-            m_edgeMaxLen, m_edgeMaxError,
-            m_vertsPerPoly,
-            m_detailSampleDist, m_detailSampleMaxError)
+    public static DtMeshData Create()
     {
-    }
+        IInputGeomProvider geom = SimpleInputGeomProvider.LoadFile("dungeon.obj");
+        RcPartition partition = RcPartition.WATERSHED;
+        float cellSize = m_cellSize;
+        float cellHeight = m_cellHeight;
+        float agentMaxSlope = m_agentMaxSlope;
+        float agentHeight = m_agentHeight;
+        float agentRadius = m_agentRadius;
+        float agentMaxClimb = m_agentMaxClimb;
+        int regionMinSize = m_regionMinSize;
+        int regionMergeSize = m_regionMergeSize;
+        float edgeMaxLen = m_edgeMaxLen;
+        float edgeMaxError = m_edgeMaxError;
+        int vertsPerPoly = m_vertsPerPoly;
+        float detailSampleDist = m_detailSampleDist;
+        float detailSampleMaxError = m_detailSampleMaxError;
 
-    public RecastTestMeshBuilder(IInputGeomProvider geom,
-        RcPartition partition,
-        float cellSize, float cellHeight,
-        float agentMaxSlope, float agentHeight, float agentRadius, float agentMaxClimb,
-        int regionMinSize, int regionMergeSize,
-        float edgeMaxLen, float edgeMaxError,
-        int vertsPerPoly,
-        float detailSampleDist, float detailSampleMaxError)
-    {
         RcConfig cfg = new RcConfig(
             partition,
             cellSize, cellHeight,
@@ -72,32 +68,32 @@ public class RecastTestMeshBuilder
             SampleAreaModifications.SAMPLE_AREAMOD_GROUND, true);
         RcBuilderConfig bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax());
         RcBuilder rcBuilder = new RcBuilder();
-        RcBuilderResult rcResult = rcBuilder.Build(geom, bcfg);
-        RcPolyMesh m_pmesh = rcResult.GetMesh();
-        for (int i = 0; i < m_pmesh.npolys; ++i)
+        RcBuilderResult rcResult = rcBuilder.Build(geom, bcfg, false);
+        RcPolyMesh pmesh = rcResult.Mesh;
+        for (int i = 0; i < pmesh.npolys; ++i)
         {
-            m_pmesh.flags[i] = 1;
+            pmesh.flags[i] = 1;
         }
 
-        RcPolyMeshDetail m_dmesh = rcResult.GetMeshDetail();
+        RcPolyMeshDetail dmesh = rcResult.MeshDetail;
         DtNavMeshCreateParams option = new DtNavMeshCreateParams();
-        option.verts = m_pmesh.verts;
-        option.vertCount = m_pmesh.nverts;
-        option.polys = m_pmesh.polys;
-        option.polyAreas = m_pmesh.areas;
-        option.polyFlags = m_pmesh.flags;
-        option.polyCount = m_pmesh.npolys;
-        option.nvp = m_pmesh.nvp;
-        option.detailMeshes = m_dmesh.meshes;
-        option.detailVerts = m_dmesh.verts;
-        option.detailVertsCount = m_dmesh.nverts;
-        option.detailTris = m_dmesh.tris;
-        option.detailTriCount = m_dmesh.ntris;
+        option.verts = pmesh.verts;
+        option.vertCount = pmesh.nverts;
+        option.polys = pmesh.polys;
+        option.polyAreas = pmesh.areas;
+        option.polyFlags = pmesh.flags;
+        option.polyCount = pmesh.npolys;
+        option.nvp = pmesh.nvp;
+        option.detailMeshes = dmesh.meshes;
+        option.detailVerts = dmesh.verts;
+        option.detailVertsCount = dmesh.nverts;
+        option.detailTris = dmesh.tris;
+        option.detailTriCount = dmesh.ntris;
         option.walkableHeight = agentHeight;
         option.walkableRadius = agentRadius;
         option.walkableClimb = agentMaxClimb;
-        option.bmin = m_pmesh.bmin;
-        option.bmax = m_pmesh.bmax;
+        option.bmin = pmesh.bmin;
+        option.bmax = pmesh.bmax;
         option.cs = cellSize;
         option.ch = cellHeight;
         option.buildBvTree = true;
@@ -120,11 +116,8 @@ public class RecastTestMeshBuilder
         option.offMeshConUserID = new int[1];
         option.offMeshConUserID[0] = 0x4567;
         option.offMeshConCount = 1;
-        meshData = DtNavMeshBuilder.CreateNavMeshData(option);
-    }
+        var meshData = DtNavMeshBuilder.CreateNavMeshData(option);
 
-    public DtMeshData GetMeshData()
-    {
         return meshData;
     }
 }

test/DotRecast.Detour.Test/TestTiledNavMeshBuilder.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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
@@ -17,7 +18,6 @@ freely, subject to the following restrictions:
 */
 
 using System.Collections.Generic;
-using DotRecast.Core.Numerics;
 using DotRecast.Recast;
 using DotRecast.Recast.Geom;
 
@@ -64,7 +64,8 @@ public class TestTiledNavMeshBuilder
         navMeshParams.tileHeight = tileSize * cellSize;
         navMeshParams.maxTiles = 128;
         navMeshParams.maxPolys = 32768;
-        navMesh = new DtNavMesh(navMeshParams, 6);
+        navMesh = new DtNavMesh();
+        navMesh.Init(navMeshParams, 6);
 
         // Build all tiles
         RcConfig cfg = new RcConfig(true, tileSize, tileSize, RcConfig.CalcBorder(agentRadius, cellSize),
@@ -78,13 +79,13 @@ 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 +104,7 @@ 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;
@@ -116,10 +117,10 @@ public class TestTiledNavMeshBuilder
             option.bmax = pmesh.bmax;
             option.cs = cellSize;
             option.ch = cellHeight;
-            option.tileX = result.tileX;
-            option.tileZ = result.tileZ;
+            option.tileX = result.TileX;
+            option.tileZ = result.TileZ;
             option.buildBvTree = true;
-            navMesh.AddTile(DtNavMeshBuilder.CreateNavMeshData(option), 0, 0);
+            navMesh.AddTile(Detour.DtNavMeshBuilder.CreateNavMeshData(option), 0, 0, out _);
         }
     }
 

test/DotRecast.Detour.Test/TiledFindPathTest.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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

test/DotRecast.Detour.TileCache.Test/AbstractTileCacheTest.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -44,7 +44,7 @@ public class AbstractTileCacheTest
     public DtTileCache GetTileCache(IInputGeomProvider geom, RcByteOrder order, bool cCompatibility)
     {
         DtTileCacheParams option = new DtTileCacheParams();
-        RcCommons.CalcTileCount(geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), m_cellSize, m_tileSize, m_tileSize, out var tw, out var th);
+        RcRecast.CalcTileCount(geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), m_cellSize, m_tileSize, m_tileSize, out var tw, out var th);
         option.ch = m_cellHeight;
         option.cs = m_cellSize;
         option.orig = geom.GetMeshBoundsMin();
@@ -64,7 +64,8 @@ public class AbstractTileCacheTest
         navMeshParams.maxTiles = 256;
         navMeshParams.maxPolys = 16384;
 
-        var navMesh = new DtNavMesh(navMeshParams, 6);
+        var navMesh = new DtNavMesh();
+        navMesh.Init(navMeshParams, 6);
         var comp = DtTileCacheCompressorFactory.Shared.Create(cCompatibility ? 0 : 1);
         var storageParams = new DtTileCacheStorageParams(order, cCompatibility);
         var process = new TestTileCacheMeshProcess();

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

@@ -7,19 +7,19 @@
     </PropertyGroup>
 
     <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="NUnit3TestAdapter" Version="4.5.0"/>
-        <PackageReference Include="NUnit.Analyzers" Version="4.0.1">
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.1" />
+        <PackageReference Include="Moq" Version="4.20.72" />
+        <PackageReference Include="NUnit" Version="4.2.2" />
+        <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
+        <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
             <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.TileCache.Test/Io/DtTileCacheLZ4ForTestCompressor.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

test/DotRecast.Detour.TileCache.Test/Io/TileCacheReaderTest.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -35,7 +35,7 @@ public class TileCacheReaderTest
     [Test]
     public void TestNavmesh()
     {
-        using var ms = new MemoryStream(RcResources.Load("all_tiles_tilecache.bin"));
+        using var ms = new MemoryStream(RcIO.ReadFileIfFound("all_tiles_tilecache.bin"));
         using var br = new BinaryReader(ms);
         DtTileCache tc = reader.Read(br, 6, null);
         Assert.That(tc.GetNavMesh().GetMaxTiles(), Is.EqualTo(256));
@@ -133,7 +133,7 @@ public class TileCacheReaderTest
     [Test]
     public void TestDungeon()
     {
-        using var ms = new MemoryStream(RcResources.Load("dungeon_all_tiles_tilecache.bin"));
+        using var ms = new MemoryStream(RcIO.ReadFileIfFound("dungeon_all_tiles_tilecache.bin"));
         using var br = new BinaryReader(ms);
         DtTileCache tc = reader.Read(br, 6, null);
         Assert.That(tc.GetNavMesh().GetMaxTiles(), Is.EqualTo(256));

test/DotRecast.Detour.TileCache.Test/Io/TileCacheReaderWriterTest.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

test/DotRecast.Detour.TileCache.Test/SampleAreaModifications.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

test/DotRecast.Detour.TileCache.Test/TempObstaclesTest.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -26,7 +26,6 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.TileCache.Test;
 
-
 public class TempObstaclesTest : AbstractTileCacheTest
 {
     [Test]
@@ -43,21 +42,29 @@ public class TempObstaclesTest : AbstractTileCacheTest
             tc.BuildNavMeshTile(refs);
         }
 
-        List<DtMeshTile> tiles = tc.GetNavMesh().GetTilesAt(1, 4);
+        const int MAX_NEIS = 32;
+        DtMeshTile[] tiles = new DtMeshTile[MAX_NEIS];
+        int nneis = 0;
+
+        nneis = tc.GetNavMesh().GetTilesAt(1, 4, tiles, MAX_NEIS);
         DtMeshTile tile = tiles[0];
         Assert.That(tile.data.header.vertCount, Is.EqualTo(16));
         Assert.That(tile.data.header.polyCount, Is.EqualTo(6));
+
         long o = tc.AddObstacle(new RcVec3f(-1.815208f, 9.998184f, -20.307983f), 1f, 2f);
         bool upToDate = tc.Update();
         Assert.That(upToDate, Is.True);
-        tiles = tc.GetNavMesh().GetTilesAt(1, 4);
+
+        nneis = tc.GetNavMesh().GetTilesAt(1, 4, tiles, MAX_NEIS);
         tile = tiles[0];
         Assert.That(tile.data.header.vertCount, Is.EqualTo(22));
         Assert.That(tile.data.header.polyCount, Is.EqualTo(11));
+
         tc.RemoveObstacle(o);
         upToDate = tc.Update();
         Assert.That(upToDate, Is.True);
-        tiles = tc.GetNavMesh().GetTilesAt(1, 4);
+
+        nneis = tc.GetNavMesh().GetTilesAt(1, 4, tiles, MAX_NEIS);
         tile = tiles[0];
         Assert.That(tile.data.header.vertCount, Is.EqualTo(16));
         Assert.That(tile.data.header.polyCount, Is.EqualTo(6));
@@ -77,24 +84,32 @@ public class TempObstaclesTest : AbstractTileCacheTest
             tc.BuildNavMeshTile(refs);
         }
 
-        List<DtMeshTile> tiles = tc.GetNavMesh().GetTilesAt(1, 4);
+        const int MAX_NEIS = 32;
+        DtMeshTile[] tiles = new DtMeshTile[MAX_NEIS];
+        int nneis = 0;
+
+        nneis = tc.GetNavMesh().GetTilesAt(1, 4, tiles, MAX_NEIS);
         DtMeshTile tile = tiles[0];
         Assert.That(tile.data.header.vertCount, Is.EqualTo(16));
         Assert.That(tile.data.header.polyCount, Is.EqualTo(6));
+
         long o = tc.AddBoxObstacle(
             new RcVec3f(-2.315208f, 9.998184f, -20.807983f),
             new RcVec3f(-1.315208f, 11.998184f, -19.807983f)
         );
         bool upToDate = tc.Update();
         Assert.That(upToDate, Is.True);
-        tiles = tc.GetNavMesh().GetTilesAt(1, 4);
+
+        nneis = tc.GetNavMesh().GetTilesAt(1, 4, tiles, MAX_NEIS);
         tile = tiles[0];
         Assert.That(tile.data.header.vertCount, Is.EqualTo(22));
         Assert.That(tile.data.header.polyCount, Is.EqualTo(11));
+
         tc.RemoveObstacle(o);
         upToDate = tc.Update();
         Assert.That(upToDate, Is.True);
-        tiles = tc.GetNavMesh().GetTilesAt(1, 4);
+
+        nneis = tc.GetNavMesh().GetTilesAt(1, 4, tiles, MAX_NEIS);
         tile = tiles[0];
         Assert.That(tile.data.header.vertCount, Is.EqualTo(16));
         Assert.That(tile.data.header.polyCount, Is.EqualTo(6));

test/DotRecast.Detour.TileCache.Test/TestTileCacheMeshProcess.cs

@@ -1,4 +1,4 @@
-using DotRecast.Recast.Geom;
+using DotRecast.Recast.Geom;
 
 namespace DotRecast.Detour.TileCache.Test;
 

test/DotRecast.Detour.TileCache.Test/TestTileLayerBuilder.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -73,7 +73,7 @@ public class TestTileLayerBuilder : DtTileCacheLayerBuilder
 
         RcVec3f bmin = geom.GetMeshBoundsMin();
         RcVec3f bmax = geom.GetMeshBoundsMax();
-        RcCommons.CalcTileCount(bmin, bmax, CellSize, m_tileSize, m_tileSize, out tw, out th);
+        RcRecast.CalcTileCount(bmin, bmax, CellSize, m_tileSize, m_tileSize, out tw, out th);
     }
 
     public List<byte[]> Build(RcByteOrder order, bool cCompatibility, int threads)

test/DotRecast.Detour.TileCache.Test/TileCacheFindPathTest.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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
@@ -18,6 +18,7 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using System;
 using System.Collections.Generic;
 using System.IO;
 using DotRecast.Core;
@@ -29,7 +30,6 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.TileCache.Test;
 
-
 public class TileCacheFindPathTest : AbstractTileCacheTest
 {
     private readonly RcVec3f start = new RcVec3f(39.44734f, 9.998177f, -0.784811f);
@@ -39,7 +39,7 @@ public class TileCacheFindPathTest : AbstractTileCacheTest
 
     public TileCacheFindPathTest()
     {
-        using var msr = new MemoryStream(RcResources.Load("dungeon_all_tiles_tilecache.bin"));
+        using var msr = new MemoryStream(RcIO.ReadFileIfFound("dungeon_all_tiles_tilecache.bin"));
         using var br = new BinaryReader(msr);
         DtTileCache tcC = new DtTileCacheReader(DtTileCacheCompressorFactory.Shared).Read(br, 6, new TestTileCacheMeshProcess());
         navmesh = tcC.GetNavMesh();
@@ -56,11 +56,11 @@ public class TileCacheFindPathTest : AbstractTileCacheTest
 
         var path = new List<long>();
         var status = query.FindPath(startRef, endRef, startPos, endPos, filter, ref path, DtFindPathOption.NoOption);
-        int maxStraightPath = 256;
+        const int maxStraightPath = 256;
         int options = 0;
 
-        var pathStr = new List<DtStraightPath>();
-        query.FindStraightPath(startPos, endPos, path, ref pathStr, maxStraightPath, options);
-        Assert.That(pathStr.Count, Is.EqualTo(8));
+        Span<DtStraightPath> pathStr = stackalloc DtStraightPath[maxStraightPath];
+        query.FindStraightPath(startPos, endPos, path, path.Count, pathStr, out var npathStr, maxStraightPath, options);
+        Assert.That(npathStr, Is.EqualTo(8));
     }
 }

test/DotRecast.Detour.TileCache.Test/TileCacheNavigationTest.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

test/DotRecast.Detour.TileCache.Test/TileCacheTest.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 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

test/DotRecast.Detour.TileCache.Test/TileCacheTestSetUpFixture.cs

@@ -1,4 +1,4 @@
-using DotRecast.Detour.TileCache.Io.Compress;
+using DotRecast.Detour.TileCache.Io.Compress;
 using DotRecast.Detour.TileCache.Test.Io;
 using NUnit.Framework;
 

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

@@ -7,15 +7,15 @@
     </PropertyGroup>
 
     <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="NUnit3TestAdapter" Version="4.5.0"/>
-        <PackageReference Include="NUnit.Analyzers" Version="4.0.1">
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.1" />
+        <PackageReference Include="Moq" Version="4.20.72" />
+        <PackageReference Include="NUnit" Version="4.2.2" />
+        <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
+        <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
             <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/RecastLayersTest.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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
@@ -24,9 +25,6 @@ using NUnit.Framework;
 
 namespace DotRecast.Recast.Test;
 
-using static RcConstants;
-
-
 public class RecastLayersTest
 {
     private const float m_cellSize = 0.3f;

test/DotRecast.Recast.Test/RecastSoloMeshTest.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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
@@ -25,10 +26,9 @@ using NUnit.Framework;
 
 namespace DotRecast.Recast.Test;
 
-using static RcConstants;
+using static RcRecast;
 using static RcAreas;
 
-
 public class RecastSoloMeshTest
 {
     private const float m_cellSize = 0.3f;
@@ -139,7 +139,7 @@ public class RecastSoloMeshTest
             // Find triangles which are walkable based on their slope and rasterize them.
             // If your input data is multiple meshes, you can transform them here, calculate
             // the are type for each of the meshes and rasterize them.
-            int[] m_triareas = RcCommons.MarkWalkableTriangles(m_ctx, cfg.WalkableSlopeAngle, verts, tris, ntris, cfg.WalkableAreaMod);
+            int[] m_triareas = RcRecast.MarkWalkableTriangles(m_ctx, cfg.WalkableSlopeAngle, verts, tris, ntris, cfg.WalkableAreaMod);
             RcRasterizations.RasterizeTriangles(m_ctx, verts, tris, m_triareas, ntris, m_solid, cfg.WalkableClimb);
         }
 

test/DotRecast.Recast.Test/RecastTest.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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
@@ -21,8 +22,7 @@ using DotRecast.Core;
 
 namespace DotRecast.Recast.Test;
 
-using static RcConstants;
-
+using static RcRecast;
 
 public class RecastTest
 {
@@ -39,18 +39,18 @@ public class RecastTest
         RcContext ctx = new RcContext();
         {
             int[] areas = { 42 };
-            RcCommons.ClearUnwalkableTriangles(ctx, walkableSlopeAngle, verts, nv, unwalkable_tri, nt, areas);
+            RcRecast.ClearUnwalkableTriangles(ctx, walkableSlopeAngle, verts, nv, unwalkable_tri, nt, areas);
             Assert.That(areas[0], Is.EqualTo(RC_NULL_AREA), "Sets area ID of unwalkable triangle to RC_NULL_AREA");
         }
         {
             int[] areas = { 42 };
-            RcCommons.ClearUnwalkableTriangles(ctx, walkableSlopeAngle, verts, nv, walkable_tri, nt, areas);
+            RcRecast.ClearUnwalkableTriangles(ctx, walkableSlopeAngle, verts, nv, walkable_tri, nt, areas);
             Assert.That(areas[0], Is.EqualTo(42), "Does not modify walkable triangle aread ID's");
         }
         {
             int[] areas = { 42 };
             walkableSlopeAngle = 0;
-            RcCommons.ClearUnwalkableTriangles(ctx, walkableSlopeAngle, verts, nv, walkable_tri, nt, areas);
+            RcRecast.ClearUnwalkableTriangles(ctx, walkableSlopeAngle, verts, nv, walkable_tri, nt, areas);
             Assert.That(areas[0], Is.EqualTo(RC_NULL_AREA), "Slopes equal to the max slope are considered unwalkable.");
         }
     }

test/DotRecast.Recast.Test/RecastTileMeshTest.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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
@@ -27,7 +28,6 @@ using NUnit.Framework;
 
 namespace DotRecast.Recast.Test;
 
-
 public class RecastTileMeshTest
 {
     private const float m_cellSize = 0.3f;
@@ -70,29 +70,29 @@ public class RecastTileMeshTest
             true, true, true,
             SampleAreaModifications.SAMPLE_AREAMOD_GROUND, true);
         RcBuilderConfig bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), 7, 8);
-        RcBuilderResult rcResult = builder.Build(geom, bcfg);
-        Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(1));
-        Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(5));
+        RcBuilderResult rcResult = builder.Build(geom, bcfg, false);
+        Assert.That(rcResult.Mesh.npolys, Is.EqualTo(1));
+        Assert.That(rcResult.Mesh.nverts, Is.EqualTo(5));
         bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), 6, 9);
-        rcResult = builder.Build(geom, bcfg);
-        Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(2));
-        Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(7));
+        rcResult = builder.Build(geom, bcfg, false);
+        Assert.That(rcResult.Mesh.npolys, Is.EqualTo(2));
+        Assert.That(rcResult.Mesh.nverts, Is.EqualTo(7));
         bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), 2, 9);
-        rcResult = builder.Build(geom, bcfg);
-        Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(2));
-        Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(9));
+        rcResult = builder.Build(geom, bcfg, false);
+        Assert.That(rcResult.Mesh.npolys, Is.EqualTo(2));
+        Assert.That(rcResult.Mesh.nverts, Is.EqualTo(9));
         bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), 4, 3);
-        rcResult = builder.Build(geom, bcfg);
-        Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(3));
-        Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(6));
+        rcResult = builder.Build(geom, bcfg, false);
+        Assert.That(rcResult.Mesh.npolys, Is.EqualTo(3));
+        Assert.That(rcResult.Mesh.nverts, Is.EqualTo(6));
         bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), 2, 8);
-        rcResult = builder.Build(geom, bcfg);
-        Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(5));
-        Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(17));
+        rcResult = builder.Build(geom, bcfg, false);
+        Assert.That(rcResult.Mesh.npolys, Is.EqualTo(5));
+        Assert.That(rcResult.Mesh.nverts, Is.EqualTo(17));
         bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), 0, 8);
-        rcResult = builder.Build(geom, bcfg);
-        Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(6));
-        Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(15));
+        rcResult = builder.Build(geom, bcfg, false);
+        Assert.That(rcResult.Mesh.npolys, Is.EqualTo(6));
+        Assert.That(rcResult.Mesh.nverts, Is.EqualTo(15));
     }
 
     [Test]
@@ -138,28 +138,27 @@ public class RecastTileMeshTest
     private void Build(IInputGeomProvider geom, RcBuilder builder, RcConfig cfg, int threads, bool validate)
     {
         CancellationTokenSource cts = new CancellationTokenSource();
-        List<RcBuilderResult> tiles = new();
-        var task = builder.BuildTilesAsync(geom, cfg, threads, tiles, Task.Factory, cts.Token);
+        List<RcBuilderResult> tiles = builder.BuildTiles(geom, cfg, false, true, threads, Task.Factory, cts.Token);
         if (validate)
         {
             RcBuilderResult rcResult = GetTile(tiles, 7, 8);
-            Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(1));
-            Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(5));
+            Assert.That(rcResult.Mesh.npolys, Is.EqualTo(1));
+            Assert.That(rcResult.Mesh.nverts, Is.EqualTo(5));
             rcResult = GetTile(tiles, 6, 9);
-            Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(2));
-            Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(7));
+            Assert.That(rcResult.Mesh.npolys, Is.EqualTo(2));
+            Assert.That(rcResult.Mesh.nverts, Is.EqualTo(7));
             rcResult = GetTile(tiles, 2, 9);
-            Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(2));
-            Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(9));
+            Assert.That(rcResult.Mesh.npolys, Is.EqualTo(2));
+            Assert.That(rcResult.Mesh.nverts, Is.EqualTo(9));
             rcResult = GetTile(tiles, 4, 3);
-            Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(3));
-            Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(6));
+            Assert.That(rcResult.Mesh.npolys, Is.EqualTo(3));
+            Assert.That(rcResult.Mesh.nverts, Is.EqualTo(6));
             rcResult = GetTile(tiles, 2, 8);
-            Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(5));
-            Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(17));
+            Assert.That(rcResult.Mesh.npolys, Is.EqualTo(5));
+            Assert.That(rcResult.Mesh.nverts, Is.EqualTo(17));
             rcResult = GetTile(tiles, 0, 8);
-            Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(6));
-            Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(15));
+            Assert.That(rcResult.Mesh.npolys, Is.EqualTo(6));
+            Assert.That(rcResult.Mesh.nverts, Is.EqualTo(15));
         }
 
         try
@@ -175,6 +174,6 @@ 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);
     }
 }

test/DotRecast.Recast.Test/SampleAreaModifications.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 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

tool/DotRecast.Tool.PublishToUniRecast/CsProj.cs

@@ -0,0 +1,15 @@
+namespace DotRecast.Tool.PublishToUniRecast;
+
+public class CsProj
+{
+    public readonly string RootPath;
+    public readonly string Name;
+    public readonly string TargetPath;
+
+    public CsProj(string rootPath, string name, string targetPath)
+    {
+        RootPath = rootPath;
+        Name = name;
+        TargetPath = targetPath;
+    }
+}

tool/DotRecast.Tool.PublishToUniRecast/DotRecast.Tool.PublishToUniRecast.csproj

@@ -0,0 +1,9 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <OutputType>Exe</OutputType>
+    <TargetFrameworks>net6.0;net7.0;net8.0</TargetFrameworks>
+    <IsPackable>false</IsPackable>
+  </PropertyGroup>
+
+</Project>

tool/DotRecast.Tool.PublishToUniRecast/Program.cs

@@ -0,0 +1,169 @@
+using System;
+using System.Collections.Generic;
+using System.Collections.Immutable;
+using System.IO;
+using System.Linq;
+
+namespace DotRecast.Tool.PublishToUniRecast;
+
+public static class Program
+{
+    public static void Main(string[] args)
+    {
+        var source = SearchDirectory("DotRecast");
+        var destination = SearchDirectory("UniRecast");
+
+        if (!Directory.Exists(source))
+        {
+            throw new Exception("not found source directory");
+        }
+
+        if (!Directory.Exists(destination))
+        {
+            throw new Exception("not found destination directory");
+        }
+
+        var ignorePaths = ImmutableArray.Create("bin", "obj");
+        var projs = ImmutableArray.Create(
+            // src
+            new CsProj("src", "DotRecast.Core", "Runtime"),
+            new CsProj("src", "DotRecast.Recast", "Runtime"),
+            new CsProj("src", "DotRecast.Detour", "Runtime"),
+            new CsProj("src", "DotRecast.Detour.Crowd", "Runtime"),
+            new CsProj("src", "DotRecast.Detour.Dynamic", "Runtime"),
+            new CsProj("src", "DotRecast.Detour.Extras", "Runtime"),
+            new CsProj("src", "DotRecast.Detour.TileCache", "Runtime"),
+            new CsProj("src", "DotRecast.Recast.Toolset", "Runtime")
+        );
+
+
+        foreach (var proj in projs)
+        {
+            var sourcePath = Path.Combine(source, proj.RootPath, $"{proj.Name}");
+            var destPath = Path.Combine(destination, $"{proj.TargetPath}", $"{proj.Name}");
+            
+            SyncFiles(sourcePath, destPath, ignorePaths, "*.cs");
+        }
+
+        // // 몇몇 필요한 리소스 복사 하기
+        // string destResourcePath = destDotRecast + "/resources";
+        // if (!Directory.Exists(destResourcePath))
+        // {
+        //     Directory.CreateDirectory(destResourcePath);
+        // }
+
+        // string sourceResourcePath = Path.Combine(dotRecastPath, "resources/nav_test.obj");
+        // File.Copy(sourceResourcePath, destResourcePath + "/nav_test.obj", true);
+    }
+
+    public static string SearchPath(string searchPath, int depth, out bool isDir)
+    {
+        isDir = false;
+
+        for (int i = 0; i < depth; ++i)
+        {
+            var relativePath = string.Join("", Enumerable.Range(0, i).Select(x => "../"));
+            var searchingPath = Path.Combine(relativePath, searchPath);
+            var fullSearchingPath = Path.GetFullPath(searchingPath);
+
+            if (File.Exists(fullSearchingPath))
+            {
+                return fullSearchingPath;
+            }
+
+            if (Directory.Exists(fullSearchingPath))
+            {
+                isDir = true;
+                return fullSearchingPath;
+            }
+        }
+
+        return string.Empty;
+    }
+
+    // only directory
+    public static string SearchDirectory(string dirname, int depth = 10)
+    {
+        var searchingPath = SearchPath(dirname, depth, out var isDir);
+        if (isDir)
+        {
+            return searchingPath;
+        }
+
+        var path = Path.GetDirectoryName(searchingPath) ?? string.Empty;
+        return path;
+    }
+
+    public static string SearchFile(string filename, int depth = 10)
+    {
+        var searchingPath = SearchPath(filename, depth, out var isDir);
+        if (!isDir)
+        {
+            return searchingPath;
+        }
+
+        return string.Empty;
+    }
+
+    private static void SyncFiles(string srcRootPath, string dstRootPath, IList<string> ignoreFolders, string searchPattern = "*")
+    {
+        // 끝에서부터 이그노어 폴더일 경우 패스
+        var destLastFolderName = Path.GetFileName(dstRootPath);
+        if (ignoreFolders.Any(x => x == destLastFolderName))
+            return;
+
+        if (!Directory.Exists(dstRootPath))
+            Directory.CreateDirectory(dstRootPath);
+
+        // 소스파일 추출
+        var sourceFiles = Directory.GetFiles(srcRootPath, searchPattern).ToList();
+        var sourceFolders = Directory.GetDirectories(srcRootPath)
+            .Select(x => new DirectoryInfo(x))
+            .ToList();
+
+        // 대상 파일 추출
+        var destinationFiles = Directory.GetFiles(dstRootPath, searchPattern).ToList();
+        var destinationFolders = Directory.GetDirectories(dstRootPath)
+            .Select(x => new DirectoryInfo(x))
+            .ToList();
+
+        // 대상에 파일이 있는데, 소스에 없을 경우, 대상 파일을 삭제 한다.
+        foreach (var destinationFile in destinationFiles)
+        {
+            var destName = Path.GetFileName(destinationFile);
+            var found = sourceFiles.Any(x => Path.GetFileName(x) == destName);
+            if (found)
+                continue;
+
+            File.Delete(destinationFile);
+            Console.WriteLine($"delete file - {destinationFile}");
+        }
+
+        // 대상에 폴더가 있는데, 소스에 없을 경우, 대상 폴더를 삭제 한다.
+        foreach (var destinationFolder in destinationFolders)
+        {
+            var found = sourceFolders.Any(sourceFolder => sourceFolder.Name == destinationFolder.Name);
+            if (found)
+                continue;
+
+            Directory.Delete(destinationFolder.FullName, true);
+            Console.WriteLine($"delete folder - {destinationFolder.FullName}");
+        }
+
+        // 소스 파일을 복사 한다.
+        foreach (var sourceFile in sourceFiles)
+        {
+            var name = Path.GetFileName(sourceFile);
+            var dest = Path.Combine(dstRootPath, name);
+            File.Copy(sourceFile, dest, true);
+            Console.WriteLine($"copy - {sourceFile} => {dest}");
+        }
+
+        // 대상 폴더를 복사 한다
+        foreach (var sourceFolder in sourceFolders)
+        {
+            var dest = Path.Combine(dstRootPath, sourceFolder.Name);
+            SyncFiles(sourceFolder.FullName, dest, ignoreFolders, searchPattern);
+        }
+    }
+}