Merge branch 'risky_optimizations'

This reverts commit acd3f8d879.

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/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

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

@@ -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/RcSortedQueue.cs

@@ -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/DotRecast.Core.asmdef

@@ -0,0 +1,14 @@
+{
+    "name": "DotRecast.Core",
+    "rootNamespace": "DotRecast.Core",
+    "references": [],
+    "includePlatforms": [],
+    "excludePlatforms": [],
+    "allowUnsafeCode": false,
+    "overrideReferences": false,
+    "precompiledReferences": [],
+    "autoReferenced": true,
+    "defineConstraints": [],
+    "versionDefines": [],
+    "noEngineReferences": true
+}

src/DotRecast.Core/Numerics/RcVec.cs

@@ -205,7 +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;

src/DotRecast.Detour.Crowd/DotRecast.Detour.Crowd.asmdef

@@ -0,0 +1,17 @@
+{
+    "name": "DotRecast.Detour.Crowd",
+    "rootNamespace": "DotRecast.Detour.Crowd",
+    "references": [
+        "DotRecast.Core",
+        "DotRecast.Detour"
+    ],
+    "includePlatforms": [],
+    "excludePlatforms": [],
+    "allowUnsafeCode": false,
+    "overrideReferences": false,
+    "precompiledReferences": [],
+    "autoReferenced": true,
+    "defineConstraints": [],
+    "versionDefines": [],
+    "noEngineReferences": true
+}

src/DotRecast.Detour.Crowd/DtCrowd.cs

@@ -22,6 +22,7 @@ using System;
 using System.Collections.Generic;
 using System.Diagnostics;
 using DotRecast.Core;
+using DotRecast.Core.Buffers;
 using DotRecast.Core.Collections;
 using DotRecast.Core.Numerics;
 
@@ -129,7 +130,7 @@ namespace DotRecast.Detour.Crowd
         private readonly DtObstacleAvoidanceParams[] _obstacleQueryParams;
         private readonly DtObstacleAvoidanceQuery _obstacleQuery;
 
-        private DtProximityGrid _grid;
+        private readonly DtProximityGrid _grid;
 
         private int _maxPathResult;
         private readonly RcVec3f _agentPlacementHalfExtents;
@@ -174,6 +175,7 @@ namespace DotRecast.Detour.Crowd
             _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);
@@ -564,14 +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];
@@ -864,7 +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++)
             {
@@ -1051,7 +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.
@@ -1200,6 +1206,9 @@ namespace DotRecast.Detour.Crowd
                     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);
                     }
 

src/DotRecast.Detour.Crowd/DtCrowdAgentParams.cs

@@ -45,6 +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/DtPathCorridor.cs

@@ -33,7 +33,7 @@ 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;
 
@@ -89,7 +89,8 @@ namespace DotRecast.Detour.Crowd
         /// @return True if the initialization succeeded.
         public bool Init(int maxPath)
         {
-            m_path = new List<long>(maxPath);
+            if (m_path.Capacity < maxPath)
+                m_path.Capacity = maxPath;
             m_npath = 0;
             m_maxPath = maxPath;
             return true;
@@ -218,7 +219,7 @@ namespace DotRecast.Detour.Crowd
             {
                 if (res.Count > 1 && t > 0.99f)
                 {
-                    m_npath = DtPathUtils.MergeCorridorStartShortcut(ref m_path, m_npath, m_maxPath, res, res.Count);
+                    m_npath = DtPathUtils.MergeCorridorStartShortcut(m_path, m_npath, m_maxPath, res, res.Count);
                 }
             }
         }
@@ -250,7 +251,7 @@ namespace DotRecast.Detour.Crowd
 
             if (status.Succeeded() && res.Count > 0)
             {
-                m_npath = DtPathUtils.MergeCorridorStartShortcut(ref m_path, m_npath, m_maxPath, res, res.Count);
+                m_npath = DtPathUtils.MergeCorridorStartShortcut(m_path, m_npath, m_maxPath, res, res.Count);
                 return true;
             }
 
@@ -276,7 +277,7 @@ namespace DotRecast.Detour.Crowd
             }
 
             // Prune path
-            m_path = m_path.GetRange(npos, m_npath - npos);
+            m_path.RemoveRange(0, npos);
             m_npath -= npos;
 
             refs[0] = prevRef;
@@ -322,7 +323,7 @@ namespace DotRecast.Detour.Crowd
             var status = navquery.MoveAlongSurface(m_path[0], m_pos, npos, filter, out var result, visited, out var nvisited, MAX_VISITED);
             if (status.Succeeded())
             {
-                m_npath = DtPathUtils.MergeCorridorStartMoved(ref m_path, m_npath, m_maxPath, visited, nvisited);
+                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;
@@ -366,7 +367,7 @@ namespace DotRecast.Detour.Crowd
             var status = navquery.MoveAlongSurface(m_path[^1], m_target, npos, filter, out var result, visited, out nvisited, MAX_VISITED);
             if (status.Succeeded())
             {
-                m_npath = DtPathUtils.MergeCorridorEndMoved(ref m_path, m_npath, m_maxPath, visited, nvisited);
+                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.
@@ -394,7 +395,11 @@ 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;
         }
 
@@ -444,7 +449,7 @@ namespace DotRecast.Detour.Crowd
             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;
             }
 

src/DotRecast.Detour.Crowd/DtProximityGrid.cs

@@ -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);
                     }
 

src/DotRecast.Detour.Dynamic/DotRecast.Detour.Dynamic.asmdef

@@ -0,0 +1,18 @@
+{
+    "name": "DotRecast.Detour.Dynamic",
+    "rootNamespace": "DotRecast.Detour.Dynamic",
+    "references": [
+        "DotRecast.Detour",
+        "DotRecast.Recast",
+        "DotRecast.Core"
+    ],
+    "includePlatforms": [],
+    "excludePlatforms": [],
+    "allowUnsafeCode": false,
+    "overrideReferences": false,
+    "precompiledReferences": [],
+    "autoReferenced": true,
+    "defineConstraints": [],
+    "versionDefines": [],
+    "noEngineReferences": true
+}

src/DotRecast.Detour.Extras/DotRecast.Detour.Extras.asmdef

@@ -0,0 +1,18 @@
+{
+    "name": "DotRecast.Detour.Extras",
+    "rootNamespace": "DotRecast.Detour.Extras",
+    "references": [
+        "DotRecast.Core",
+        "DotRecast.Detour",
+        "DotRecast.Recast"
+    ],
+    "includePlatforms": [],
+    "excludePlatforms": [],
+    "allowUnsafeCode": false,
+    "overrideReferences": false,
+    "precompiledReferences": [],
+    "autoReferenced": true,
+    "defineConstraints": [],
+    "versionDefines": [],
+    "noEngineReferences": true
+}

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

@@ -52,25 +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();
+            var query = new DtHeightSamplePolyQuery(navMeshQuery, pt, pt.Y, maxHeight);
-            RcAtomicFloat minHeight = new RcAtomicFloat(pt.Y);
+            navMeshQuery.QueryPolygons(pt, halfExtents, DtQueryNoOpFilter.Shared, ref query);
 
-            navMeshQuery.QueryPolygons(pt, halfExtents, DtQueryNoOpFilter.Shared, new DtCallbackPolyQuery((tile, poly, refs) =>
+            if (query.Found)
             {
-                var status = navMeshQuery.GetPolyHeight(refs, pt, out var h);
+                height = query.MinHeight;
-                if (status.Succeeded())
-                {
-                    if (h > minHeight.Get() && h < maxHeight)
-                    {
-                        minHeight.Exchange(h);
-                        found.Set(true);
-                    }
-                }
-            }));
-
-            if (found.Get())
-            {
-                height = minHeight.Get();
                 return true;
             }
 

src/DotRecast.Detour.TileCache/DotRecast.Detour.TileCache.asmdef

@@ -0,0 +1,18 @@
+{
+    "name": "DotRecast.Detour.TileCache",
+    "rootNamespace": "DotRecast.Detour.TileCache",
+    "references": [
+        "DotRecast.Core",
+        "DotRecast.Detour",
+        "DotRecast.Recast"
+    ],
+    "includePlatforms": [],
+    "excludePlatforms": [],
+    "allowUnsafeCode": false,
+    "overrideReferences": false,
+    "precompiledReferences": [],
+    "autoReferenced": true,
+    "defineConstraints": [],
+    "versionDefines": [],
+    "noEngineReferences": true
+}

src/DotRecast.Detour/DotRecast.Detour.asmdef

@@ -0,0 +1,16 @@
+{
+    "name": "DotRecast.Detour",
+    "rootNamespace": "DotRecast.Detour",
+    "references": [
+        "DotRecast.Core"
+    ],
+    "includePlatforms": [],
+    "excludePlatforms": [],
+    "allowUnsafeCode": false,
+    "overrideReferences": false,
+    "precompiledReferences": [],
+    "autoReferenced": true,
+    "defineConstraints": [],
+    "versionDefines": [],
+    "noEngineReferences": true
+}

src/DotRecast.Detour/DtCallbackPolyQuery.cs

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

src/DotRecast.Detour/DtCollectPolysQuery.cs

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

src/DotRecast.Detour/DtConvexConvexIntersections.cs

@@ -27,7 +27,7 @@ namespace DotRecast.Detour
     {
         private const float EPSILON = 0.0001f;
 
-        public static float[] Intersect(Span<float> p, Span<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;
@@ -95,7 +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)
@@ -168,8 +168,9 @@ namespace DotRecast.Detour
                 return null;
             }
 
-            float[] copied = inters.Slice(0, ii).ToArray();
+            Span<float> result = buffer.Slice(0, ii);
-            return copied;
+            inters.Slice(0, ii).CopyTo(result);
+            return result;
         }
 
         private static int AddVertex(Span<float> inters, int ii, RcVec3f p)

src/DotRecast.Detour/DtFindNearestPolyQuery.cs

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

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/DtMeshData.cs

@@ -18,8 +18,11 @@ 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
     {
         public DtMeshHeader header; //< The tile header.

src/DotRecast.Detour/DtMeshHeader.cs

@@ -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/DtNavMesh.cs

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

src/DotRecast.Detour/DtNavMeshParams.cs

@@ -18,6 +18,7 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using System;
 using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour

src/DotRecast.Detour/DtNavMeshQuery.cs

@@ -21,7 +21,9 @@ freely, subject to the following restrictions:
 using System;
 using System.Collections.Generic;
 using DotRecast.Core;
+using DotRecast.Core.Buffers;
 using DotRecast.Core.Numerics;
+using CollectionExtensions = DotRecast.Core.Collections.CollectionExtensions;
 
 namespace DotRecast.Detour
 {
@@ -32,6 +34,8 @@ namespace DotRecast.Detour
     /// @ingroup detour
     public class DtNavMeshQuery
     {
+        public const int MAX_PATH_LENGTH = 256;
+        
         protected readonly DtNavMesh m_nav; //< Pointer to navmesh data.
         protected DtQueryData m_query; //< Sliced query state.
 
@@ -229,6 +233,7 @@ namespace DotRecast.Detour
             IDtQueryFilter filter, IRcRand frand, IDtPolygonByCircleConstraint constraint,
             out long randomRef, out RcVec3f randomPt)
         {
+            const int MAX_VERT_BUFFER_SIZE = 128;
             randomRef = startRef;
             randomPt = centerPos;
 
@@ -262,9 +267,13 @@ namespace DotRecast.Detour
             float radiusSqr = maxRadius * maxRadius;
             float areaSum = 0.0f;
             
+            using RcRentedArray<float> polyVertsBuffer = RcRentedArray.Rent<float>(MAX_VERT_BUFFER_SIZE);
+            using RcRentedArray<float> randomPolyVertsBuffer = RcRentedArray.Rent<float>(MAX_VERT_BUFFER_SIZE);
+            using RcRentedArray<float> constrainedVertsBuffer = RcRentedArray.Rent<float>(MAX_VERT_BUFFER_SIZE);
+            
             DtPoly randomPoly = null;
             long randomPolyRef = 0;
-            float[] randomPolyVerts = null;
+            Span<float> randomPolyVerts = Span<float>.Empty;
 
             while (!m_openList.IsEmpty())
             {
@@ -282,14 +291,14 @@ namespace DotRecast.Detour
                 {
                     // Calc area of the polygon.
                     float polyArea = 0.0f;
-                    float[] polyVerts = new float[bestPoly.vertCount * 3];
+                    Span<float> polyVerts = polyVertsBuffer.AsSpan().Slice(0, bestPoly.vertCount * 3);
                     for (int j = 0; j < bestPoly.vertCount; ++j)
                     {
-                        RcArrays.Copy(bestTile.data.verts, bestPoly.verts[j] * 3, polyVerts, j * 3, 3);
+                        RcSpans.Copy(bestTile.data.verts, bestPoly.verts[j] * 3, polyVerts, j * 3, 3);
                     }
 
-                    float[] constrainedVerts = constraint.Apply(polyVerts, centerPos, maxRadius);
+                    Span<float> constrainedVerts = constraint.Apply(polyVerts, centerPos, maxRadius, constrainedVertsBuffer.AsSpan());
-                    if (constrainedVerts != null)
+                    if (!constrainedVerts.IsEmpty)
                     {
                         int vertCount = constrainedVerts.Length / 3;
                         for (int j = 2; j < vertCount; ++j)
@@ -307,7 +316,8 @@ namespace DotRecast.Detour
                         {
                             randomPoly = bestPoly;
                             randomPolyRef = bestRef;
-                            randomPolyVerts = constrainedVerts;
+                            randomPolyVerts = randomPolyVertsBuffer.AsSpan().Slice(0, constrainedVerts.Length);
+                            constrainedVerts.CopyTo(randomPolyVerts);
                         }
                     }
                 }
@@ -579,7 +589,7 @@ namespace DotRecast.Detour
 
             // Get nearby polygons from proximity grid.
             DtFindNearestPolyQuery query = new DtFindNearestPolyQuery(this, center);
-            DtStatus status = QueryPolygons(center, halfExtents, filter, query);
+            DtStatus status = QueryPolygons(center, halfExtents, filter, ref query);
             if (status.Failed())
             {
                 return status;
@@ -593,11 +603,13 @@ namespace DotRecast.Detour
         }
 
         /// Queries polygons within a tile.
-        protected void QueryPolygonsInTile(DtMeshTile tile, RcVec3f qmin, RcVec3f qmax, IDtQueryFilter filter, IDtPolyQuery query)
+        protected void QueryPolygonsInTile<TQuery>(DtMeshTile tile, RcVec3f qmin, RcVec3f qmax, IDtQueryFilter filter, ref TQuery query)
+            where TQuery : IDtPolyQuery
         {
             const int batchSize = 32;
             Span<long> polyRefs = stackalloc long[batchSize];
-            DtPoly[] polys = new DtPoly[batchSize];
+            using RcRentedArray<DtPoly> polysRent = RcRentedArray.Rent<DtPoly>(batchSize);
+            Span<DtPoly> polys = polysRent.AsSpan();
             int n = 0;
 
             if (tile.data.bvTree != null)
@@ -748,7 +760,7 @@ namespace DotRecast.Detour
                 return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
 
             DtCollectPolysQuery collector = new DtCollectPolysQuery(polys, maxPolys);
-            DtStatus status = QueryPolygons(center, halfExtents, filter, collector);
+            DtStatus status = QueryPolygons(center, halfExtents, filter, ref collector);
             if (status.Failed())
                 return status;
 
@@ -770,7 +782,8 @@ namespace DotRecast.Detour
         ///  @param[in]		halfExtents		The search distance along each axis. [(x, y, z)]
         ///  @param[in]		filter		The polygon filter to apply to the query.
         ///  @param[in]		query		The query. Polygons found will be batched together and passed to this query.
-        public DtStatus QueryPolygons(RcVec3f center, RcVec3f halfExtents, IDtQueryFilter filter, IDtPolyQuery query)
+        public DtStatus QueryPolygons<TQuery>(RcVec3f center, RcVec3f halfExtents, IDtQueryFilter filter, ref TQuery query)
+            where TQuery : IDtPolyQuery
         {
             if (!center.IsFinite() || !halfExtents.IsFinite() || null == filter)
             {
@@ -786,7 +799,8 @@ namespace DotRecast.Detour
             m_nav.CalcTileLoc(bmax, out var maxx, out var maxy);
 
             const int MAX_NEIS = 32;
-            DtMeshTile[] neis = new DtMeshTile[MAX_NEIS];
+            using RcRentedArray<DtMeshTile> neisRent = RcRentedArray.Rent<DtMeshTile>(MAX_NEIS);
+            Span<DtMeshTile> neis = neisRent.AsSpan();
 
             for (int y = miny; y <= maxy; ++y)
             {
@@ -795,7 +809,7 @@ namespace DotRecast.Detour
                     int nneis = m_nav.GetTilesAt(x, y, neis, MAX_NEIS);
                     for (int j = 0; j < nneis; ++j)
                     {
-                        QueryPolygonsInTile(neis[j], bmin, bmax, filter, query);
+                        QueryPolygonsInTile(neis[j], bmin, bmax, filter, ref query);
                     }
                 }
             }
@@ -877,7 +891,8 @@ namespace DotRecast.Detour
             float lastBestNodeCost = startNode.total;
 
             DtRaycastHit rayHit = new DtRaycastHit();
-            rayHit.path = new List<long>();
+            using var pathRent = RcRentedArray.Rent<long>(MAX_PATH_LENGTH);
+            rayHit.path = pathRent.AsArray();
             while (!m_openList.IsEmpty())
             {
                 // Remove node from open list and put it in closed list.
@@ -1166,7 +1181,8 @@ namespace DotRecast.Detour
             }
 
             var rayHit = new DtRaycastHit();
-            rayHit.path = new List<long>();
+            using var pathRent = RcRentedArray.Rent<long>(MAX_PATH_LENGTH);
+            rayHit.path = pathRent.AsArray();
 
             int iter = 0;
             while (iter < maxIter && !m_openList.IsEmpty())
@@ -1837,6 +1853,7 @@ namespace DotRecast.Detour
             return DtStatus.DT_SUCCESS | (straightPathCount >= maxStraightPath ? DtStatus.DT_BUFFER_TOO_SMALL : DtStatus.DT_STATUS_NOTHING);
         }
 
+        private readonly Queue<DtNode> MoveAlongSurface_queue = new Queue<DtNode>();
         /// @par
         ///
         /// This method is optimized for small delta movement and a small number of 
@@ -1892,8 +1909,8 @@ namespace DotRecast.Detour
             startNode.total = 0;
             startNode.id = startRef;
             startNode.flags = DtNodeFlags.DT_NODE_CLOSED;
-            LinkedList<DtNode> stack = new LinkedList<DtNode>();
+            MoveAlongSurface_queue.Clear();
-            stack.AddLast(startNode);
+            MoveAlongSurface_queue.Enqueue(startNode);
 
             RcVec3f bestPos = new RcVec3f();
             float bestDist = float.MaxValue;
@@ -1909,11 +1926,10 @@ namespace DotRecast.Detour
             const int MAX_NEIS = 8;
             Span<long> neis = stackalloc long[MAX_NEIS];
 
-            while (0 < stack.Count)
+            while (0 < MoveAlongSurface_queue.Count)
             {
                 // Pop front.
-                DtNode curNode = stack.First?.Value;
+                DtNode curNode = MoveAlongSurface_queue.Dequeue();
-                stack.RemoveFirst();
 
                 // Get poly and tile.
                 // The API input has been checked already, skip checking internal data.
@@ -2012,7 +2028,7 @@ namespace DotRecast.Detour
                             // Mark as the node as visited and push to queue.
                             neighbourNode.pidx = m_tinyNodePool.GetNodeIdx(curNode);
                             neighbourNode.flags |= DtNodeFlags.DT_NODE_CLOSED;
-                            stack.AddLast(neighbourNode);
+                            MoveAlongSurface_queue.Enqueue(neighbourNode);
                         }
                     }
                 }
@@ -2258,13 +2274,15 @@ namespace DotRecast.Detour
             out float t, out RcVec3f hitNormal, ref List<long> path)
         {
             DtRaycastHit hit = new DtRaycastHit();
-            hit.path = path;
+            using var pathRent = RcRentedArray.Rent<long>(MAX_PATH_LENGTH);
+            hit.path = pathRent.AsArray();
 
             DtStatus status = Raycast(startRef, startPos, endPos, filter, 0, ref hit, 0);
 
             t = hit.t;
             hitNormal = hit.hitNormal;
-            path = hit.path;
+            path.Clear();
+            CollectionExtensions.AddRange(path, new Span<long>(hit.path, 0, hit.pathCount));
 
             return status;
         }
@@ -2330,7 +2348,7 @@ namespace DotRecast.Detour
             }
 
             hit.t = 0;
-            hit.path.Clear();
+            hit.pathCount = 0;
             hit.pathCost = 0;
 
             Span<RcVec3f> verts = stackalloc RcVec3f[m_nav.GetMaxVertsPerPoly() + 1];
@@ -2383,7 +2401,7 @@ namespace DotRecast.Detour
                 }
 
                 // Store visited polygons.
-                hit.path.Add(curRef);
+                hit.AddPathNode(curRef);
 
                 // Ray end is completely inside the polygon.
                 if (segMax == -1)
@@ -2523,7 +2541,7 @@ namespace DotRecast.Detour
                     // int va = a * 3;
                     // int vb = b * 3;
                     float dx = verts[b].X - verts[a].X;
-                    float dz = verts[b].Z - verts[a].X;
+                    float dz = verts[b].Z - verts[a].Z;
                     hit.hitNormal = RcVec3f.Normalize(new RcVec3f(dz, 0, -dx));
                     return DtStatus.DT_SUCCESS;
                 }
@@ -2903,6 +2921,7 @@ namespace DotRecast.Detour
             return DtStatus.DT_SUCCESS;
         }
 
+        private readonly Queue<DtNode> FindLocalNeighbourhood_queue = new Queue<DtNode>();
         /// @par
         ///
         /// This method is optimized for a small search radius and small number of result 
@@ -2954,8 +2973,8 @@ namespace DotRecast.Detour
             startNode.pidx = 0;
             startNode.id = startRef;
             startNode.flags = DtNodeFlags.DT_NODE_CLOSED;
-            LinkedList<DtNode> stack = new LinkedList<DtNode>();
+            FindLocalNeighbourhood_queue.Clear();
-            stack.AddLast(startNode);
+            FindLocalNeighbourhood_queue.Enqueue(startNode);
 
             resultRef.Add(startNode.id);
             resultParent.Add(0L);
@@ -2965,11 +2984,11 @@ namespace DotRecast.Detour
             Span<float> pa = stackalloc float[m_nav.GetMaxVertsPerPoly() * 3];
             Span<float> pb = stackalloc float[m_nav.GetMaxVertsPerPoly() * 3];
 
-            while (0 < stack.Count)
+            while (0 < FindLocalNeighbourhood_queue.Count)
             {
                 // Pop front.
-                DtNode curNode = stack.First?.Value;
+                
-                stack.RemoveFirst();
+                DtNode curNode = FindLocalNeighbourhood_queue.Dequeue();
 
                 // Get poly and tile.
                 // The API input has been checked already, skip checking internal data.
@@ -3082,7 +3101,7 @@ namespace DotRecast.Detour
 
                     resultRef.Add(neighbourRef);
                     resultParent.Add(curRef);
-                    stack.AddLast(neighbourNode);
+                    FindLocalNeighbourhood_queue.Enqueue(neighbourNode);
                 }
             }
 

src/DotRecast.Detour/DtNoOpDtPolygonByCircleConstraint.cs

@@ -1,3 +1,4 @@
+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/DtNodePool.cs

@@ -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 int m_usedNodesCount;
-        private readonly List<DtNode> m_nodes;
+        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)
+            int i = m_usedNodesCount++;
-            {
+            int bucketIndex = GetBucketIndexByElementIndex(i);
-                var newNode = new DtNode(m_nodeCount);
+            int bucketStartIndex = GetBucketStartIndex(bucketIndex);
-                m_nodes.Add(newNode);
+            var node = EnsureBucket(bucketIndex)[i - bucketStartIndex];
-            }
-
-            int i = m_nodeCount;
-            m_nodeCount++;
-            var node = m_nodes[i];
             node.pidx = 0;
             node.cost = 0;
             node.total = 0;
@@ -123,9 +165,16 @@ namespace DotRecast.Detour
 
         public DtNode GetNodeAtIdx(int idx)
         {
-            return idx != 0
+            if (idx == 0)
-                ? m_nodes[idx - 1]
+                return null;
-                : 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/DtOffMeshConnection.cs

@@ -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

@@ -20,7 +20,10 @@ 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
 {
@@ -148,7 +151,7 @@ namespace DotRecast.Detour
             return npath;
         }
 
-        public static int MergeCorridorStartMoved(ref List<long> path, int npath, int maxPath, Span<long> visited, int nvisited)
+        public static int MergeCorridorStartMoved(List<long> path, int npath, int maxPath, Span<long> visited, int nvisited)
         {
             int furthestPath = -1;
             int furthestVisited = -1;
@@ -180,22 +183,23 @@ namespace DotRecast.Detour
             }
 
             // 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 = nvisited - 1; i > furthestVisited; --i)
+            for (int i = 0; i < length1; ++i) 
-            {
+                result[i] = visited[endIndex - i];
-                result.Add(visited[i]);
+            
+            path.CopyTo(furthestPath, result.AsArray(), length1, length2);
+
+            path.Clear();
+            CollectionExtensions.AddRange(path, result.AsSpan());
+            return result.Length;
         }
 
-            result.AddRange(path.GetRange(furthestPath, npath - furthestPath));
+        public static int MergeCorridorEndMoved(List<long> path, int npath, int maxPath, Span<long> visited, int nvisited)
-
-            path = result;
-            return result.Count;
-        }
-
-        public static int MergeCorridorEndMoved(ref List<long> path, int npath, int maxPath, Span<long> visited, int nvisited)
         {
             int furthestPath = -1;
             int furthestVisited = -1;
@@ -227,17 +231,18 @@ namespace DotRecast.Detour
             }
 
             // Concatenate paths.
-            List<long> result = path.GetRange(0, furthestPath);
+            var length1 = furthestPath;
-            foreach (var v in visited.Slice(furthestVisited, nvisited - furthestVisited))
+            var length2 = nvisited - furthestVisited;
-            {
+            using var result = RcRentedArray.Rent<long>(length1 + length2);
-                result.Add(v);
+            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;
         }
 
-            path = result;
+        public static int MergeCorridorStartShortcut(List<long> path, int npath, int maxPath, List<long> visited, int nvisited)
-            return result.Count;
-        }
-
-        public static int MergeCorridorStartShortcut(ref List<long> path, int npath, int maxPath, List<long> visited, int nvisited)
         {
             int furthestPath = -1;
             int furthestVisited = -1;
@@ -271,11 +276,15 @@ namespace DotRecast.Detour
             // Concatenate paths.
 
             // Adjust beginning of the buffer to include the visited.
-            List<long> result = visited.GetRange(0, furthestVisited);
+            var length1 = furthestVisited;
-            result.AddRange(path.GetRange(furthestPath, npath - furthestPath));
+            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 = result;
+            path.Clear();
-            return result.Count;
+            CollectionExtensions.AddRange(path, result.AsSpan());
+            return path.Count;
         }
     }
 }

src/DotRecast.Detour/DtRaycastHit.cs

@@ -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/DtStrictDtPolygonByCircleConstraint.cs

@@ -39,8 +39,7 @@ namespace DotRecast.Detour
             }
         }
 
-
+        public Span<float> Apply(Span<float> verts, RcVec3f center, float radius, Span<float> resultBuffer)
-        public float[] Apply(float[] verts, RcVec3f center, float radius)
         {
             float radiusSqr = radius * radius;
             int outsideVertex = -1;
@@ -56,19 +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;
             }
 
             Span<float> qCircle = stackalloc float[UnitCircle.Length];
             ScaleCircle(UnitCircle, center, radius, qCircle);
-            float[] intersection = DtConvexConvexIntersections.Intersect(verts, qCircle);
+            Span<float> intersection = DtConvexConvexIntersections.Intersect(verts, qCircle, resultBuffer);
-            if (intersection == null && DtUtils.PointInPolygon(center, verts, verts.Length / 3))
+            if (intersection.IsEmpty && DtUtils.PointInPolygon(center, verts, verts.Length / 3))
             {
                 // circle inside polygon
-                return qCircle.ToArray();
+                var result = resultBuffer.Slice(0, qCircle.Length);
+                qCircle.CopyTo(result);
+                return result;
             }
 
-            return intersection;
+            if(!intersection.IsEmpty)
+            {
+                var result = resultBuffer.Slice(0, intersection.Length);
+                // No need to copy, data is already in buffer
+                return result;
+            }
+            
+            return Span<float>.Empty;
         }
     }
 }

src/DotRecast.Detour/IDtPolyQuery.cs

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

src/DotRecast.Detour/IDtPolygonByCircleConstraint.cs

@@ -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.Recast.Demo/DotRecast.Recast.Demo.asmdef

@@ -0,0 +1,44 @@
+{
+    "name": "DotRecast.Recast.Demo",
+    "rootNamespace": "DotRecast.Recast.Demo",
+    "references": [
+        "DotRecast.Core"
+    ],
+    "includePlatforms": [],
+    "excludePlatforms": [
+        "Android",
+        "Editor",
+        "EmbeddedLinux",
+        "GameCoreScarlett",
+        "GameCoreXboxOne",
+        "iOS",
+        "LinuxStandalone64",
+        "CloudRendering",
+        "macOSStandalone",
+        "PS4",
+        "PS5",
+        "QNX",
+        "Stadia",
+        "Switch",
+        "tvOS",
+        "WSA",
+        "VisionOS",
+        "WebGL",
+        "WindowsStandalone32",
+        "WindowsStandalone64",
+        "XboxOne"
+    ],
+    "allowUnsafeCode": false,
+    "overrideReferences": false,
+    "precompiledReferences": [],
+    "autoReferenced": true,
+    "defineConstraints": [],
+    "versionDefines": [
+        {
+            "name": "Select...",
+            "expression": "",
+            "define": "USE_RECAST_DEMO"
+        }
+    ],
+    "noEngineReferences": true
+}

src/DotRecast.Recast.Toolset/DotRecast.Recast.Toolset.asmdef

@@ -0,0 +1,22 @@
+{
+    "name": "DotRecast.Recast.Toolset",
+    "rootNamespace": "DotRecast.Recast.Toolset",
+    "references": [
+        "DotRecast.Core",
+        "DotRecast.Recast",
+        "DotRecast.Detour",
+        "DotRecast.Detour.Crowd",
+        "DotRecast.Detour.Dynamic",
+        "DotRecast.Detour.Extras",
+        "DotRecast.Detour.TileCache"
+    ],
+    "includePlatforms": [],
+    "excludePlatforms": [],
+    "allowUnsafeCode": false,
+    "overrideReferences": false,
+    "precompiledReferences": [],
+    "autoReferenced": true,
+    "defineConstraints": [],
+    "versionDefines": [],
+    "noEngineReferences": true
+}

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

@@ -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/Tools/RcTestNavMeshTool.cs

@@ -98,7 +98,7 @@ namespace DotRecast.Recast.Toolset.Tools
 
                 iterPos = result;
 
-                pathIterPolyCount = DtPathUtils.MergeCorridorStartMoved(ref pathIterPolys, pathIterPolyCount, MAX_POLYS, visited, nvisited);
+                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);

src/DotRecast.Recast/DotRecast.Recast.asmdef

@@ -0,0 +1,16 @@
+{
+    "name": "DotRecast.Recast",
+    "rootNamespace": "DotRecast.Recast",
+    "references": [
+        "DotRecast.Core"
+    ],
+    "includePlatforms": [],
+    "excludePlatforms": [],
+    "allowUnsafeCode": false,
+    "overrideReferences": false,
+    "precompiledReferences": [],
+    "autoReferenced": true,
+    "defineConstraints": [],
+    "versionDefines": [],
+    "noEngineReferences": true
+}

src/DotRecast.Recast/Geom/RcOffMeshConnection.cs

@@ -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/package.json

@@ -0,0 +1,5 @@
+{
+  "name": "com.rnd.dotrecast",
+  "displayName": "DotRecast",
+  "version": "0.4.1"
+}

test/DotRecast.Detour.Test/ConvexConvexIntersectionTest.cs

@@ -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/PolygonByCircleConstraintTest.cs

@@ -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 }));
     }
 }