test

size can become negative if req > maxPath. This may happen when visited buffer is larger than path buffer.
Add tests to cover different use cases of the function including Should add visited points not present in path up to the path capacity to cover the fix.
List tests files explicitly. When new file is added CMake does not add it to the already generated list if GLOB is used.

- 599fd0f023
- https://github.com/recastnavigation/recastnavigation/pull/635

replace comment in DtPathCorridor

checking

tt

npath

.editorconfig

@@ -20,7 +20,6 @@ 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@v4
+        uses: actions/setup-dotnet@v3
         with:
           dotnet-version: 8.x
       

.github/workflows/dotnet.yml

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

CHANGELOG.md

@@ -6,122 +6,12 @@ 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

@@ -39,12 +39,6 @@ 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
@@ -118,33 +112,23 @@ 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}
-		{FA7EF26A-BA47-43FD-86F8-0A33CFDF643F} = {8ED75CF7-A3D6-423D-8499-9316DD413DAD}
-		{53AF87DA-37F8-4504-B623-B2113F4438CA} = {8ED75CF7-A3D6-423D-8499-9316DD413DAD}
-		{17E4F2F0-FC27-416E-9CB6-9F2CAAC49C9D} = {8ED75CF7-A3D6-423D-8499-9316DD413DAD}
-		{DEB16B90-CCD4-497E-A2E9-4CC66FD7EF47} = {8ED75CF7-A3D6-423D-8499-9316DD413DAD}
-		{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}
+		{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}
 		{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

@@ -1,22 +1,28 @@
-# DotRecast
+<h1 align="center">DotRecast</h1>
-
+<p align="center">
-*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.*  
+<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>
-*If you'd like to support the project, we'd appreciate starring(⭐) our repos on Github for more visibility.*
+</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>
 
 ---
 
-![GitHub License](https://img.shields.io/github/license/ikpil/DotRecast?style=for-the-badge)
+<p align="center">
-![Languages](https://img.shields.io/github/languages/top/ikpil/DotRecast?style=for-the-badge)
+<img alt="![GitHub License]" src="https://img.shields.io/github/license/ikpil/DotRecast?style=for-the-badge">
-![GitHub repo size](https://img.shields.io/github/repo-size/ikpil/DotRecast?style=for-the-badge)
+<img alt="Languages" src="https://img.shields.io/github/languages/top/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)
+<img alt="GitHub repo size" src="https://img.shields.io/github/repo-size/ikpil/DotRecast?style=for-the-badge">
-[![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)
+<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>
-[![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)
+<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>
-[![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)
+<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>
-[![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)
+<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>
-[![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)
+<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>
-[![NuGet Version](https://img.shields.io/nuget/vpre/DotRecast.Core?style=for-the-badge&logo=nuget)](https://www.nuget.org/packages/DotRecast.Core)
+<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>
-[![NuGet Downloads](https://img.shields.io/nuget/dt/DotRecast.Core?style=for-the-badge&logo=nuget)](https://www.nuget.org/packages/DotRecast.Core)
+<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>
-[![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)
+<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>
 
 ---
 

composer.json

@@ -1,8 +0,0 @@
-{
-  "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

@@ -1,30 +0,0 @@
-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

@@ -6,57 +6,55 @@ namespace DotRecast.Core.Buffers
 {
     public static class RcRentedArray
     {
-        public static RcRentedArray<T> Rent<T>(int minimumLength)
+        public static RcRentedArray<T> RentDisposableArray<T>(int minimumLength)
         {
             var array = ArrayPool<T>.Shared.Rent(minimumLength);
             return new RcRentedArray<T>(ArrayPool<T>.Shared, array, minimumLength);
         }
     }
 
-    public struct RcRentedArray<T> : IDisposable
+    public class RcRentedArray<T> : IDisposable
     {
         private ArrayPool<T> _owner;
         private T[] _array;
+        private readonly RcAtomicInteger _disposed;
 
         public int Length { get; }
-        public bool IsDisposed => null == _owner || null == _array;
 
         internal RcRentedArray(ArrayPool<T> owner, T[] array, int length)
         {
             _owner = owner;
             _array = array;
             Length = length;
+            _disposed = new RcAtomicInteger(0);
         }
 
-        public ref T this[int index]
+        public T this[int index]
         {
             [MethodImpl(MethodImplOptions.AggressiveInlining)]
             get
             {
                 RcThrowHelper.ThrowExceptionIfIndexOutOfRange(index, Length);
-                return ref _array[index];
+                return _array[index];
-            }
             }
 
-        public T[] AsArray()
+            [MethodImpl(MethodImplOptions.AggressiveInlining)]
+            set
             {
-            return _array;
+                RcThrowHelper.ThrowExceptionIfIndexOutOfRange(index, Length);
+                _array[index] = value;
             }
-
-        public Span<T> AsSpan()
-        {
-            return new Span<T>(_array, 0, Length);
         }
 
 
         public void Dispose()
         {
-            if (null != _owner && null != _array)
+            if (1 != _disposed.IncrementAndGet())
-            {
+                return;
-                _owner.Return(_array, true);
+
-                _owner = null;
+            _owner?.Return(_array, true);
             _array = null;
-            }
+            _owner = null;
         }
     }
 }

src/DotRecast.Core/Collections/CollectionExtensions.cs

@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Collections.Generic;
 
 namespace DotRecast.Core.Collections
@@ -45,11 +45,5 @@ 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

@@ -1,153 +0,0 @@
-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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -27,12 +27,12 @@ namespace DotRecast.Core.Collections
     {
         private bool _dirty;
         private readonly List<T> _items;
-        private readonly Comparison<T> _comparison;
+        private readonly Comparer<T> _comparer;
 
         public RcSortedQueue(Comparison<T> comp)
         {
             _items = new List<T>();
-            _comparison = (x, y) => comp(x, y) * -1;
+            _comparer = Comparer<T>.Create((x, y) => comp.Invoke(x, y) * -1);
         }
 
         public int Count()
@@ -55,7 +55,7 @@ namespace DotRecast.Core.Collections
         {
             if (_dirty)
             {
-                _items.Sort(_comparison); // reverse
+                _items.Sort(_comparer); // reverse
                 _dirty = false;
             }
         }
@@ -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.LastIndexOf(item);
+            int idx = _items.FindLastIndex(x => item.Equals(x));
             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/DotRecast.Core.asmdef

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

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

src/DotRecast.Core/IRcRand.cs

@@ -1,9 +1,7 @@
-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/RcVec3f.cs

@@ -1,6 +1,5 @@
 /*
-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
@@ -50,19 +49,6 @@ 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

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

src/DotRecast.Core/Numerics/RcVecUtils.cs

@@ -1,15 +1,20 @@
-using System;
+using System;
 using System.Runtime.CompilerServices;
 
 namespace DotRecast.Core.Numerics
 {
-    public static class RcVec
+    public static class RcVecUtils
     {
         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(Span<float> values, int n)
+        public static RcVec3f Create(float[] values)
+        {
+            return Create(values, 0);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static RcVec3f Create(float[] values, int n)
         {
             return new RcVec3f(values[n + 0], values[n + 1], values[n + 2]);
         }
@@ -37,73 +42,10 @@ namespace DotRecast.Core.Numerics
             }
         }
 
-        /// 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)
-        {
-            float d = RcVec3f.DistanceSquared(p0, p1);
-            return d < EQUAL_THRESHOLD;
-        }
-
-
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static float Dot2(RcVec3f a, RcVec3f b)
+        public static RcVec3f Scale(this RcVec3f v, float scale)
         {
-            return a.X * b.X + a.Z * b.Z;
+            return v * scale;
-        }
-
-
-        [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)
@@ -120,6 +62,46 @@ 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)
         {
@@ -137,11 +119,19 @@ namespace DotRecast.Core.Numerics
         }
 
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static void Copy(Span<float> @out, int n, Span<float> @in, int m)
+        public static float Dot(float[] v1, float[] v2)
         {
-            @out[n + 0] = @in[m + 0];
+            return v1[0] * v2[0] +
-            @out[n + 1] = @in[m + 1];
+                   v1[1] * v2[1] +
-            @out[n + 2] = @in[m + 2];
+                   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;
         }
 
         /// Returns the distance between two points.
@@ -177,6 +167,26 @@ 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)]
@@ -192,10 +202,6 @@ 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)
         {
@@ -205,7 +211,7 @@ namespace DotRecast.Core.Numerics
         }
 
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static float Dist2DSqr(RcVec3f p, Span<float> verts, int i)
+        public static float Dist2DSqr(RcVec3f p, float[] verts, int i)
         {
             float dx = verts[i] - p.X;
             float dz = verts[i + 2] - p.Z;
@@ -256,7 +262,7 @@ 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(Span<float> verts, int v1, int v2, float t)
+        public static RcVec3f Lerp(float[] verts, int v1, int v2, float t)
         {
             return new RcVec3f(
                 verts[v1 + 0] + (verts[v2 + 0] - verts[v1 + 0]) * t,

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

src/DotRecast.Core/RcContext.cs

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

src/DotRecast.Core/RcConvexUtils.cs

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

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

@@ -1,165 +0,0 @@
-/*
-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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -29,11 +29,5 @@ 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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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

src/DotRecast.Core/RcResources.cs

@@ -0,0 +1,22 @@
+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

@@ -1,36 +0,0 @@
-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;
 
@@ -15,12 +15,6 @@ 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/DotRecast.Detour.Crowd.asmdef

@@ -1,17 +0,0 @@
-{
-    "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

@@ -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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -20,9 +20,8 @@ freely, subject to the following restrictions:
 
 using System;
 using System.Collections.Generic;
-using System.Diagnostics;
+using System.Threading.Tasks;
 using DotRecast.Core;
-using DotRecast.Core.Buffers;
 using DotRecast.Core.Collections;
 using DotRecast.Core.Numerics;
 
@@ -121,16 +120,15 @@ namespace DotRecast.Detour.Crowd
     /// @ingroup crowd
     public class DtCrowd
     {
-        private readonly RcAtomicInteger _agentIdx;
+        private readonly RcAtomicInteger _agentId = new RcAtomicInteger();
-        private readonly Dictionary<int, DtCrowdAgent> _agents;
+        private readonly List<DtCrowdAgent> _agents;
-        private readonly List<DtCrowdAgent> _activeAgents;
 
         private readonly DtPathQueue _pathQ;
 
         private readonly DtObstacleAvoidanceParams[] _obstacleQueryParams;
         private readonly DtObstacleAvoidanceQuery _obstacleQuery;
 
-        private readonly DtProximityGrid _grid;
+        private DtProximityGrid _grid;
 
         private int _maxPathResult;
         private readonly RcVec3f _agentPlacementHalfExtents;
@@ -172,10 +170,7 @@ namespace DotRecast.Detour.Crowd
             // Allocate temp buffer for merging paths.
             _maxPathResult = DtCrowdConst.MAX_PATH_RESULT;
             _pathQ = new DtPathQueue(config);
-            _agentIdx = new RcAtomicInteger(0);
+            _agents = new List<DtCrowdAgent>();
-            _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);
@@ -240,10 +235,11 @@ 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 = _agentIdx.GetAndIncrement();
+            int idx = _agentId.GetAndIncrement();
             DtCrowdAgent ag = new DtCrowdAgent(idx);
             ag.corridor.Init(_maxPathResult);
-            AddAgent(ag);
+            _agents.Add(ag);
+
             UpdateAgentParameters(ag, option);
 
             // Find nearest position on navmesh and place the agent there.
@@ -260,7 +256,6 @@ namespace DotRecast.Detour.Crowd
 
             ag.topologyOptTime = 0;
             ag.targetReplanTime = 0;
-            ag.nneis = 0;
 
             ag.dvel = RcVec3f.Zero;
             ag.nvel = RcVec3f.Zero;
@@ -283,27 +278,15 @@ namespace DotRecast.Detour.Crowd
             return ag;
         }
 
-        public DtCrowdAgent GetAgent(int idx)
+        /**
-        {
+     * Removes the agent from the crowd.
-            return _agents.GetValueOrDefault(idx);
+     *
-        }
+     * @param agent
-
+     *            Agent to be removed
-        // 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)
         {
-            if (_agents.Remove(agent.idx))
+            _agents.Remove(agent);
-            {
-                _activeAgents.Remove(agent);
-            }
         }
 
         private bool RequestMoveTargetReplan(DtCrowdAgent ag, long refs, RcVec3f pos)
@@ -375,7 +358,7 @@ namespace DotRecast.Detour.Crowd
      */
         public IList<DtCrowdAgent> GetActiveAgents()
         {
-            return _activeAgents;
+            return _agents;
         }
 
         public RcVec3f GetQueryExtents()
@@ -566,18 +549,14 @@ 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 = UpdateMoveRequest_queue;
+            RcSortedQueue<DtCrowdAgent> queue = new RcSortedQueue<DtCrowdAgent>((a1, a2) => a2.targetReplanTime.CompareTo(a1.targetReplanTime));
-            queue.Clear();
 
             // Fire off new requests.
-            List<long> reqPath = UpdateMoveRequest_reqPath;
+            List<long> reqPath = new List<long>();
-            reqPath.Clear();
             for (var i = 0; i < agents.Count; i++)
             {
                 var ag = agents[i];
@@ -610,7 +589,7 @@ namespace DotRecast.Detour.Crowd
                     if (ag.targetReplan) // && npath > 10)
                     {
                         // Try to use existing steady path during replan if possible.
-                        status = _navQuery.FinalizeSlicedFindPathPartial(path, path.Count, ref reqPath);
+                        status = _navQuery.FinalizeSlicedFindPathPartial(path, ref reqPath);
                     }
                     else
                     {
@@ -870,7 +849,7 @@ namespace DotRecast.Detour.Crowd
         {
             using var timer = _telemetry.ScopedTimer(DtCrowdTimerLabel.BuildProximityGrid);
 
-            _grid.Clear();
+            _grid = new DtProximityGrid(_config.maxAgentRadius * 3);
 
             for (var i = 0; i < agents.Count; i++)
             {
@@ -896,7 +875,7 @@ 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 (RcVec.Dist2DSqr(ag.npos, ag.boundary.GetCenter()) > RcMath.Sqr(updateThr)
+                if (RcVecUtils.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,
@@ -904,66 +883,21 @@ namespace DotRecast.Detour.Crowd
                 }
 
                 // Query neighbour agents
-                ag.nneis = GetNeighbours(ag.npos, ag.option.height, ag.option.collisionQueryRange, ag, ag.neis, DtCrowdConst.DT_CROWDAGENT_MAX_NEIGHBOURS, _grid);
+                GetNeighbours(ag.npos, ag.option.height, ag.option.collisionQueryRange, ag, ref ag.neis, _grid);
             }
         }
 
-        public static int AddNeighbour(DtCrowdAgent idx, float dist, Span<DtCrowdNeighbour> neis, int nneis, int maxNeis)
+
+        private int GetNeighbours(RcVec3f pos, float height, float range, DtCrowdAgent skip, ref List<DtCrowdNeighbour> result, DtProximityGrid grid)
         {
-            // Insert neighbour based on the distance.
+            result.Clear();
-            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 = GetAgent(ids[i]);
+                var ag = ids[i];
                 if (ag == skip)
                 {
                     continue;
@@ -983,10 +917,11 @@ namespace DotRecast.Detour.Crowd
                     continue;
                 }
 
-                n = AddNeighbour(ag, distSqr, result, n, maxResult);
+                result.Add(new DtCrowdNeighbour(ag, distSqr));
             }
 
-            return n;
+            result.Sort((o1, o2) => o1.dist.CompareTo(o2.dist));
+            return result.Count;
         }
 
         private void FindCorners(IList<DtCrowdAgent> agents, DtCrowdAgentDebugInfo debug)
@@ -1009,13 +944,13 @@ namespace DotRecast.Detour.Crowd
                 }
 
                 // Find corners for steering
-                ag.ncorners = ag.corridor.FindCorners(ag.corners, DtCrowdConst.DT_CROWDAGENT_MAX_CORNERS, _navQuery, _filters[ag.option.queryFilterType]);
+                ag.corridor.FindCorners(ref 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.ncorners > 0)
+                if ((ag.option.updateFlags & DtCrowdAgentUpdateFlags.DT_CROWD_OPTIMIZE_VIS) != 0 && ag.corners.Count > 0)
                 {
-                    RcVec3f target = ag.corners[Math.Min(1, ag.ncorners - 1)].pos;
+                    RcVec3f target = ag.corners[Math.Min(1, ag.corners.Count - 1)].pos;
                     ag.corridor.OptimizePathVisibility(target, ag.option.pathOptimizationRange, _navQuery,
                         _filters[ag.option.queryFilterType]);
 
@@ -1057,7 +992,7 @@ namespace DotRecast.Detour.Crowd
                 }
 
                 // Check
-                float triggerRadius = ag.option.radius * 0.25f;//todo make parameterizable
+                float triggerRadius = ag.option.radius * 2.25f;
                 if (ag.OverOffmeshConnection(triggerRadius))
                 {
                     // Prepare to off-mesh connection.
@@ -1065,18 +1000,18 @@ namespace DotRecast.Detour.Crowd
 
                     // Adjust the path over the off-mesh connection.
                     long[] refs = new long[2];
-                    if (ag.corridor.MoveOverOffmeshConnection(ag.corners[ag.ncorners - 1].refs, refs, ref anim.startPos,
+                    if (ag.corridor.MoveOverOffmeshConnection(ag.corners[ag.corners.Count - 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 = (RcVec.Dist2D(anim.startPos, anim.endPos) / ag.option.maxSpeed) * 0.5f;
+                        anim.tmax = (RcVecUtils.Dist2D(anim.startPos, anim.endPos) / ag.option.maxSpeed) * 0.5f;
 
                         ag.state = DtCrowdAgentState.DT_CROWDAGENT_STATE_OFFMESH;
-                        ag.ncorners = 0;
+                        ag.corners.Clear();
-                        ag.nneis = 0;
+                        ag.neis.Clear();
                         continue;
                     }
                     else
@@ -1128,7 +1063,7 @@ namespace DotRecast.Detour.Crowd
                     float speedScale = ag.GetDistanceToGoal(slowDownRadius) / slowDownRadius;
 
                     ag.desiredSpeed = ag.option.maxSpeed;
-                    dvel = dvel * (ag.desiredSpeed * speedScale);
+                    dvel = dvel.Scale(ag.desiredSpeed * speedScale);
                 }
 
                 // Separation
@@ -1141,7 +1076,7 @@ namespace DotRecast.Detour.Crowd
                     float w = 0;
                     RcVec3f disp = new RcVec3f();
 
-                    for (int j = 0; j < ag.nneis; ++j)
+                    for (int j = 0; j < ag.neis.Count; ++j)
                     {
                         DtCrowdAgent nei = ag.neis[j].agent;
 
@@ -1162,20 +1097,20 @@ namespace DotRecast.Detour.Crowd
                         float dist = MathF.Sqrt(distSqr);
                         float weight = separationWeight * (1.0f - RcMath.Sqr(dist * invSeparationDist));
 
-                        disp = RcVec.Mad(disp, diff, weight / dist);
+                        disp = RcVecUtils.Mad(disp, diff, weight / dist);
                         w += 1.0f;
                     }
 
                     if (w > 0.0001f)
                     {
                         // Adjust desired velocity.
-                        dvel = RcVec.Mad(dvel, disp, 1.0f / w);
+                        dvel = RcVecUtils.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 * (desiredSqr / speedSqr);
+                            dvel = dvel.Scale(desiredSqr / speedSqr);
                         }
                     }
                 }
@@ -1203,12 +1138,9 @@ namespace DotRecast.Detour.Crowd
                     _obstacleQuery.Reset();
 
                     // Add neighbours as obstacles.
-                    for (int j = 0; j < ag.nneis; ++j)
+                    for (int j = 0; j < ag.neis.Count; ++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);
                     }
 
@@ -1294,7 +1226,7 @@ namespace DotRecast.Detour.Crowd
 
                     float w = 0;
 
-                    for (int j = 0; j < ag.nneis; ++j)
+                    for (int j = 0; j < ag.neis.Count; ++j)
                     {
                         DtCrowdAgent nei = ag.neis[j].agent;
                         long idx1 = nei.idx;
@@ -1328,7 +1260,7 @@ namespace DotRecast.Detour.Crowd
                             pen = (1.0f / dist) * (pen * 0.5f) * _config.collisionResolveFactor;
                         }
 
-                        ag.disp = RcVec.Mad(ag.disp, diff, pen);
+                        ag.disp = RcVecUtils.Mad(ag.disp, diff, pen);
 
                         w += 1.0f;
                     }
@@ -1336,7 +1268,7 @@ namespace DotRecast.Detour.Crowd
                     if (w > 0.0001f)
                     {
                         float iw = 1.0f / w;
-                        ag.disp = ag.disp * iw;
+                        ag.disp = ag.disp.Scale(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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -28,7 +28,7 @@ namespace DotRecast.Detour.Crowd
     /// @ingroup crowd
     public class DtCrowdAgent
     {
-        public readonly int idx;
+        public readonly long idx;
 
         /// The type of mesh polygon the agent is traversing. (See: #CrowdAgentState)
         public DtCrowdAgentState state;
@@ -37,19 +37,16 @@ namespace DotRecast.Detour.Crowd
         public bool partial;
 
         /// The path corridor the agent is using.
-        public readonly DtPathCorridor corridor;
+        public DtPathCorridor corridor;
 
         /// The local boundary data for the agent.
-        public readonly DtLocalBoundary boundary;
+        public DtLocalBoundary boundary;
 
         /// Time since the agent's path corridor was optimized.
         public float topologyOptTime;
 
         /// The known neighbors of the agent.
-        public readonly DtCrowdNeighbour[] neis = new DtCrowdNeighbour[DtCrowdConst.DT_CROWDAGENT_MAX_NEIGHBOURS];
+        public List<DtCrowdNeighbour> neis = new List<DtCrowdNeighbour>();
-        
-        /// The number of neighbors.
-        public int nneis;
 
         /// The desired speed.
         public float desiredSpeed;
@@ -64,10 +61,7 @@ namespace DotRecast.Detour.Crowd
         public DtCrowdAgentParams option;
 
         /// The local path corridor corners for the agent.
-        public DtStraightPath[] corners = new DtStraightPath[DtCrowdConst.DT_CROWDAGENT_MAX_CORNERS];
+        public List<DtStraightPath> corners = new List<DtStraightPath>();
-
-        /// The number of corners.
-        public int ncorners;
 
         public DtMoveRequestState targetState; // < State of the movement request.
         public long targetRef; // < Target polyref of the movement request.
@@ -94,28 +88,28 @@ namespace DotRecast.Detour.Crowd
             RcVec3f dv = RcVec3f.Subtract(nvel, vel);
             float ds = dv.Length();
             if (ds > maxDelta)
-                dv = dv * (maxDelta / ds);
+                dv = dv.Scale(maxDelta / ds);
             vel = RcVec3f.Add(vel, dv);
 
             // Integrate
             if (vel.Length() > 0.0001f)
-                npos = RcVec.Mad(npos, vel, dt);
+                npos = RcVecUtils.Mad(npos, vel, dt);
             else
                 vel = RcVec3f.Zero;
         }
 
         public bool OverOffmeshConnection(float radius)
         {
-            if (0 == ncorners)
+            if (0 == corners.Count)
                 return false;
 
-            bool offMeshConnection = ((corners[ncorners - 1].flags
+            bool offMeshConnection = ((corners[corners.Count - 1].flags
                                        & DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0)
                 ? true
                 : false;
             if (offMeshConnection)
             {
-                float distSq = RcVec.Dist2DSqr(npos, corners[ncorners - 1].pos);
+                float distSq = RcVecUtils.Dist2DSqr(npos, corners[corners.Count - 1].pos);
                 if (distSq < radius * radius)
                     return true;
             }
@@ -125,12 +119,12 @@ namespace DotRecast.Detour.Crowd
 
         public float GetDistanceToGoal(float range)
         {
-            if (0 == ncorners)
+            if (0 == corners.Count)
                 return range;
 
-            bool endOfPath = ((corners[ncorners - 1].flags & DtStraightPathFlags.DT_STRAIGHTPATH_END) != 0) ? true : false;
+            bool endOfPath = ((corners[corners.Count - 1].flags & DtStraightPathFlags.DT_STRAIGHTPATH_END) != 0) ? true : false;
             if (endOfPath)
-                return Math.Min(RcVec.Dist2D(npos, corners[ncorners - 1].pos), range);
+                return Math.Min(RcVecUtils.Dist2D(npos, corners[corners.Count - 1].pos), range);
 
             return range;
         }
@@ -138,10 +132,10 @@ namespace DotRecast.Detour.Crowd
         public RcVec3f CalcSmoothSteerDirection()
         {
             RcVec3f dir = new RcVec3f();
-            if (0 < ncorners)
+            if (0 < corners.Count)
             {
                 int ip0 = 0;
-                int ip1 = Math.Min(1, ncorners - 1);
+                int ip1 = Math.Min(1, corners.Count - 1);
                 var p0 = corners[ip0].pos;
                 var p1 = corners[ip1].pos;
 
@@ -153,7 +147,7 @@ namespace DotRecast.Detour.Crowd
                 float len0 = dir0.Length();
                 float len1 = dir1.Length();
                 if (len1 > 0.001f)
-                    dir1 = dir1 * (1.0f / len1);
+                    dir1 = dir1.Scale(1.0f / len1);
 
                 dir.X = dir0.X - dir1.X * len0 * 0.5f;
                 dir.Y = 0;
@@ -167,7 +161,7 @@ namespace DotRecast.Detour.Crowd
         public RcVec3f CalcStraightSteerDirection()
         {
             RcVec3f dir = new RcVec3f();
-            if (0 < ncorners)
+            if (0 < corners.Count)
             {
                 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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -24,15 +24,23 @@ namespace DotRecast.Detour.Crowd
     /// @ingroup crowd
     public class DtCrowdAgentParams
     {
-        public float radius; // < Agent radius. [Limit: >= 0]
+        /// < Agent radius. [Limit: >= 0]
-        public float height; // < Agent height. [Limit: > 0]
+        public float radius;
-        public float maxAcceleration; // < Maximum allowed acceleration. [Limit: >= 0]
+
-        public float maxSpeed; // < Maximum allowed speed. [Limit: >= 0]
+        /// < Agent height. [Limit: > 0]
+        public float height;
+
+        /// < Maximum allowed acceleration. [Limit: >= 0]
+        public float maxAcceleration;
+
+        /// < Maximum allowed speed. [Limit: >= 0]
+        public float maxSpeed;
                 
         /// Defines how close a collision element must be before it is considered for steering behaviors. [Limits: > 0]
         public float collisionQueryRange;
 
-        public float pathOptimizationRange; // < The path visibility optimization range. [Limit: > 0]
+        /// < The path visibility optimization range. [Limit: > 0]
+        public float pathOptimizationRange;
                 
         /// How aggresive the agent manager should be at avoiding collisions with this agent. [Limit: >= 0]
         public float separationWeight;
@@ -45,9 +53,6 @@ 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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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

@@ -1,13 +1,16 @@
-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; // < The index of the neighbor in the crowd.
+        public readonly DtCrowdAgent agent;
-        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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -18,7 +18,6 @@ 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;
@@ -91,8 +90,6 @@ 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();
@@ -107,17 +104,18 @@ namespace DotRecast.Detour.Crowd
             {
                 // Secondly, store all polygon edges.
                 m_segs.Clear();
-                Span<RcSegmentVert> segs = stackalloc RcSegmentVert[MAX_SEGS_PER_POLY];
+
-                int nsegs = 0;
+                var segmentVerts = new List<RcSegmentVert>();
+                var segmentRefs = new List<long>();
 
                 for (int j = 0; j < m_polys.Count; ++j)
                 {
-                    var result = navquery.GetPolyWallSegments(m_polys[j], filter, segs, null, ref nsegs, MAX_SEGS_PER_POLY);
+                    var result = navquery.GetPolyWallSegments(m_polys[j], false, filter, ref segmentVerts, ref segmentRefs);
                     if (result.Succeeded())
                     {
-                        for (int k = 0; k < nsegs; ++k)
+                        for (int k = 0; k < segmentRefs.Count; ++k)
                         {
-                            ref RcSegmentVert s = ref segs[k];
+                            RcSegmentVert s = segmentVerts[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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

src/DotRecast.Detour.Crowd/DtObstacleAvoidanceParams.cs

@@ -1,4 +1,4 @@
-namespace DotRecast.Detour.Crowd
+namespace DotRecast.Detour.Crowd
 {
     public class DtObstacleAvoidanceParams
     {
@@ -8,11 +8,18 @@ namespace DotRecast.Detour.Crowd
         public float weightSide;
         public float weightToi;
         public float horizTime;
-        public int gridSize; // < grid
+        public int gridSize;
-        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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -19,7 +19,6 @@ freely, subject to the following restrictions:
 */
 
 using System;
-using System.Runtime.CompilerServices;
 using DotRecast.Core;
 using DotRecast.Core.Numerics;
 
@@ -28,9 +27,11 @@ 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;
@@ -186,16 +187,16 @@ namespace DotRecast.Detour.Crowd
         {
             RcVec3f v = RcVec3f.Subtract(bq, bp);
             RcVec3f w = RcVec3f.Subtract(ap, bp);
-            float d = RcVec.Perp2D(u, v);
+            float d = RcVecUtils.Perp2D(u, v);
             if (MathF.Abs(d) < 1e-6f)
                 return false;
 
             d = 1.0f / d;
-            t = RcVec.Perp2D(v, w) * d;
+            t = RcVecUtils.Perp2D(v, w) * d;
             if (t < 0 || t > 1)
                 return false;
 
-            float s = RcVec.Perp2D(u, w) * d;
+            float s = RcVecUtils.Perp2D(u, w) * d;
             if (s < 0 || s > 1)
                 return false;
 
@@ -216,8 +217,8 @@ namespace DotRecast.Detour.Crowd
             float minPenalty, DtObstacleAvoidanceDebugData debug)
         {
             // penalty for straying away from the desired and current velocities
-            float vpen = m_params.weightDesVel * (RcVec.Dist2D(vcand, dvel) * m_invVmax);
+            float vpen = m_params.weightDesVel * (RcVecUtils.Dist2D(vcand, dvel) * m_invVmax);
-            float vcpen = m_params.weightCurVel * (RcVec.Dist2D(vcand, vel) * m_invVmax);
+            float vcpen = m_params.weightCurVel * (RcVecUtils.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)
@@ -236,7 +237,7 @@ namespace DotRecast.Detour.Crowd
                 DtObstacleCircle cir = m_circles[i];
 
                 // RVO
-                RcVec3f vab = vcand * 2;
+                RcVec3f vab = vcand.Scale(2);
                 vab = RcVec3f.Subtract(vab, vel);
                 vab = RcVec3f.Subtract(vab, cir.vel);
 
@@ -361,8 +362,7 @@ namespace DotRecast.Detour.Crowd
         }
 
         // vector normalization that ignores the y-component.
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        void DtNormalize2D(float[] v)
-        void DtNormalize2D(Span<float> v)
         {
             float d = MathF.Sqrt(v[0] * v[0] + v[2] * v[2]);
             if (d == 0)
@@ -373,8 +373,7 @@ namespace DotRecast.Detour.Crowd
         }
 
         // vector normalization that ignores the y-component.
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        RcVec3f DtRotate2D(float[] v, float ang)
-        RcVec3f DtRotate2D(Span<float> v, float ang)
         {
             RcVec3f dest = new RcVec3f();
             float c = MathF.Cos(ang);
@@ -385,6 +384,7 @@ 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.
-            Span<float> pat = stackalloc float[(DT_MAX_PATTERN_DIVS * DT_MAX_PATTERN_RINGS + 1) * 2];
+            float[] pat = new 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
-            Span<float> ddir = stackalloc float[6];
+            float[] ddir = new 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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -20,6 +20,7 @@ freely, subject to the following restrictions:
 
 using System;
 using System.Collections.Generic;
+using System.Linq;
 using DotRecast.Core;
 using DotRecast.Core.Numerics;
 
@@ -33,8 +34,7 @@ namespace DotRecast.Detour.Crowd
         private RcVec3f m_pos;
         private RcVec3f m_target;
 
-        private List<long> m_path = new List<long>();
+        private List<long> m_path;
-        private int m_npath;
         private int m_maxPath;
 
         /**
@@ -89,9 +89,7 @@ namespace DotRecast.Detour.Crowd
         /// @return True if the initialization succeeded.
         public bool Init(int maxPath)
         {
-            if (m_path.Capacity < maxPath)
+            m_path = new List<long>();
-                m_path.Capacity = maxPath;
-            m_npath = 0;
             m_maxPath = maxPath;
             return true;
         }
@@ -110,7 +108,6 @@ namespace DotRecast.Detour.Crowd
             m_target = pos;
             m_path.Clear();
             m_path.Add(refs);
-            m_npath = 1;
         }
 
         /**
@@ -134,42 +131,42 @@ 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(Span<DtStraightPath> corners, int maxCorners, DtNavMeshQuery navquery, IDtQueryFilter filter)
+        public int FindCorners(ref List<DtStraightPath> corners, int maxCorners, DtNavMeshQuery navquery, IDtQueryFilter filter)
         {
             const float MIN_TARGET_DIST = 0.01f;
 
-            int ncorners = 0;
+            var result = navquery.FindStraightPath(m_pos, m_target, m_path, ref corners, maxCorners, 0);
-            navquery.FindStraightPath(m_pos, m_target, m_path, m_npath, corners, out ncorners, maxCorners, 0);
+            if (result.Succeeded())
-
+            {
                 // Prune points in the beginning of the path which are too close.
-            while (0 < ncorners)
+                int start = 0;
+                foreach (DtStraightPath spi in corners)
                 {
-                if ((corners[0].flags & DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0 ||
+                    if ((spi.flags & DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0
-                    RcVec.Dist2DSqr(corners[0].pos, m_pos) > RcMath.Sqr(MIN_TARGET_DIST))
+                        || RcVecUtils.Dist2DSqr(spi.pos, m_pos) > RcMath.Sqr(MIN_TARGET_DIST))
                     {
                         break;
                     }
 
-                ncorners--;
+                    start++;
-                if (0 < ncorners)
-                {
-                    RcSpans.Move(corners, 1, 0, 3);
-                }
                 }
 
-
+                int end = corners.Count;
                 // Prune points after an off-mesh connection.
-            for (int i = 0; i < ncorners; ++i)
+                for (int i = start; i < corners.Count; i++)
                 {
-                if ((corners[i].flags & DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0)
+                    DtStraightPath spi = corners[i];
+                    if ((spi.flags & DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0)
                     {
-                    ncorners = i + 1;
+                        end = i + 1;
                         break;
                     }
                 }
 
+                corners = corners.GetRange(start, end - start);
+            }
 
-            return ncorners;
+            return corners.Count;
         }
 
         /**
@@ -198,7 +195,7 @@ namespace DotRecast.Detour.Crowd
         public void OptimizePathVisibility(RcVec3f next, float pathOptimizationRange, DtNavMeshQuery navquery, IDtQueryFilter filter)
         {
             // Clamp the ray to max distance.
-            float dist = RcVec.Dist2D(m_pos, next);
+            float dist = RcVecUtils.Dist2D(m_pos, next);
 
             // If too close to the goal, do not try to optimize.
             if (dist < 0.01f)
@@ -211,7 +208,7 @@ namespace DotRecast.Detour.Crowd
 
             // Adjust ray length.
             var delta = RcVec3f.Subtract(next, m_pos);
-            RcVec3f goal = RcVec.Mad(m_pos, delta, pathOptimizationRange / dist);
+            RcVec3f goal = RcVecUtils.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);
@@ -219,7 +216,7 @@ namespace DotRecast.Detour.Crowd
             {
                 if (res.Count > 1 && t > 0.99f)
                 {
-                    m_npath = DtPathUtils.MergeCorridorStartShortcut(m_path, m_npath, m_maxPath, res, res.Count);
+                    m_path = DtPathUtils.MergeCorridorStartShortcut(m_path, m_path.Count, m_maxPath, res);
                 }
             }
         }
@@ -239,7 +236,7 @@ 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_npath < 3)
+            if (m_path.Count < 3)
             {
                 return false;
             }
@@ -247,11 +244,11 @@ 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, m_npath, ref res);
+            var status = navquery.FinalizeSlicedFindPathPartial(m_path, ref res);
 
             if (status.Succeeded() && res.Count > 0)
             {
-                m_npath = DtPathUtils.MergeCorridorStartShortcut(m_path, m_npath, m_maxPath, res, res.Count);
+                m_path = DtPathUtils.MergeCorridorStartShortcut(m_path, m_path.Count, m_maxPath, res);
                 return true;
             }
 
@@ -263,23 +260,21 @@ 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_npath && polyRef != offMeshConRef)
+            while (npos < m_path.Count && polyRef != offMeshConRef)
             {
                 prevRef = polyRef;
                 polyRef = m_path[npos];
                 npos++;
             }
 
-            if (npos == m_npath)
+            if (npos == m_path.Count)
             {
                 // Could not find offMeshConRef
                 return false;
             }
 
             // Prune path
-            m_path.RemoveRange(0, npos);
+            m_path = m_path.GetRange(npos, m_path.Count - npos);
-            m_npath -= npos;
-
             refs[0] = prevRef;
             refs[1] = polyRef;
 
@@ -318,12 +313,11 @@ namespace DotRecast.Detour.Crowd
         public bool MovePosition(RcVec3f npos, DtNavMeshQuery navquery, IDtQueryFilter filter)
         {
             // Move along navmesh and update new position.
-            const int MAX_VISITED = 16;
+            var visited = new List<long>();
-            Span<long> visited = stackalloc long[MAX_VISITED];
+            var status = navquery.MoveAlongSurface(m_path[0], m_pos, npos, filter, out var result, ref 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_npath = DtPathUtils.MergeCorridorStartMoved(m_path, m_npath, m_maxPath, visited, nvisited);
+                DtPathUtils.MergeCorridorStartMoved(m_path, m_path.Count, m_maxPath, visited);
 
                 // Adjust the position to stay on top of the navmesh.
                 m_pos = result;
@@ -361,14 +355,11 @@ namespace DotRecast.Detour.Crowd
         public bool MoveTargetPosition(RcVec3f npos, DtNavMeshQuery navquery, IDtQueryFilter filter)
         {
             // Move along navmesh and update new position.
-            const int MAX_VISITED = 16;
+            var visited = new List<long>();
-            Span<long> visited = stackalloc long[MAX_VISITED];
+            var status = navquery.MoveAlongSurface(m_path[^1], m_target, npos, filter, out var result, ref 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_npath = DtPathUtils.MergeCorridorEndMoved(m_path, m_npath, m_maxPath, visited, nvisited);
+                m_path = DtPathUtils.MergeCorridorEndMoved(m_path, m_path.Count, m_maxPath, visited);
-
                 // TODO: should we do that?
                 // Adjust the position to stay on top of the navmesh.
                 /*
@@ -395,32 +386,25 @@ namespace DotRecast.Detour.Crowd
         public void SetCorridor(RcVec3f target, List<long> path)
         {
             m_target = target;
-            if(path != m_path)
+            m_path = new List<long>(path);
-            {
-                m_path.Clear();
-                m_path.AddRange(path);
-            }
-            m_npath = path.Count;
         }
 
         public void FixPathStart(long safeRef, RcVec3f safePos)
         {
             m_pos = safePos;
-            if (m_npath < 3 && m_npath > 0)
+            if (m_path.Count < 3 && m_path.Count > 0)
             {
-                long p = m_path[m_npath - 1];
+                long p = m_path[m_path.Count - 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;
             }
         }
 
@@ -428,12 +412,12 @@ namespace DotRecast.Detour.Crowd
         {
             // Keep valid path as far as possible.
             int n = 0;
-            while (n < m_npath && navquery.IsValidPolyRef(m_path[n], filter))
+            while (n < m_path.Count && navquery.IsValidPolyRef(m_path[n], filter))
             {
                 n++;
             }
 
-            if (m_npath == n)
+            if (m_path.Count == n)
             {
                 // All valid, no need to fix.
                 return true;
@@ -441,20 +425,18 @@ namespace DotRecast.Detour.Crowd
             else if (n == 0)
             {
                 // The first polyref is bad, use current safe values.
-                m_pos = new RcVec3f(safePos);
+                m_pos = RcVecUtils.Create(safePos);
                 m_path.Clear();
                 m_path.Add(safeRef);
-                m_npath = 1;
             }
-            else if (n < m_npath)
+            else if (n < m_path.Count)
             {
                 // The path is partially usable.
-                m_path.RemoveRange(n, m_path.Count - n);
+                m_path = m_path.GetRange(0, n);
-                m_npath = n;
             }
 
             // Clamp target pos to last poly
-            navquery.ClosestPointOnPolyBoundary(m_path[m_npath - 1], m_target, out m_target);
+            navquery.ClosestPointOnPolyBoundary(m_path[m_path.Count - 1], m_target, out m_target);
             return true;
         }
 
@@ -470,7 +452,7 @@ 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_npath, maxLookAhead);
+            int n = Math.Min(m_path.Count, maxLookAhead);
             for (int i = 0; i < n; ++i)
             {
                 if (!navquery.IsValidPolyRef(m_path[i], filter))
@@ -500,14 +482,14 @@ 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_npath ? 0 : m_path[0];
+            return 0 == m_path.Count ? 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_npath ? 0 : m_path[m_npath - 1];
+            return 0 == m_path.Count ? 0 : m_path[m_path.Count - 1];
         }
 
         /// The corridor's path.
@@ -521,7 +503,7 @@ namespace DotRecast.Detour.Crowd
         /// @return The number of polygons in the current corridor path.
         public int GetPathCount()
         {
-            return m_npath;
+            return m_path.Count;
         }
     }
 }

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

src/DotRecast.Detour.Crowd/DtPathQueryResult.cs

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

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -22,7 +22,6 @@ using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Runtime.CompilerServices;
-using DotRecast.Core.Buffers;
 
 namespace DotRecast.Detour.Crowd
 {
@@ -31,14 +30,12 @@ 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)]
@@ -60,8 +57,6 @@ namespace DotRecast.Detour.Crowd
 
         public void Clear()
         {
-            foreach (var pair in _items)
-                _listPool.Return(pair.Value);
             _items.Clear();
         }
 
@@ -79,8 +74,7 @@ namespace DotRecast.Detour.Crowd
                     long key = CombineKey(x, y);
                     if (!_items.TryGetValue(key, out var ids))
                     {
-                        ids = _listPool.Get();
+                        ids = new List<DtCrowdAgent>();
-                        ids.Clear();
                         _items.Add(key, ids);
                     }
 
@@ -89,7 +83,7 @@ namespace DotRecast.Detour.Crowd
             }
         }
 
-        public int QueryItems(float minx, float miny, float maxx, float maxy, Span<int> ids, int maxIds)
+        public int QueryItems(float minx, float miny, float maxx, float maxy, DtCrowdAgent[] ids, int maxIds)
         {
             int iminx = (int)MathF.Floor(minx * _invCellSize);
             int iminy = (int)MathF.Floor(miny * _invCellSize);
@@ -116,7 +110,7 @@ namespace DotRecast.Detour.Crowd
                         // Check if the id exists already.
                         int end = n;
                         int i = 0;
-                        while (i != end && ids[i] != item.idx)
+                        while (i != end && ids[i] != item)
                         {
                             ++i;
                         }
@@ -124,7 +118,7 @@ namespace DotRecast.Detour.Crowd
                         // Item not found, add it.
                         if (i == n)
                         {
-                            ids[n++] = item.idx;
+                            ids[n++] = item;
 
                             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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

@@ -1,18 +0,0 @@
-{
-    "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.Dynamic/DtDynamicNavMesh.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -23,7 +23,6 @@ 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;
@@ -41,7 +40,7 @@ namespace DotRecast.Detour.Dynamic
         private readonly BlockingCollection<IDtDaynmicTileJob> updateQueue = new BlockingCollection<IDtDaynmicTileJob>();
         private readonly RcAtomicLong currentColliderId = new RcAtomicLong(0);
         private DtNavMesh _navMesh;
-        private bool _dirty = true;
+        private bool dirty = true;
 
         public DtDynamicNavMesh(DtVoxelFile voxelFile)
         {
@@ -63,8 +62,8 @@ 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.useTiles ? voxelFile.cellSize * voxelFile.tileSizeX : voxelFile.bounds[3] - voxelFile.bounds[0];
+            navMeshParams.tileWidth = voxelFile.cellSize * voxelFile.tileSizeX;
-            navMeshParams.tileHeight = voxelFile.useTiles ? voxelFile.cellSize * voxelFile.tileSizeZ : voxelFile.bounds[5] - voxelFile.bounds[2];
+            navMeshParams.tileHeight = voxelFile.cellSize * voxelFile.tileSizeZ;
             navMeshParams.maxTiles = voxelFile.tiles.Count;
             navMeshParams.maxPolys = 0x8000;
             foreach (var t in voxelFile.tiles)
@@ -106,6 +105,29 @@ 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()
         {
@@ -137,49 +159,27 @@ namespace DotRecast.Detour.Dynamic
             }
         }
 
-        // Perform full build of the navmesh
+        /**
-        public void Build()
+     * Perform full build concurrently using the given {@link ExecutorService}
-        {
+     */
-            ProcessQueue();
+        public Task<bool> Build(TaskFactory executor)
-            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 of the navmesh
+     * Perform incremental update concurrently using the given {@link ExecutorService}
-        public bool Update()
+     */
-        {
+        public Task<bool> Update(TaskFactory executor)
-            return Rebuild(ProcessQueue());
-        }
-
-        // Perform incremental update concurrently using the given {@link ExecutorService}
-        public bool Update(TaskFactory executor)
         {
             return Rebuild(ProcessQueue(), executor);
         }
 
-        private bool Rebuild(ICollection<DtDynamicTile> tiles)
+        private Task<bool> Rebuild(ICollection<DtDynamicTile> tiles, TaskFactory executor)
         {
-            foreach (var tile in tiles)
+            var tasks = tiles.Select(tile => executor.StartNew(() => Rebuild(tile))).ToArray();
-                Rebuild(tile);
+            return Task.WhenAll(tasks).ContinueWith(k => UpdateNavMesh());
-
-            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) - 1;
+            int minx = (int)MathF.Floor((bounds[0] - navMeshParams.orig.X) / navMeshParams.tileWidth);
-            int minz = (int)MathF.Floor((bounds[2] - navMeshParams.orig.Z) / navMeshParams.tileHeight) - 1;
+            int minz = (int)MathF.Floor((bounds[2] - navMeshParams.orig.Z) / navMeshParams.tileHeight);
-            int maxx = (int)MathF.Floor((bounds[3] - navMeshParams.orig.X) / navMeshParams.tileWidth) + 1;
+            int maxx = (int)MathF.Floor((bounds[3] - navMeshParams.orig.X) / navMeshParams.tileWidth);
-            int maxz = (int)MathF.Floor((bounds[5] - navMeshParams.orig.Z) / navMeshParams.tileHeight) + 1;
+            int maxz = (int)MathF.Floor((bounds[5] - navMeshParams.orig.Z) / navMeshParams.tileHeight);
             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 && IntersectsXZ(tile, bounds))
+                    if (tile != null)
                     {
                         tiles.Add(tile);
                     }
@@ -209,12 +209,6 @@ 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();
@@ -224,24 +218,19 @@ namespace DotRecast.Detour.Dynamic
         {
             DtNavMeshCreateParams option = new DtNavMeshCreateParams();
             option.walkableHeight = config.walkableHeight;
-            _dirty = _dirty | tile.Build(builder, config, _context);
+            dirty = dirty | tile.Build(builder, config, _context);
         }
 
         private bool UpdateNavMesh()
         {
-            if (_dirty)
+            if (dirty)
             {
-                _dirty = false;
+                DtNavMesh navMesh = new DtNavMesh(navMeshParams, MAX_VERTS_PER_POLY);
-
-                DtNavMesh navMesh = new DtNavMesh();
-                navMesh.Init(navMeshParams, MAX_VERTS_PER_POLY);
-
                 foreach (var t in _tiles.Values)
-                {
                     t.AddTo(navMesh);
-                }
 
-                _navMesh = navMesh;
+                this._navMesh = navMesh;
+                dirty = false;
                 return true;
             }
 
@@ -269,21 +258,5 @@ 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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

src/DotRecast.Detour.Dynamic/DtDynamicTile.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -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, false);
+            RcBuilderResult r = builder.Build(context, vt.tileX, vt.tileZ, null, rcConfig, heightfield);
             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.Mesh;
+            RcPolyMesh m_pmesh = rcResult.GetMesh();
-            RcPolyMeshDetail m_dmesh = rcResult.MeshDetail;
+            RcPolyMeshDetail m_dmesh = rcResult.GetMeshDetail();
             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 = Array.Empty<float>();
+            option.offMeshConVerts = new float[0];
-            option.offMeshConRad = Array.Empty<float>();
+            option.offMeshConRad = new float[0];
-            option.offMeshConDir = Array.Empty<int>();
+            option.offMeshConDir = new int[0];
-            option.offMeshConAreas = Array.Empty<int>();
+            option.offMeshConAreas = new int[0];
-            option.offMeshConFlags = Array.Empty<int>();
+            option.offMeshConFlags = new int[0];
-            option.offMeshConUserID = Array.Empty<int>();
+            option.offMeshConUserID = new int[0];
             return option;
         }
 
@@ -181,7 +181,7 @@ namespace DotRecast.Detour.Dynamic
         {
             if (meshData != null)
             {
-                navMesh.AddTile(meshData, 0, 0, out var id);
+                id = navMesh.AddTile(meshData, 0, 0);
             }
             else
             {
@@ -189,10 +189,5 @@ 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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

src/DotRecast.Detour.Dynamic/DtDynamicTileColliderAdditionJob.cs

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

src/DotRecast.Detour.Dynamic/DtDynamicTileColliderRemovalJob.cs

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

src/DotRecast.Detour.Dynamic/DtVoxelQuery.cs

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

src/DotRecast.Detour.Dynamic/IDtDaynmicTileJob.cs

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

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

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -78,7 +78,7 @@ namespace DotRecast.Detour.Dynamic.Io
                 walkbableAreaMod, buildMeshDetail);
         }
 
-        public static DtVoxelFile From(RcConfig config, IList<RcBuilderResult> results)
+        public static DtVoxelFile From(RcConfig config, List<RcBuilderResult> results)
         {
             DtVoxelFile f = new DtVoxelFile();
             f.version = 1;
@@ -109,14 +109,13 @@ namespace DotRecast.Detour.Dynamic.Io
             };
             foreach (RcBuilderResult r in results)
             {
-                float pad = r.SolidHeightfiled.borderSize * r.SolidHeightfiled.cs;
+                f.tiles.Add(new DtVoxelTile(r.tileX, r.tileZ, r.GetSolidHeightfield()));
-                f.tiles.Add(new DtVoxelTile(r.TileX, r.TileZ, r.SolidHeightfiled));
+                f.bounds[0] = Math.Min(f.bounds[0], r.GetSolidHeightfield().bmin.X);
-                f.bounds[0] = Math.Min(f.bounds[0], r.SolidHeightfiled.bmin.X + pad);
+                f.bounds[1] = Math.Min(f.bounds[1], r.GetSolidHeightfield().bmin.Y);
-                f.bounds[1] = Math.Min(f.bounds[1], r.SolidHeightfiled.bmin.Y);
+                f.bounds[2] = Math.Min(f.bounds[2], r.GetSolidHeightfield().bmin.Z);
-                f.bounds[2] = Math.Min(f.bounds[2], r.SolidHeightfiled.bmin.Z + pad);
+                f.bounds[3] = Math.Max(f.bounds[3], r.GetSolidHeightfield().bmax.X);
-                f.bounds[3] = Math.Max(f.bounds[3], r.SolidHeightfiled.bmax.X - pad);
+                f.bounds[4] = Math.Max(f.bounds[4], r.GetSolidHeightfield().bmax.Y);
-                f.bounds[4] = Math.Max(f.bounds[4], r.SolidHeightfiled.bmax.Y);
+                f.bounds[5] = Math.Max(f.bounds[5], r.GetSolidHeightfield().bmax.Z);
-                f.bounds[5] = Math.Max(f.bounds[5], r.SolidHeightfiled.bmax.Z - pad);
             }
 
             return f;
@@ -156,13 +155,12 @@ namespace DotRecast.Detour.Dynamic.Io
             {
                 RcHeightfield heightfield = vt.Heightfield();
                 f.tiles.Add(new DtVoxelTile(vt.tileX, vt.tileZ, heightfield));
-                float pad = vt.borderSize * vt.cellSize;
+                f.bounds[0] = Math.Min(f.bounds[0], vt.boundsMin.X);
-                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 + pad);
+                f.bounds[2] = Math.Min(f.bounds[2], vt.boundsMin.Z);
-                f.bounds[3] = Math.Max(f.bounds[3], vt.boundsMax.X - pad);
+                f.bounds[3] = Math.Max(f.bounds[3], vt.boundsMax.X);
                 f.bounds[4] = Math.Max(f.bounds[4], vt.boundsMax.Y);
-                f.bounds[5] = Math.Max(f.bounds[5], vt.boundsMax.Z - pad);
+                f.bounds[5] = Math.Max(f.bounds[5], vt.boundsMax.Z);
             }
 
             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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -35,12 +35,12 @@ namespace DotRecast.Detour.Dynamic.Io
 
         public DtVoxelFile Read(BinaryReader stream)
         {
-            RcByteBuffer buf = RcIO.ToByteBuffer(stream);
+            RcByteBuffer buf = IOUtils.ToByteBuffer(stream);
             DtVoxelFile file = new DtVoxelFile();
             int magic = buf.GetInt();
             if (magic != DtVoxelFile.MAGIC)
             {
-                magic = RcIO.SwapEndianness(magic);
+                magic = IOUtils.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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -19,11 +19,12 @@ 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
+    public class DtVoxelFileWriter : DtWriter
     {
         private readonly IRcCompressor _compressor;
 
@@ -39,34 +40,34 @@ namespace DotRecast.Detour.Dynamic.Io
 
         public void Write(BinaryWriter stream, DtVoxelFile f, RcByteOrder byteOrder, bool compression)
         {
-            RcIO.Write(stream, DtVoxelFile.MAGIC, byteOrder);
+            Write(stream, DtVoxelFile.MAGIC, byteOrder);
-            RcIO.Write(stream, DtVoxelFile.VERSION_EXPORTER_RECAST4J | (compression ? DtVoxelFile.VERSION_COMPRESSION_LZ4 : 0), byteOrder);
+            Write(stream, DtVoxelFile.VERSION_EXPORTER_RECAST4J | (compression ? DtVoxelFile.VERSION_COMPRESSION_LZ4 : 0), byteOrder);
-            RcIO.Write(stream, f.walkableRadius, byteOrder);
+            Write(stream, f.walkableRadius, byteOrder);
-            RcIO.Write(stream, f.walkableHeight, byteOrder);
+            Write(stream, f.walkableHeight, byteOrder);
-            RcIO.Write(stream, f.walkableClimb, byteOrder);
+            Write(stream, f.walkableClimb, byteOrder);
-            RcIO.Write(stream, f.walkableSlopeAngle, byteOrder);
+            Write(stream, f.walkableSlopeAngle, byteOrder);
-            RcIO.Write(stream, f.cellSize, byteOrder);
+            Write(stream, f.cellSize, byteOrder);
-            RcIO.Write(stream, f.maxSimplificationError, byteOrder);
+            Write(stream, f.maxSimplificationError, byteOrder);
-            RcIO.Write(stream, f.maxEdgeLen, byteOrder);
+            Write(stream, f.maxEdgeLen, byteOrder);
-            RcIO.Write(stream, f.minRegionArea, byteOrder);
+            Write(stream, f.minRegionArea, byteOrder);
-            RcIO.Write(stream, f.regionMergeArea, byteOrder);
+            Write(stream, f.regionMergeArea, byteOrder);
-            RcIO.Write(stream, f.vertsPerPoly, byteOrder);
+            Write(stream, f.vertsPerPoly, byteOrder);
-            RcIO.Write(stream, f.buildMeshDetail);
+            Write(stream, f.buildMeshDetail);
-            RcIO.Write(stream, f.detailSampleDistance, byteOrder);
+            Write(stream, f.detailSampleDistance, byteOrder);
-            RcIO.Write(stream, f.detailSampleMaxError, byteOrder);
+            Write(stream, f.detailSampleMaxError, byteOrder);
-            RcIO.Write(stream, f.useTiles);
+            Write(stream, f.useTiles);
-            RcIO.Write(stream, f.tileSizeX, byteOrder);
+            Write(stream, f.tileSizeX, byteOrder);
-            RcIO.Write(stream, f.tileSizeZ, byteOrder);
+            Write(stream, f.tileSizeZ, byteOrder);
-            RcIO.Write(stream, f.rotation.X, byteOrder);
+            Write(stream, f.rotation.X, byteOrder);
-            RcIO.Write(stream, f.rotation.Y, byteOrder);
+            Write(stream, f.rotation.Y, byteOrder);
-            RcIO.Write(stream, f.rotation.Z, byteOrder);
+            Write(stream, f.rotation.Z, byteOrder);
-            RcIO.Write(stream, f.bounds[0], byteOrder);
+            Write(stream, f.bounds[0], byteOrder);
-            RcIO.Write(stream, f.bounds[1], byteOrder);
+            Write(stream, f.bounds[1], byteOrder);
-            RcIO.Write(stream, f.bounds[2], byteOrder);
+            Write(stream, f.bounds[2], byteOrder);
-            RcIO.Write(stream, f.bounds[3], byteOrder);
+            Write(stream, f.bounds[3], byteOrder);
-            RcIO.Write(stream, f.bounds[4], byteOrder);
+            Write(stream, f.bounds[4], byteOrder);
-            RcIO.Write(stream, f.bounds[5], byteOrder);
+            Write(stream, f.bounds[5], byteOrder);
-            RcIO.Write(stream, f.tiles.Count, byteOrder);
+            Write(stream, f.tiles.Count, byteOrder);
             foreach (DtVoxelTile t in f.tiles)
             {
                 WriteTile(stream, t, byteOrder, compression);
@@ -75,26 +76,26 @@ namespace DotRecast.Detour.Dynamic.Io
 
         public void WriteTile(BinaryWriter stream, DtVoxelTile tile, RcByteOrder byteOrder, bool compression)
         {
-            RcIO.Write(stream, tile.tileX, byteOrder);
+            Write(stream, tile.tileX, byteOrder);
-            RcIO.Write(stream, tile.tileZ, byteOrder);
+            Write(stream, tile.tileZ, byteOrder);
-            RcIO.Write(stream, tile.width, byteOrder);
+            Write(stream, tile.width, byteOrder);
-            RcIO.Write(stream, tile.depth, byteOrder);
+            Write(stream, tile.depth, byteOrder);
-            RcIO.Write(stream, tile.borderSize, byteOrder);
+            Write(stream, tile.borderSize, byteOrder);
-            RcIO.Write(stream, tile.boundsMin.X, byteOrder);
+            Write(stream, tile.boundsMin.X, byteOrder);
-            RcIO.Write(stream, tile.boundsMin.Y, byteOrder);
+            Write(stream, tile.boundsMin.Y, byteOrder);
-            RcIO.Write(stream, tile.boundsMin.Z, byteOrder);
+            Write(stream, tile.boundsMin.Z, byteOrder);
-            RcIO.Write(stream, tile.boundsMax.X, byteOrder);
+            Write(stream, tile.boundsMax.X, byteOrder);
-            RcIO.Write(stream, tile.boundsMax.Y, byteOrder);
+            Write(stream, tile.boundsMax.Y, byteOrder);
-            RcIO.Write(stream, tile.boundsMax.Z, byteOrder);
+            Write(stream, tile.boundsMax.Z, byteOrder);
-            RcIO.Write(stream, tile.cellSize, byteOrder);
+            Write(stream, tile.cellSize, byteOrder);
-            RcIO.Write(stream, tile.cellHeight, byteOrder);
+            Write(stream, tile.cellHeight, byteOrder);
             byte[] bytes = tile.spanData;
             if (compression)
             {
                 bytes = _compressor.Compress(bytes);
             }
 
-            RcIO.Write(stream, bytes.Length, byteOrder);
+            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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

src/DotRecast.Detour.Extras/BVTreeBuilder.cs

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

@@ -1,18 +0,0 @@
-{
-    "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/DtPolyUtils.cs

@@ -1,6 +1,5 @@
 /*
-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(RcVec.Dist2DSqr(es.start.p, es.start.q));
+            float dist = MathF.Sqrt(RcVecUtils.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

@@ -1,18 +1,17 @@
 using System;
-using DotRecast.Core;
 using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour.Extras.Jumplink
 {
-    public class ClimbTrajectory : ITrajectory
+    public class ClimbTrajectory : Trajectory
     {
-        public RcVec3f Apply(RcVec3f start, RcVec3f end, float u)
+        public override RcVec3f Apply(RcVec3f start, RcVec3f end, float u)
         {
             return new RcVec3f()
             {
-                X = RcMath.Lerp(start.X, end.X, Math.Min(2f * u, 1f)),
+                X = Lerp(start.X, end.X, Math.Min(2f * u, 1f)),
-                Y = RcMath.Lerp(start.Y, end.Y, Math.Max(0f, 2f * u - 1f)),
+                Y = Lerp(start.Y, end.Y, Math.Max(0f, 2f * u - 1f)),
-                Z = RcMath.Lerp(start.Z, end.Z, Math.Min(2f * u, 1f))
+                Z = 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 ITrajectory trajectory;
+        public readonly Trajectory trajectory;
 
         public readonly RcVec3f ax = new RcVec3f();
         public readonly RcVec3f ay = new RcVec3f();
         public readonly RcVec3f az = new RcVec3f();
 
-        public EdgeSampler(JumpEdge edge, ITrajectory trajectory)
+        public EdgeSampler(JumpEdge edge, Trajectory 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
 {
-    public class EdgeSamplerFactory
+    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;
+        public RcVec3f p = new RcVec3f();
         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;
+        public RcVec3f p = new RcVec3f();
-        public RcVec3f q;
+        public RcVec3f q = new RcVec3f();
         public GroundSample[] gsamples;
         public float height;
     }

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

@@ -1,10 +0,0 @@
-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 ITrajectory trajectory;
+        public Trajectory 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.Mesh)).ToList();
+            edges = results.Select(r => edgeExtractor.ExtractEdges(r.GetMesh())).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.SolidHeightfiled, es);
+            trajectorySampler.Sample(acfg, result.GetSolidHeightfield(), 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(RcVec.Dist2DSqr(sp, sq), RcVec.Dist2DSqr(ep, eq));
+                float d = Math.Min(RcVecUtils.Dist2DSqr(sp, sq), RcVecUtils.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
 {
-    public class JumpSegmentBuilder
+    class JumpSegmentBuilder
     {
         public JumpSegment[] Build(JumpLinkBuilderConfig acfg, EdgeSampler es)
         {

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

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

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

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

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

@@ -0,0 +1,19 @@
+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

@@ -0,0 +1,18 @@
+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
 {
-    public class TrajectorySampler
+    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, ITrajectory tra)
+        private bool SampleTrajectory(JumpLinkBuilderConfig acfg, RcHeightfield solid, RcVec3f pa, RcVec3f pb, Trajectory tra)
         {
             float cs = Math.Min(acfg.cellSize, acfg.cellHeight);
-            float d = RcVec.Dist2D(pa, pb) + MathF.Abs(pa.Y - pb.Y);
+            float d = RcVecUtils.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

@@ -1,6 +1,5 @@
 /*
-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

@@ -1,6 +1,5 @@
 /*
-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

@@ -1,6 +1,5 @@
 /*
-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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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

@@ -1,6 +1,5 @@
 /*
-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

@@ -1,6 +1,5 @@
 /*
-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
@@ -23,8 +22,6 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.Extras.Unity.Astar
 {
-    using static DtDetour;
-
     public class GraphMeshDataReader : ZipBinaryReader
     {
         public const float INT_PRECISION_FACTOR = 1000f;
@@ -79,7 +76,7 @@ namespace DotRecast.Detour.Extras.Unity.Astar
                     int nodeCount = buffer.GetInt();
                     DtPoly[] nodes = new DtPoly[nodeCount];
                     DtPolyDetail[] detailNodes = new DtPolyDetail[nodeCount];
-                    float[] detailVerts = Array.Empty<float>();
+                    float[] detailVerts = new float[0];
                     int[] detailTris = new int[4 * nodeCount];
                     int vertMask = GetVertMask(vertsCount);
                     float ymin = float.PositiveInfinity;
@@ -101,9 +98,9 @@ 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;
-                        byte vertCount = 0;
+                        int vertCount = 0;
                         int triBase = i;
-                        byte triCount = 1;
+                        int triCount = 1;
                         detailNodes[i] = new DtPolyDetail(vertBase, triBase, vertCount, triCount);
                         detailTris[4 * i] = 0;
                         detailTris[4 * i + 1] = 1;
@@ -119,15 +116,15 @@ namespace DotRecast.Detour.Extras.Unity.Astar
                     tiles[tileIndex].detailVerts = detailVerts;
                     tiles[tileIndex].detailTris = detailTris;
                     DtMeshHeader header = new DtMeshHeader();
-                    header.magic = DT_NAVMESH_MAGIC;
+                    header.magic = DtNavMesh.DT_NAVMESH_MAGIC;
-                    header.version = DT_NAVMESH_VERSION;
+                    header.version = DtNavMesh.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; // needed by Recast, not needed by recast4j, needed by DotRecast
+                    header.maxLinkCount = nodeCount * 3 * 2; // XXX: Needed by Recast, not needed by recast4j
                     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

@@ -1,6 +1,5 @@
 /*
-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

@@ -1,6 +1,5 @@
 /*
-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

@@ -1,6 +1,5 @@
 /*
-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
@@ -22,8 +21,6 @@ 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
@@ -68,19 +65,19 @@ 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)] = DT_EXT_LINK;
+                node.neis[DtPolyUtils.FindEdge(node, tile, neighbourTile.header.bmin.X, 0)] = DtNavMesh.DT_EXT_LINK;
             }
             else if (neighbourTile.header.bmin.X < tile.header.bmin.X)
             {
-                node.neis[DtPolyUtils.FindEdge(node, tile, tile.header.bmin.X, 0)] = DT_EXT_LINK | 4;
+                node.neis[DtPolyUtils.FindEdge(node, tile, tile.header.bmin.X, 0)] = DtNavMesh.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)] = DT_EXT_LINK | 2;
+                node.neis[DtPolyUtils.FindEdge(node, tile, neighbourTile.header.bmin.Z, 2)] = DtNavMesh.DT_EXT_LINK | 2;
             }
             else
             {
-                node.neis[DtPolyUtils.FindEdge(node, tile, tile.header.bmin.Z, 2)] = DT_EXT_LINK | 6;
+                node.neis[DtPolyUtils.FindEdge(node, tile, tile.header.bmin.Z, 2)] = DtNavMesh.DT_EXT_LINK | 6;
             }
         }
     }

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

@@ -1,6 +1,5 @@
 /*
-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

@@ -1,6 +1,5 @@
 /*
-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

@@ -1,6 +1,5 @@
 /*
-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

@@ -1,6 +1,5 @@
 /*
-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

@@ -1,6 +1,5 @@
 /*
-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

@@ -1,6 +1,5 @@
 /*
-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

@@ -1,6 +1,5 @@
 /*
-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
@@ -66,11 +65,10 @@ 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();
+                DtNavMesh mesh = new DtNavMesh(option, 3);
-                mesh.Init(option, 3);
                 foreach (DtMeshData t in graphMeshData.tiles)
                 {
-                    mesh.AddTile(t, 0, 0, out _);
+                    mesh.AddTile(t, 0, 0);
                 }
 
                 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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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

@@ -1,6 +1,5 @@
 /*
-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
@@ -32,7 +31,7 @@ namespace DotRecast.Detour.Extras.Unity.Astar
             ZipArchiveEntry graphReferences = file.GetEntry(filename);
             using var entryStream = graphReferences.Open();
             using var br = new BinaryReader(entryStream);
-            RcByteBuffer buffer = RcIO.ToByteBuffer(br);
+            RcByteBuffer buffer = IOUtils.ToByteBuffer(br);
             buffer.Order(RcByteOrder.LITTLE_ENDIAN);
             return buffer;
         }

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

@@ -1,18 +0,0 @@
-{
-    "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.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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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

src/DotRecast.Detour.TileCache/DtObstacleBox.cs

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

src/DotRecast.Detour.TileCache/DtObstacleCylinder.cs

@@ -1,11 +0,0 @@
-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

@@ -1,11 +0,0 @@
-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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -26,8 +26,6 @@ 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).
@@ -53,6 +51,9 @@ 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;
@@ -159,7 +160,7 @@ namespace DotRecast.Detour.TileCache
             List<long> tiles = new List<long>();
 
             // Find tile based on hash.
-            int h = ComputeTileHash(tx, ty, m_tileLutMask);
+            int h = DtNavMesh.ComputeTileHash(tx, ty, m_tileLutMask);
             DtCompressedTile tile = m_posLookup[h];
             while (tile != null)
             {
@@ -177,7 +178,7 @@ namespace DotRecast.Detour.TileCache
         DtCompressedTile GetTileAt(int tx, int ty, int tlayer)
         {
             // Find tile based on hash.
-            int h = ComputeTileHash(tx, ty, m_tileLutMask);
+            int h = DtNavMesh.ComputeTileHash(tx, ty, m_tileLutMask);
             DtCompressedTile tile = m_posLookup[h];
             while (tile != null)
             {
@@ -242,7 +243,7 @@ namespace DotRecast.Detour.TileCache
             // Make sure the data is in right format.
             RcByteBuffer buf = new RcByteBuffer(data);
             buf.Order(m_storageParams.Order);
-            DtTileCacheLayerHeader header = DtTileCacheLayerHeaderReader.Read(buf, m_storageParams.Compatibility);
+            DtTileCacheLayerHeader header = tileReader.Read(buf, m_storageParams.Compatibility);
             // Make sure the location is free.
             if (GetTileAt(header.tx, header.ty, header.tlayer) != null)
             {
@@ -265,7 +266,7 @@ namespace DotRecast.Detour.TileCache
             }
 
             // Insert tile into the position lut.
-            int h = ComputeTileHash(header.tx, header.ty, m_tileLutMask);
+            int h = DtNavMesh.ComputeTileHash(header.tx, header.ty, m_tileLutMask);
             tile.next = m_posLookup[h];
             m_posLookup[h] = tile;
 
@@ -304,7 +305,7 @@ namespace DotRecast.Detour.TileCache
             }
 
             // Remove tile from hash lookup.
-            int h = ComputeTileHash(tile.header.tx, tile.header.ty, m_tileLutMask);
+            int h = DtNavMesh.ComputeTileHash(tile.header.tx, tile.header.ty, m_tileLutMask);
             DtCompressedTile prev = null;
             DtCompressedTile cur = m_posLookup[h];
             while (cur != null)
@@ -348,11 +349,11 @@ namespace DotRecast.Detour.TileCache
         public long AddObstacle(RcVec3f pos, float radius, float height)
         {
             DtTileCacheObstacle ob = AllocObstacle();
-            ob.type = DtTileCacheObstacleType.DT_OBSTACLE_CYLINDER;
+            ob.type = DtTileCacheObstacleType.CYLINDER;
 
-            ob.cylinder.pos = pos;
+            ob.pos = pos;
-            ob.cylinder.radius = radius;
+            ob.radius = radius;
-            ob.cylinder.height = height;
+            ob.height = height;
 
             return AddObstacleRequest(ob).refs;
         }
@@ -361,10 +362,10 @@ namespace DotRecast.Detour.TileCache
         public long AddBoxObstacle(RcVec3f bmin, RcVec3f bmax)
         {
             DtTileCacheObstacle ob = AllocObstacle();
-            ob.type = DtTileCacheObstacleType.DT_OBSTACLE_BOX;
+            ob.type = DtTileCacheObstacleType.BOX;
 
-            ob.box.bmin = bmin;
+            ob.bmin = bmin;
-            ob.box.bmax = bmax;
+            ob.bmax = bmax;
 
             return AddObstacleRequest(ob).refs;
         }
@@ -373,13 +374,13 @@ namespace DotRecast.Detour.TileCache
         public long AddBoxObstacle(RcVec3f center, RcVec3f extents, float yRadians)
         {
             DtTileCacheObstacle ob = AllocObstacle();
-            ob.type = DtTileCacheObstacleType.DT_OBSTACLE_ORIENTED_BOX;
+            ob.type = DtTileCacheObstacleType.ORIENTED_BOX;
-            ob.orientedBox.center = center;
+            ob.center = center;
-            ob.orientedBox.extents = extents;
+            ob.extents = extents;
             float coshalf = MathF.Cos(0.5f * yRadians);
             float sinhalf = MathF.Sin(-0.5f * yRadians);
-            ob.orientedBox.rotAux[0] = coshalf * sinhalf;
+            ob.rotAux[0] = coshalf * sinhalf;
-            ob.orientedBox.rotAux[1] = coshalf * coshalf - 0.5f;
+            ob.rotAux[1] = coshalf * coshalf - 0.5f;
             return AddObstacleRequest(ob).refs;
         }
 
@@ -612,26 +613,26 @@ namespace DotRecast.Detour.TileCache
 
                 if (Contains(ob.touched, refs))
                 {
-                    if (ob.type == DtTileCacheObstacleType.DT_OBSTACLE_CYLINDER)
+                    if (ob.type == DtTileCacheObstacleType.CYLINDER)
                     {
-                        DtTileCacheBuilder.MarkCylinderArea(layer, tile.header.bmin, m_params.cs, m_params.ch, ob.cylinder.pos, ob.cylinder.radius, ob.cylinder.height, 0);
+                        builder.MarkCylinderArea(layer, tile.header.bmin, m_params.cs, m_params.ch, ob.pos, ob.radius, ob.height, 0);
                     }
-                    else if (ob.type == DtTileCacheObstacleType.DT_OBSTACLE_BOX)
+                    else if (ob.type == DtTileCacheObstacleType.BOX)
                     {
-                        DtTileCacheBuilder.MarkBoxArea(layer, tile.header.bmin, m_params.cs, m_params.ch, ob.box.bmin, ob.box.bmax, 0);
+                        builder.MarkBoxArea(layer, tile.header.bmin, m_params.cs, m_params.ch, ob.bmin, ob.bmax, 0);
                     }
-                    else if (ob.type == DtTileCacheObstacleType.DT_OBSTACLE_ORIENTED_BOX)
+                    else if (ob.type == DtTileCacheObstacleType.ORIENTED_BOX)
                     {
-                        DtTileCacheBuilder.MarkBoxArea(layer, tile.header.bmin, m_params.cs, m_params.ch, ob.orientedBox.center, ob.orientedBox.extents, ob.orientedBox.rotAux, 0);
+                        builder.MarkBoxArea(layer, tile.header.bmin, m_params.cs, m_params.ch, ob.center, ob.extents, ob.rotAux, 0);
                     }
                 }
             }
 
             // Build navmesh
-            DtTileCacheBuilder.BuildTileCacheRegions(layer, walkableClimbVx);
+            builder.BuildTileCacheRegions(layer, walkableClimbVx);
-            DtTileCacheContourSet lcset = DtTileCacheBuilder.BuildTileCacheContours(layer, walkableClimbVx, m_params.maxSimplificationError);
+            DtTileCacheContourSet lcset = builder.BuildTileCacheContours(layer, walkableClimbVx,
-            DtTileCachePolyMesh polyMesh = DtTileCacheBuilder.BuildTileCachePolyMesh(lcset, m_navmesh.GetMaxVertsPerPoly());
+                m_params.maxSimplificationError);
-
+            DtTileCachePolyMesh polyMesh = builder.BuildTileCachePolyMesh(lcset, m_navmesh.GetMaxVertsPerPoly());
             // Early out if the mesh tile is empty.
             if (polyMesh.npolys == 0)
             {
@@ -669,13 +670,13 @@ 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, out var result);
+                m_navmesh.AddTile(meshData, 0, 0);
             }
         }
 
         public DtTileCacheLayer DecompressTile(DtCompressedTile tile)
         {
-            DtTileCacheLayer layer = DtTileCacheBuilder.DecompressTileCacheLayer(m_tcomp, tile.data, m_storageParams.Order, m_storageParams.Compatibility);
+            DtTileCacheLayer layer = builder.DecompressTileCacheLayer(m_tcomp, tile.data, m_storageParams.Order, m_storageParams.Compatibility);
             return layer;
         }
 
@@ -692,29 +693,29 @@ namespace DotRecast.Detour.TileCache
 
         public void GetObstacleBounds(DtTileCacheObstacle ob, ref RcVec3f bmin, ref RcVec3f bmax)
         {
-            if (ob.type == DtTileCacheObstacleType.DT_OBSTACLE_CYLINDER)
+            if (ob.type == DtTileCacheObstacleType.CYLINDER)
             {
-                bmin.X = ob.cylinder.pos.X - ob.cylinder.radius;
+                bmin.X = ob.pos.X - ob.radius;
-                bmin.Y = ob.cylinder.pos.Y;
+                bmin.Y = ob.pos.Y;
-                bmin.Z = ob.cylinder.pos.Z - ob.cylinder.radius;
+                bmin.Z = ob.pos.Z - ob.radius;
-                bmax.X = ob.cylinder.pos.X + ob.cylinder.radius;
+                bmax.X = ob.pos.X + ob.radius;
-                bmax.Y = ob.cylinder.pos.Y + ob.cylinder.height;
+                bmax.Y = ob.pos.Y + ob.height;
-                bmax.Z = ob.cylinder.pos.Z + ob.cylinder.radius;
+                bmax.Z = ob.pos.Z + ob.radius;
             }
-            else if (ob.type == DtTileCacheObstacleType.DT_OBSTACLE_BOX)
+            else if (ob.type == DtTileCacheObstacleType.BOX)
             {
-                bmin = ob.box.bmin;
+                bmin = ob.bmin;
-                bmax = ob.box.bmax;
+                bmax = ob.bmax;
             }
-            else if (ob.type == DtTileCacheObstacleType.DT_OBSTACLE_ORIENTED_BOX)
+            else if (ob.type == DtTileCacheObstacleType.ORIENTED_BOX)
             {
-                float maxr = 1.41f * Math.Max(ob.orientedBox.extents.X, ob.orientedBox.extents.Z);
+                float maxr = 1.41f * Math.Max(ob.extents.X, ob.extents.Z);
-                bmin.X = ob.orientedBox.center.X - maxr;
+                bmin.X = ob.center.X - maxr;
-                bmax.X = ob.orientedBox.center.X + maxr;
+                bmax.X = ob.center.X + maxr;
-                bmin.Y = ob.orientedBox.center.Y - ob.orientedBox.extents.Y;
+                bmin.Y = ob.center.Y - ob.extents.Y;
-                bmax.Y = ob.orientedBox.center.Y + ob.orientedBox.extents.Y;
+                bmax.Y = ob.center.Y + ob.extents.Y;
-                bmin.Z = ob.orientedBox.center.Z - maxr;
+                bmin.Z = ob.center.Z - maxr;
-                bmax.Z = ob.orientedBox.center.Z + maxr;
+                bmax.Z = ob.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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -29,21 +29,22 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.TileCache
 {
-    public static class DtTileCacheBuilder
+    public class DtTileCacheBuilder
     {
-        public const byte DT_TILECACHE_NULL_AREA = 0;
+        public const int DT_TILECACHE_NULL_AREA = 0;
-        public const byte DT_TILECACHE_WALKABLE_AREA = 63;
+        public const int 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 };
 
-        public static void BuildTileCacheRegions(DtTileCacheLayer layer, int walkableClimb)
+        private readonly DtTileCacheLayerHeaderReader reader = new DtTileCacheLayerHeaderReader();
+
+        public void BuildTileCacheRegions(DtTileCacheLayer layer, int walkableClimb)
         {
             int w = layer.header.width;
             int h = layer.header.height;
 
-            Array.Fill(layer.regs, (byte)0xFF);
+            Array.Fill(layer.regs, (short)0x00FF);
             int nsweeps = w;
             RcLayerSweepSpan[] sweeps = new RcLayerSweepSpan[nsweeps];
             for (int i = 0; i < sweeps.Length; i++)
@@ -52,14 +53,14 @@ namespace DotRecast.Detour.TileCache
             }
 
             // Partition walkable area into monotone regions.
-            Span<byte> prevCount = stackalloc byte[256];
+            int[] prevCount = new int[256];
-            byte regId = 0;
+            int regId = 0;
 
             for (int y = 0; y < h; ++y)
             {
                 if (regId > 0)
                 {
-                    RcSpans.Fill<byte>(prevCount, 0, 0, regId);
+                    Array.Fill(prevCount, 0, 0, regId);
                 }
 
                 // Memset(prevCount,0,Sizeof(char)*regId);
@@ -92,7 +93,7 @@ namespace DotRecast.Detour.TileCache
                     int yidx = x + (y - 1) * w;
                     if (y > 0 && IsConnected(layer, idx, yidx, walkableClimb))
                     {
-                        byte nr = layer.regs[yidx];
+                        int nr = layer.regs[yidx];
                         if (nr != 0xff)
                         {
                             // Set neighbour when first valid neighbour is
@@ -146,12 +147,12 @@ namespace DotRecast.Detour.TileCache
                 {
                     int idx = x + y * w;
                     if (layer.regs[idx] != 0xff)
-                        layer.regs[idx] = sweeps[layer.regs[idx]].id;
+                        layer.regs[idx] = (short)sweeps[layer.regs[idx]].id;
                 }
             }
 
             // Allocate and init layer regions.
-            byte nregs = regId;
+            int nregs = regId;
             DtLayerMonotoneRegion[] regs = new DtLayerMonotoneRegion[nregs];
 
             for (int i = 0; i < nregs; ++i)
@@ -166,7 +167,7 @@ namespace DotRecast.Detour.TileCache
                 for (int x = 0; x < w; ++x)
                 {
                     int idx = x + y * w;
-                    byte ri = layer.regs[idx];
+                    int ri = layer.regs[idx];
                     if (ri == 0xff)
                         continue;
 
@@ -178,17 +179,17 @@ namespace DotRecast.Detour.TileCache
                     int ymi = x + (y - 1) * w;
                     if (y > 0 && IsConnected(layer, idx, ymi, walkableClimb))
                     {
-                        byte rai = layer.regs[ymi];
+                        int rai = layer.regs[ymi];
                         if (rai != 0xff && rai != ri)
                         {
-                            AddUniqueLast(regs[ri].neis, ref regs[ri].nneis, rai);
+                            AddUniqueLast(regs[ri].neis, rai);
-                            AddUniqueLast(regs[rai].neis, ref regs[rai].nneis, ri);
+                            AddUniqueLast(regs[rai].neis, ri);
                         }
                     }
                 }
             }
 
-            for (byte i = 0; i < nregs; ++i)
+            for (int i = 0; i < nregs; ++i)
                 regs[i].regId = i;
 
             for (int i = 0; i < nregs; ++i)
@@ -197,9 +198,8 @@ namespace DotRecast.Detour.TileCache
 
                 int merge = -1;
                 int mergea = 0;
-                for (int j = 0; j < reg.nneis; ++j)
+                foreach (int nei in reg.neis)
                 {
-                    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;
-                    byte newId = regs[merge].regId;
+                    int 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.
-            Span<byte> remap = stackalloc byte[256];
+            int[] remap = new int[256];
             // Find number of unique regions.
             regId = 0;
             for (int i = 0; i < nregs; ++i)
@@ -243,20 +243,19 @@ namespace DotRecast.Detour.TileCache
             for (int i = 0; i < w * h; ++i)
             {
                 if (layer.regs[i] != 0xff)
-                    layer.regs[i] = regs[layer.regs[i]].regId;
+                    layer.regs[i] = (short)regs[layer.regs[i]].regId;
             }
         }
 
-        public static void AddUniqueLast(byte[] a, ref byte an, byte v)
+        void AddUniqueLast(List<int> a, int v)
         {
-            int n = an;
+            int n = a.Count;
             if (n > 0 && a[n - 1] == v)
                 return;
-            a[an] = v;
+            a.Add(v);
-            an++;
         }
 
-        public static bool IsConnected(DtTileCacheLayer layer, int ia, int ib, int walkableClimb)
+        bool IsConnected(DtTileCacheLayer layer, int ia, int ib, int walkableClimb)
         {
             if (layer.areas[ia] != layer.areas[ib])
                 return false;
@@ -265,7 +264,7 @@ namespace DotRecast.Detour.TileCache
             return true;
         }
 
-        public static bool CanMerge(int oldRegId, int newRegId, DtLayerMonotoneRegion[] regs, int nregs)
+        bool CanMerge(int oldRegId, int newRegId, DtLayerMonotoneRegion[] regs, int nregs)
         {
             int count = 0;
             for (int i = 0; i < nregs; ++i)
@@ -273,11 +272,9 @@ 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[reg.neis[j]].regId == newRegId)
+                    if (regs[nei].regId == newRegId)
                         count++;
                 }
             }
@@ -285,7 +282,7 @@ namespace DotRecast.Detour.TileCache
             return count == 1;
         }
 
-        public static void AppendVertex(DtTempContour cont, int x, int y, int z, int r)
+        private void AppendVertex(DtTempContour cont, int x, int y, int z, int r)
         {
             // Try to merge with existing segments.
             if (cont.nverts > 1)
@@ -319,7 +316,7 @@ namespace DotRecast.Detour.TileCache
             cont.nverts++;
         }
 
-        public static int GetNeighbourReg(DtTileCacheLayer layer, int ax, int ay, int dir)
+        private int GetNeighbourReg(DtTileCacheLayer layer, int ax, int ay, int dir)
         {
             int w = layer.header.width;
             int ia = ax + ay * w;
@@ -342,17 +339,17 @@ namespace DotRecast.Detour.TileCache
             return layer.regs[ib];
         }
 
-        public static int GetDirOffsetX(int dir)
+        private int GetDirOffsetX(int dir)
         {
             return DirOffsetX[dir & 0x03];
         }
 
-        public static int GetDirOffsetY(int dir)
+        private int GetDirOffsetY(int dir)
         {
             return DirOffsetY[dir & 0x03];
         }
 
-        public static void WalkContour(DtTileCacheLayer layer, int x, int y, DtTempContour cont)
+        private void WalkContour(DtTileCacheLayer layer, int x, int y, DtTempContour cont)
         {
             int w = layer.header.width;
             int h = layer.header.height;
@@ -437,7 +434,7 @@ namespace DotRecast.Detour.TileCache
                 cont.nverts--;
         }
 
-        public static float DistancePtSeg(int x, int z, int px, int pz, int qx, int qz)
+        private float DistancePtSeg(int x, int z, int px, int pz, int qx, int qz)
         {
             float pqx = qx - px;
             float pqz = qz - pz;
@@ -458,7 +455,7 @@ namespace DotRecast.Detour.TileCache
             return dx * dx + dz * dz;
         }
 
-        public static void SimplifyContour(DtTempContour cont, float maxError)
+        private void SimplifyContour(DtTempContour cont, float maxError)
         {
             cont.poly.Clear();
 
@@ -587,7 +584,7 @@ namespace DotRecast.Detour.TileCache
             }
         }
 
-        public static int GetCornerHeight(DtTileCacheLayer layer, int x, int y, int z, int walkableClimb, out bool shouldRemove)
+        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;
@@ -637,7 +634,7 @@ namespace DotRecast.Detour.TileCache
         }
 
         // TODO: move this somewhere else, once the layer meshing is done.
-        public static DtTileCacheContourSet BuildTileCacheContours(DtTileCacheLayer layer, int walkableClimb, float maxError)
+        public DtTileCacheContourSet BuildTileCacheContours(DtTileCacheLayer layer, int walkableClimb, float maxError)
         {
             int w = layer.header.width;
             int h = layer.header.height;
@@ -659,7 +656,7 @@ namespace DotRecast.Detour.TileCache
                 for (int x = 0; x < w; ++x)
                 {
                     int idx = x + y * w;
-                    byte ri = layer.regs[idx];
+                    int ri = layer.regs[idx];
                     if (ri == 0xff)
                         continue;
 
@@ -714,7 +711,7 @@ namespace DotRecast.Detour.TileCache
 
         const uint VERTEX_BUCKET_COUNT2 = (1 << 8);
 
-        public static int ComputeVertexHash2(int x, int y, int z)
+        private int ComputeVertexHash2(int x, int y, int z)
         {
             uint h1 = 0x8da6b343; // Large multiplicative constants;
             uint h2 = 0xd8163841; // here arbitrarily chosen primes
@@ -723,7 +720,7 @@ namespace DotRecast.Detour.TileCache
             return (int)(n & (VERTEX_BUCKET_COUNT2 - 1));
         }
 
-        public static int AddVertex(int x, int y, int z, int[] verts, int[] firstVert, int[] nextVert, int nv)
+        private 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];
@@ -746,7 +743,7 @@ namespace DotRecast.Detour.TileCache
             return i;
         }
 
-        public static void BuildMeshAdjacency(int[] polys, int npolys, int[] verts, int nverts, DtTileCacheContourSet lcset,
+        private void BuildMeshAdjacency(int[] polys, int npolys, int[] verts, int nverts, DtTileCacheContourSet lcset,
             int maxVertsPerPoly)
         {
             // Based on code by Eric Lengyel from:
@@ -957,22 +954,22 @@ namespace DotRecast.Detour.TileCache
             }
         }
 
-        public static bool OverlapRangeExl(int amin, int amax, int bmin, int bmax)
+        private bool OverlapRangeExl(int amin, int amax, int bmin, int bmax)
         {
             return (amin >= bmax || amax <= bmin) ? false : true;
         }
 
-        public static int Prev(int i, int n)
+        private int Prev(int i, int n)
         {
             return i - 1 >= 0 ? i - 1 : n - 1;
         }
 
-        public static int Next(int i, int n)
+        private int Next(int i, int n)
         {
             return i + 1 < n ? i + 1 : 0;
         }
 
-        public static int Area2(int[] verts, int a, int b, int c)
+        private 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]);
@@ -980,17 +977,17 @@ namespace DotRecast.Detour.TileCache
 
         // Returns true iff c is strictly to the left of the directed
         // line through a to b.
-        public static bool Left(int[] verts, int a, int b, int c)
+        private bool Left(int[] verts, int a, int b, int c)
         {
             return Area2(verts, a, b, c) < 0;
         }
 
-        public static bool LeftOn(int[] verts, int a, int b, int c)
+        private bool LeftOn(int[] verts, int a, int b, int c)
         {
             return Area2(verts, a, b, c) <= 0;
         }
 
-        public static bool Collinear(int[] verts, int a, int b, int c)
+        private bool Collinear(int[] verts, int a, int b, int c)
         {
             return Area2(verts, a, b, c) == 0;
         }
@@ -998,7 +995,7 @@ 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.
-        public static bool IntersectProp(int[] verts, int a, int b, int c, int d)
+        private 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)
@@ -1010,7 +1007,7 @@ namespace DotRecast.Detour.TileCache
 
         // Returns T iff (a,b,c) are collinear and point c lies
         // on the closed segment ab.
-        public static bool Between(int[] verts, int a, int b, int c)
+        private bool Between(int[] verts, int a, int b, int c)
         {
             if (!Collinear(verts, a, b, c))
                 return false;
@@ -1024,7 +1021,7 @@ namespace DotRecast.Detour.TileCache
         }
 
         // Returns true iff segments ab and cd intersect, properly or improperly.
-        public static bool Intersect(int[] verts, int a, int b, int c, int d)
+        private bool Intersect(int[] verts, int a, int b, int c, int d)
         {
             if (IntersectProp(verts, a, b, c, d))
                 return true;
@@ -1035,14 +1032,14 @@ namespace DotRecast.Detour.TileCache
                 return false;
         }
 
-        public static bool Vequal(int[] verts, int a, int b)
+        private 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*.
-        public static bool Diagonalie(int i, int j, int n, int[] verts, int[] indices)
+        private bool Diagonalie(int i, int j, int n, int[] verts, int[] indices)
         {
             int d0 = (indices[i] & 0x7fff) * 4;
             int d1 = (indices[j] & 0x7fff) * 4;
@@ -1070,7 +1067,7 @@ 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.
-        public static bool InCone(int i, int j, int n, int[] verts, int[] indices)
+        private bool InCone(int i, int j, int n, int[] verts, int[] indices)
         {
             int pi = (indices[i] & 0x7fff) * 4;
             int pj = (indices[j] & 0x7fff) * 4;
@@ -1087,12 +1084,12 @@ namespace DotRecast.Detour.TileCache
 
         // Returns T iff (v_i, v_j) is a proper internal
         // diagonal of P.
-        public static bool Diagonal(int i, int j, int n, int[] verts, int[] indices)
+        private 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);
         }
 
-        public static int Triangulate(int n, int[] verts, int[] indices, int[] tris)
+        private int Triangulate(int n, int[] verts, int[] indices, int[] tris)
         {
             int ntris = 0;
             int dst = 0; // tris;
@@ -1177,7 +1174,7 @@ namespace DotRecast.Detour.TileCache
             return ntris;
         }
 
-        public static int CountPolyVerts(int[] polys, int p, int maxVertsPerPoly)
+        private int CountPolyVerts(int[] polys, int p, int maxVertsPerPoly)
         {
             for (int i = 0; i < maxVertsPerPoly; ++i)
                 if (polys[p + i] == DT_TILECACHE_NULL_IDX)
@@ -1185,13 +1182,13 @@ namespace DotRecast.Detour.TileCache
             return maxVertsPerPoly;
         }
 
-        public static bool Uleft(int[] verts, int a, int b, int c)
+        private 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;
         }
 
-        public static int GetPolyMergeValue(int[] polys, int pa, int pb, int[] verts, out int ea, out int eb, int maxVertsPerPoly)
+        private int GetPolyMergeValue(int[] polys, int pa, int pb, int[] verts, out int ea, out int eb, int maxVertsPerPoly)
         {
             ea = 0;
             eb = 0;
@@ -1262,7 +1259,7 @@ namespace DotRecast.Detour.TileCache
             return (dx * dx) + (dy * dy);
         }
 
-        public static void MergePolys(int[] polys, int pa, int pb, int ea, int eb, int maxVertsPerPoly)
+        private void MergePolys(int[] polys, int pa, int pb, int ea, int eb, int maxVertsPerPoly)
         {
             int[] tmp = new int[maxVertsPerPoly * 2];
 
@@ -1281,19 +1278,19 @@ namespace DotRecast.Detour.TileCache
             RcArrays.Copy(tmp, 0, polys, pa, maxVertsPerPoly);
         }
 
-        public static int PushFront(int v, List<int> arr)
+        private int PushFront(int v, List<int> arr)
         {
             arr.Insert(0, v);
             return arr.Count;
         }
 
-        public static int PushBack(int v, List<int> arr)
+        private int PushBack(int v, List<int> arr)
         {
             arr.Add(v);
             return arr.Count;
         }
 
-        public static bool CanRemoveVertex(DtTileCachePolyMesh mesh, int rem)
+        private bool CanRemoveVertex(DtTileCachePolyMesh mesh, int rem)
         {
             // Count number of polygons to remove.
             int maxVertsPerPoly = mesh.nvp;
@@ -1391,7 +1388,7 @@ namespace DotRecast.Detour.TileCache
             return true;
         }
 
-        public static void RemoveVertex(DtTileCachePolyMesh mesh, int rem, int maxTris)
+        private void RemoveVertex(DtTileCachePolyMesh mesh, int rem, int maxTris)
         {
             // Count number of polygons to remove.
             int maxVertsPerPoly = mesh.nvp;
@@ -1630,7 +1627,7 @@ namespace DotRecast.Detour.TileCache
             }
         }
 
-        public static DtTileCachePolyMesh BuildTileCachePolyMesh(DtTileCacheContourSet lcset, int maxVertsPerPoly)
+        public DtTileCachePolyMesh BuildTileCachePolyMesh(DtTileCacheContourSet lcset, int maxVertsPerPoly)
         {
             int maxVertices = 0;
             int maxTris = 0;
@@ -1804,7 +1801,7 @@ namespace DotRecast.Detour.TileCache
             return mesh;
         }
 
-        public static void MarkCylinderArea(DtTileCacheLayer layer, RcVec3f orig, float cs, float ch, RcVec3f pos, float radius, float height, byte areaId)
+        public void MarkCylinderArea(DtTileCacheLayer layer, RcVec3f orig, float cs, float ch, RcVec3f pos, float radius, float height, int areaId)
         {
             RcVec3f bmin = new RcVec3f();
             RcVec3f bmax = new RcVec3f();
@@ -1860,12 +1857,12 @@ namespace DotRecast.Detour.TileCache
                     int y = layer.heights[x + z * w];
                     if (y < miny || y > maxy)
                         continue;
-                    layer.areas[x + z * w] = areaId;
+                    layer.areas[x + z * w] = (short)areaId;
                 }
             }
         }
 
-        public static void MarkBoxArea(DtTileCacheLayer layer, RcVec3f orig, float cs, float ch, RcVec3f bmin, RcVec3f bmax, byte areaId)
+        public void MarkBoxArea(DtTileCacheLayer layer, RcVec3f orig, float cs, float ch, RcVec3f bmin, RcVec3f bmax, int areaId)
         {
             int w = layer.header.width;
             int h = layer.header.height;
@@ -1904,12 +1901,12 @@ namespace DotRecast.Detour.TileCache
                     int y = layer.heights[x + z * w];
                     if (y < miny || y > maxy)
                         continue;
-                    layer.areas[x + z * w] = areaId;
+                    layer.areas[x + z * w] = (short)areaId;
                 }
             }
         }
 
-        public static byte[] CompressTileCacheLayer(IRcCompressor comp, DtTileCacheLayer layer, RcByteOrder order, bool cCompatibility)
+        public byte[] CompressTileCacheLayer(IRcCompressor comp, DtTileCacheLayer layer, RcByteOrder order, bool cCompatibility)
         {
             using var ms = new MemoryStream();
             using var bw = new BinaryWriter(ms);
@@ -1936,7 +1933,7 @@ namespace DotRecast.Detour.TileCache
             }
         }
 
-        public static byte[] CompressTileCacheLayer(DtTileCacheLayerHeader header, int[] heights, int[] areas, int[] cons, RcByteOrder order, bool cCompatibility, IRcCompressor comp)
+        public 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);
@@ -1963,14 +1960,14 @@ namespace DotRecast.Detour.TileCache
             }
         }
 
-        public static DtTileCacheLayer DecompressTileCacheLayer(IRcCompressor comp, byte[] compressed, RcByteOrder order, bool cCompatibility)
+        public 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 = DtTileCacheLayerHeaderReader.Read(buf, cCompatibility);
+                layer.header = reader.Read(buf, cCompatibility);
             }
             catch (IOException e)
             {
@@ -1979,22 +1976,22 @@ 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 byte[gridSize];
+            layer.heights = new short[gridSize];
-            layer.areas = new byte[gridSize];
+            layer.areas = new short[gridSize];
-            layer.cons = new byte[gridSize];
+            layer.cons = new short[gridSize];
-            layer.regs = new byte[gridSize];
+            layer.regs = new short[gridSize];
             for (int i = 0; i < gridSize; i++)
             {
-                layer.heights[i] = (byte)(grids[i] & 0xFF);
+                layer.heights[i] = (short)(grids[i] & 0xFF);
-                layer.areas[i] = (byte)(grids[i + gridSize] & 0xFF);
+                layer.areas[i] = (short)(grids[i + gridSize] & 0xFF);
-                layer.cons[i] = (byte)(grids[i + gridSize * 2] & 0xFF);
+                layer.cons[i] = (short)(grids[i + gridSize * 2] & 0xFF);
             }
 
             return layer;
         }
 
-        public static void MarkBoxArea(DtTileCacheLayer layer, RcVec3f orig, float cs, float ch, RcVec3f center, RcVec3f extents,
+        public void MarkBoxArea(DtTileCacheLayer layer, RcVec3f orig, float cs, float ch, RcVec3f center, RcVec3f extents,
-            float[] rotAux, byte areaId)
+            float[] rotAux, int areaId)
         {
             int w = layer.header.width;
             int h = layer.header.height;
@@ -2047,7 +2044,7 @@ namespace DotRecast.Detour.TileCache
                     int y = layer.heights[x + z * w];
                     if (y < miny || y > maxy)
                         continue;
-                    layer.areas[x + z * w] = areaId;
+                    layer.areas[x + z * w] = (short)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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -24,7 +24,7 @@ namespace DotRecast.Detour.TileCache
     {
         public int nverts;
         public int[] verts;
-        public byte reg;
+        public int reg;
-        public byte area;
+        public int 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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -23,10 +23,13 @@ namespace DotRecast.Detour.TileCache
     public class DtTileCacheLayer
     {
         public DtTileCacheLayerHeader header;
-        public byte regCount; // < Region count.
+        public int regCount;
-        public byte[] heights; // unsigned char
+
-        public byte[] areas; // unsigned char
+        /// < Region count.
-        public byte[] cons; // unsigned char
+        public short[] heights; // char
-        public byte[] regs; // unsigned char
+
+        public short[] areas; // char
+        public short[] cons; // char
+        public short[] regs; // 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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -100,6 +100,7 @@ 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];
@@ -127,7 +128,7 @@ namespace DotRecast.Detour.TileCache
                     header.hmax = layer.hmax;
 
                     var comp = _compFactory.Create(storageParams.Compatibility ? 0 : 1);
-                    var bytes = DtTileCacheBuilder.CompressTileCacheLayer(header, layer.heights, layer.areas, layer.cons, storageParams.Order, storageParams.Compatibility, comp);
+                    var bytes = builder.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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -19,28 +19,32 @@ 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 DtObstacleCylinder cylinder = new DtObstacleCylinder();
+        public RcVec3f pos = new RcVec3f();
-        public DtObstacleBox box = new DtObstacleBox();
+        public RcVec3f bmin = new RcVec3f();
-        public DtObstacleOrientedBox orientedBox = new DtObstacleOrientedBox();
+        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 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)
         {
-            this.index = index;
             salt = 1;
+            this.index = index;
         }
     }
 }

src/DotRecast.Detour.TileCache/DtTileCacheObstacleType.cs

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

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -23,13 +23,24 @@ namespace DotRecast.Detour.TileCache
     public class DtTileCachePolyMesh
     {
         public int nvp;
-        public int nverts; // < Number of vertices.
+        public int nverts;
-        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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -23,9 +23,9 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.TileCache.Io
 {
-    public static class DtTileCacheLayerHeaderReader
+    public class DtTileCacheLayerHeaderReader
     {
-        public static DtTileCacheLayerHeader Read(RcByteBuffer data, bool cCompatibility)
+        public 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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -24,34 +24,34 @@ using DotRecast.Detour.Io;
 
 namespace DotRecast.Detour.TileCache.Io
 {
-    public class DtTileCacheLayerHeaderWriter
+    public class DtTileCacheLayerHeaderWriter : DtWriter
     {
         public void Write(BinaryWriter stream, DtTileCacheLayerHeader header, RcByteOrder order, bool cCompatibility)
         {
-            RcIO.Write(stream, header.magic, order);
+            Write(stream, header.magic, order);
-            RcIO.Write(stream, header.version, order);
+            Write(stream, header.version, order);
-            RcIO.Write(stream, header.tx, order);
+            Write(stream, header.tx, order);
-            RcIO.Write(stream, header.ty, order);
+            Write(stream, header.ty, order);
-            RcIO.Write(stream, header.tlayer, order);
+            Write(stream, header.tlayer, order);
             
-            RcIO.Write(stream, header.bmin.X, order);
+            Write(stream, header.bmin.X, order);
-            RcIO.Write(stream, header.bmin.Y, order);
+            Write(stream, header.bmin.Y, order);
-            RcIO.Write(stream, header.bmin.Z, order);
+            Write(stream, header.bmin.Z, order);
-            RcIO.Write(stream, header.bmax.X, order);
+            Write(stream, header.bmax.X, order);
-            RcIO.Write(stream, header.bmax.Y, order);
+            Write(stream, header.bmax.Y, order);
-            RcIO.Write(stream, header.bmax.Z, order);
+            Write(stream, header.bmax.Z, order);
 
-            RcIO.Write(stream, (short)header.hmin, order);
+            Write(stream, (short)header.hmin, order);
-            RcIO.Write(stream, (short)header.hmax, order);
+            Write(stream, (short)header.hmax, order);
-            RcIO.Write(stream, (byte)header.width);
+            Write(stream, (byte)header.width);
-            RcIO.Write(stream, (byte)header.height);
+            Write(stream, (byte)header.height);
-            RcIO.Write(stream, (byte)header.minx);
+            Write(stream, (byte)header.minx);
-            RcIO.Write(stream, (byte)header.maxx);
+            Write(stream, (byte)header.maxx);
-            RcIO.Write(stream, (byte)header.miny);
+            Write(stream, (byte)header.miny);
-            RcIO.Write(stream, (byte)header.maxy);
+            Write(stream, (byte)header.maxy);
             if (cCompatibility)
             {
-                RcIO.Write(stream, (short)0, order); // C struct padding
+                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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -37,7 +37,7 @@ namespace DotRecast.Detour.TileCache.Io
 
         public DtTileCache Read(BinaryReader @is, int maxVertPerPoly, IDtTileCacheMeshProcess meshProcessor)
         {
-            RcByteBuffer bb = RcIO.ToByteBuffer(@is);
+            RcByteBuffer bb = IOUtils.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 = RcIO.SwapEndianness(header.magic);
+                header.magic = IOUtils.SwapEndianness(header.magic);
                 if (header.magic != DtTileCacheSetHeader.TILECACHESET_MAGIC)
                 {
                     throw new IOException("Invalid magic");
@@ -69,8 +69,7 @@ namespace DotRecast.Detour.TileCache.Io
             header.numTiles = bb.GetInt();
             header.meshParams = paramReader.Read(bb);
             header.cacheParams = ReadCacheParams(bb, cCompatibility);
-            DtNavMesh mesh = new DtNavMesh();
+            DtNavMesh mesh = new DtNavMesh(header.meshParams, maxVertPerPoly);
-            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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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

src/DotRecast.Detour/BVItem.cs

@@ -1,11 +1,9 @@
-using DotRecast.Core.Numerics;
+namespace DotRecast.Detour
-
-namespace DotRecast.Detour
 {
     public class BVItem
     {
-        public RcVec3i bmin;
+        public readonly int[] bmin = new int[3];
-        public RcVec3i bmax;
+        public readonly int[] bmax = new int[3];
         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.X.CompareTo(b.bmin.X);
+            return a.bmin[0].CompareTo(b.bmin[0]);
         }
     }
 }

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.Y.CompareTo(b.bmin.Y);
+            return a.bmin[1].CompareTo(b.bmin[1]);
         }
     }
 }

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.Z.CompareTo(b.bmin.Z);
+            return a.bmin[2].CompareTo(b.bmin[2]);
         }
     }
 }

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

src/DotRecast.Detour/DotRecast.Detour.asmdef

@@ -1,16 +0,0 @@
-{
-    "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/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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -18,17 +18,23 @@ 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.
+ * Bounding volume node.
-    /// @see dtMeshTile
+ *
+ * @note This structure is rarely if ever used by the end user.
+ * @see MeshTile
+ */
     public class DtBVNode
     {
-        public RcVec3i bmin; //< Minimum bounds of the node's AABB. [(x, y, z)]
+        /** 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[] bmin = new int[3];
-        public int i; //< The node's index. (Negative for escape sequence.)
+
+        /** 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;
     }
 }

src/DotRecast.Detour/DtCallbackPolyQuery.cs

@@ -1,22 +0,0 @@
-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

@@ -1,43 +0,0 @@
-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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -18,20 +18,23 @@ 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 const float EPSILON = 0.0001f;
+        private static readonly float EPSILON = 0.0001f;
 
-        public static Span<float> Intersect(Span<float> p, Span<float> q, Span<float> buffer)
+        public static float[] Intersect(float[] p, float[] q)
         {
             int n = p.Length / 3;
             int m = q.Length / 3;
-            Span<float> inters = stackalloc float[Math.Max(m, n) * 3 * 3];
+            float[] inters = new float[Math.Max(m, n) * 3 * 3];
             int ii = 0;
             /* Initialize variables. */
             RcVec3f a = new RcVec3f();
@@ -51,10 +54,10 @@ namespace DotRecast.Detour
 
             do
             {
-                a = RcVec.Create(p, 3 * (ai % n));
+                a = RcVecUtils.Create(p, 3 * (ai % n));
-                b = RcVec.Create(q, 3 * (bi % m));
+                b = RcVecUtils.Create(q, 3 * (bi % m));
-                a1 = RcVec.Create(p, 3 * ((ai + n - 1) % n)); // prev a
+                a1 = RcVecUtils.Create(p, 3 * ((ai + n - 1) % n)); // prev a
-                b1 = RcVec.Create(q, 3 * ((bi + m - 1) % m)); // prev b
+                b1 = RcVecUtils.Create(q, 3 * ((bi + m - 1) % m)); // prev b
 
                 RcVec3f A = RcVec3f.Subtract(a, a1);
                 RcVec3f B = RcVec3f.Subtract(b, b1);
@@ -95,7 +98,7 @@ namespace DotRecast.Detour
                 /* Special case: A & B parallel and separated. */
                 if (parallel && aHB < 0f && bHA < 0f)
                 {
-                    return Span<float>.Empty;
+                    return null;
                 }
                 /* Special case: A & B collinear. */
                 else if (parallel && MathF.Abs(aHB) < EPSILON && MathF.Abs(bHA) < EPSILON)
@@ -168,12 +171,12 @@ namespace DotRecast.Detour
                 return null;
             }
 
-            Span<float> result = buffer.Slice(0, ii);
+            float[] copied = new float[ii];
-            inters.Slice(0, ii).CopyTo(result);
+            RcArrays.Copy(inters, copied, ii);
-            return result;
+            return copied;
         }
 
-        private static int AddVertex(Span<float> inters, int ii, RcVec3f p)
+        private static int AddVertex(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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

src/DotRecast.Detour/DtDetailTriEdgeFlags.cs

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

src/DotRecast.Detour/DtDetour.cs

@@ -1,184 +0,0 @@
-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

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

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

src/DotRecast.Detour/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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -18,20 +18,32 @@ 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.
+ * Defines a link between polygons.
-    /// @see dtMeshTile
+ *
+ * @note This structure is rarely if ever used by the end user.
+ * @see MeshTile
+ */
     public class DtLink
     {
-        public long refs; //< Neighbour reference. (The neighbor that is linked to.)
+        /** Neighbour reference. (The neighbor that is linked to.) */
-        public int next; //< Index of the next link.
+        public long refs;
-        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.
+        /** Index of the next link. */
-        public byte bmin; //< If a boundary link, defines the minimum sub-edge area.
+        public int next;
-        public byte bmax; //< If a boundary link, defines the maximum sub-edge area.
+
+        /** 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;
     }
 }

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -18,29 +18,37 @@ 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.
+        /** The tile header. */
-        public DtPoly[] polys; //< The tile polygons. [Size: dtMeshHeader::polyCount]
+        public DtMeshHeader header;
-        public float[] verts; //< The tile vertices. [(x, y, z) * dtMeshHeader::vertCount] 
-        public DtPolyDetail[] detailMeshes; //< The tile's detail sub-meshes. [Size: dtMeshHeader::detailMeshCount]
 
-        /// The detail mesh's unique vertices. [(x, y, z) * dtMeshHeader::detailVertCount]
+        /** 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] */
         public float[] detailVerts;
 
-        /// The detail mesh's triangles. [(vertA, vertB, vertC, triFlags) * dtMeshHeader::detailTriCount].
+        /**
-        /// See dtDetailTriEdgeFlags and dtGetDetailTriEdgeFlags.
+         * The detail mesh's triangles. [(vertA, vertB, vertC) * MeshHeader::detailTriCount] See DetailTriEdgeFlags and
+         * NavMesh::getDetailTriEdgeFlags.
+         */
         public int[] detailTris;
 
-        /// The tile bounding volume nodes. [Size: dtMeshHeader::bvNodeCount]
+        /**
-        /// (Will be null if bounding volumes are disabled.)
+         * The tile bounding volume nodes. [Size: MeshHeader::bvNodeCount] (Will be null if bounding volumes are disabled.)
+         */
         public DtBVNode[] bvTree;
 
-        public DtOffMeshConnection[] offMeshCons; //< The tile off-mesh connections. [Size: dtMeshHeader::offMeshConCount]
+        /** The tile off-mesh connections. [Size: MeshHeader::offMeshConCount] */
+        public DtOffMeshConnection[] offMeshCons;
     }
 }

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -18,13 +18,11 @@ 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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -18,22 +18,33 @@ 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
 {
-    using static DtDetour;
+    /**
-
+     * Defines a navigation mesh tile.
-    /// Defines a navigation mesh tile.
+     */
-    /// @ingroup detour
     public class DtMeshTile
     {
-        public readonly int index; // DtNavMesh.m_tiles array index
+        public readonly int 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]
 
-        public int flags; //< Tile flags. (See: #dtTileFlags)
+        /** Counter describing modifications to the tile. */
-        public DtMeshTile next; //< The next free tile, or the next tile in the spatial grid.
+        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 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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -25,66 +25,99 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {
-    using static DtDetour;
-
-    /// A navigation mesh based on tiles of convex polygons.
-    /// @ingroup detour
     public class DtNavMesh
     {
-        private DtNavMeshParams m_params; //< Current initialization params. TODO: do not store this info twice.
+        /** A magic number used to detect compatibility of navigation tile data. */
-        private RcVec3f m_orig; // < Origin of the tile (0,0)
+        public const int DT_NAVMESH_MAGIC = 'D' << 24 | 'N' << 16 | 'A' << 8 | 'V';
-        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.
 
-        private DtMeshTile[] m_posLookup; //< Tile hash lookup.
+        /** A version number used to detect compatibility of navigation tile data. */
-        private DtMeshTile m_nextFree; //< Freelist of tiles.
+        public const int DT_NAVMESH_VERSION = 7;
-        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 int m_maxVertPerPoly;
+        private readonly int m_maxVertPerPoly;
 
         private int m_tileCount;
 
-        public DtStatus Init(DtNavMeshParams param, int maxVertsPerPoly)
+        public DtNavMesh(DtMeshData data, int maxVertsPerPoly, int flags)
+            : this(GetNavMeshParams(data), maxVertsPerPoly)
         {
-            m_params = param;
+            AddTile(data, flags, 0);
-            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_maxTiles = param.maxTiles;
+            m_tileLutMask = Math.Max(1, DtUtils.NextPow2(option.maxTiles)) - 1;
-            m_tileLutSize = DtUtils.NextPow2(param.maxTiles);
-            if (0 == m_tileLutSize)
-                m_tileLutSize = 1;
-            m_tileLutMask = m_tileLutSize - 1;
-
             m_tiles = new DtMeshTile[m_maxTiles];
-            m_posLookup = new DtMeshTile[m_tileLutSize];
+            for (int i = 0; i < m_maxTiles; i++)
-            m_nextFree = null;
-            for (int i = m_maxTiles - 1; i >= 0; --i)
             {
                 m_tiles[i] = new DtMeshTile(i);
                 m_tiles[i].salt = 1;
-                m_tiles[i].next = m_nextFree;
+                availableTiles.AddLast(m_tiles[i]);
-                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)
@@ -135,10 +168,76 @@ 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)
-                return DT_NULL_LINK;
+            {
+                DtLink link = new DtLink();
+                link.next = DT_NULL_LINK;
+                tile.links.Add(link);
+                return tile.links.Count - 1;
+            }
 
             int linkIdx = tile.linksFreeList;
             tile.linksFreeList = tile.links[linkIdx].next;
@@ -259,8 +358,8 @@ namespace DotRecast.Detour
                 var tbmax = tile.data.header.bmax;
                 float qfac = tile.data.header.bvQuantFactor;
                 // Calculate quantized box
-                RcVec3i bmin;
+                int[] bmin = new int[3];
-                RcVec3i bmax;
+                int[] bmax = new int[3];
                 // dtClamp query box to world box.
                 float minx = Math.Clamp(qmin.X, tbmin.X, tbmax.X) - tbmin.X;
                 float miny = Math.Clamp(qmin.Y, tbmin.Y, tbmax.Y) - tbmin.Y;
@@ -269,12 +368,12 @@ 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.X = (int)(qfac * minx) & 0x7ffffffe;
+                bmin[0] = (int)(qfac * minx) & 0x7ffffffe;
-                bmin.Y = (int)(qfac * miny) & 0x7ffffffe;
+                bmin[1] = (int)(qfac * miny) & 0x7ffffffe;
-                bmin.Z = (int)(qfac * minz) & 0x7ffffffe;
+                bmin[2] = (int)(qfac * minz) & 0x7ffffffe;
-                bmax.X = (int)(qfac * maxx + 1) | 1;
+                bmax[0] = (int)(qfac * maxx + 1) | 1;
-                bmax.Y = (int)(qfac * maxy + 1) | 1;
+                bmax[1] = (int)(qfac * maxy + 1) | 1;
-                bmax.Z = (int)(qfac * maxz + 1) | 1;
+                bmax[2] = (int)(qfac * maxz + 1) | 1;
 
                 // Traverse tree
                 long @base = GetPolyRefBase(tile);
@@ -282,7 +381,7 @@ namespace DotRecast.Detour
                 while (nodeIndex < end)
                 {
                     DtBVNode node = tile.data.bvTree[nodeIndex];
-                    bool overlap = DtUtils.OverlapQuantBounds(ref bmin, ref bmax, ref node.bmin, ref node.bmax);
+                    bool overlap = DtUtils.OverlapQuantBounds(bmin, bmax, node.bmin, node.bmax);
                     bool isLeafNode = node.i >= 0;
 
                     if (isLeafNode && overlap)
@@ -319,13 +418,13 @@ namespace DotRecast.Detour
 
                     // Calc polygon bounds.
                     int v = p.verts[0] * 3;
-                    bmin = RcVec.Create(tile.data.verts, v);
+                    bmin = RcVecUtils.Create(tile.data.verts, v);
-                    bmax = RcVec.Create(tile.data.verts, v);
+                    bmax = RcVecUtils.Create(tile.data.verts, v);
                     for (int j = 1; j < p.vertCount; ++j)
                     {
                         v = p.verts[j] * 3;
-                        bmin = RcVec3f.Min(bmin, RcVec.Create(tile.data.verts, v));
+                        bmin = RcVecUtils.Min(bmin, tile.data.verts, v);
-                        bmax = RcVec3f.Max(bmax, RcVec.Create(tile.data.verts, v));
+                        bmax = RcVecUtils.Max(bmax, tile.data.verts, v);
                     }
 
                     if (DtUtils.OverlapBounds(qmin, qmax, bmin, bmax))
@@ -338,20 +437,30 @@ namespace DotRecast.Detour
             }
         }
 
-        public DtStatus UpdateTile(DtMeshData data, int flags)
+        public long 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, out _);
+            return AddTile(data, flags, refs);
         }
 
+        /// 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 #dtPolyRef's for the
+        /// reference it had previously used. In this case the #long's for the
         /// tile will be restored to the same values they were before the tile was
         /// removed.
         ///
@@ -361,37 +470,30 @@ namespace DotRecast.Detour
         /// removed from this nav mesh.
         ///
         /// @see dtCreateNavMeshData, #removeTile
-        /// Adds a tile to the navigation mesh.
+        public long AddTile(DtMeshData data, int flags, long lastRef)
-        ///  @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)
             {
-                return DtStatus.DT_FAILURE | DtStatus.DT_ALREADY_OCCUPIED;
+                throw new Exception("Tile already exists");
             }
 
             // Allocate a tile.
             DtMeshTile tile = null;
             if (lastRef == 0)
             {
-                if (null != m_nextFree)
+                // Make sure we could allocate a tile.
+                if (0 == availableTiles.Count)
                 {
-                    tile = m_nextFree;
+                    throw new Exception("Could not allocate a tile");
-                    m_nextFree = tile.next;
-                    tile.next = null;
-                    m_tileCount++;
                 }
+
+                tile = availableTiles.First?.Value;
+                availableTiles.RemoveFirst();
+                m_tileCount++;
             }
             else
             {
@@ -399,53 +501,33 @@ namespace DotRecast.Detour
                 int tileIndex = DecodePolyIdTile(lastRef);
                 if (tileIndex >= m_maxTiles)
                 {
-                    return DtStatus.DT_FAILURE | DtStatus.DT_OUT_OF_MEMORY;
+                    throw new Exception("Tile index too high");
                 }
 
                 // Try to find the specific tile id from the free list.
                 DtMeshTile target = m_tiles[tileIndex];
-                DtMeshTile prev = null;
+                // Remove from freelist
-                tile = m_nextFree;
+                if (!availableTiles.Remove(target))
-
-                while (null != tile && tile != target)
                 {
-                    prev = tile;
+                    // Could not find the correct location.
-                    tile = tile.next;
+                    throw new Exception("Could not find tile");
                 }
 
-                // Could not find the correct location.
+                tile = target;
-                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);
             }
 
-            // Make sure we could allocate a tile.
+            tile.data = data;
-            if (null == tile)
+            tile.flags = flags;
-            {
+            tile.links.Clear();
-                return DtStatus.DT_FAILURE | DtStatus.DT_OUT_OF_MEMORY;
+            tile.polyLinks = new int[data.polys.Length];
-            }
+            Array.Fill(tile.polyLinks, DtNavMesh.DT_NULL_LINK);
 
             // Insert tile into the position lut.
-            int h = ComputeTileHash(header.x, header.y, m_tileLutMask);
+            GetTileListByPos(header.x, header.y).Add(tile);
-            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)
@@ -453,29 +535,16 @@ 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.
-            nneis = GetTilesAt(header.x, header.y, neis, MAX_NEIS);
+            List<DtMeshTile> neis = GetTilesAt(header.x, header.y);
-            for (int j = 0; j < nneis; ++j)
+            for (int j = 0; j < neis.Count; ++j)
             {
                 if (neis[j] == tile)
                 {
@@ -491,8 +560,8 @@ namespace DotRecast.Detour
             // Connect with neighbour tiles.
             for (int i = 0; i < 8; ++i)
             {
-                nneis = GetNeighbourTilesAt(header.x, header.y, i, neis, MAX_NEIS);
+                neis = GetNeighbourTilesAt(header.x, header.y, i);
-                for (int j = 0; j < nneis; ++j)
+                for (int j = 0; j < neis.Count; ++j)
                 {
                     ConnectExtLinks(tile, neis[j], i);
                     ConnectExtLinks(neis[j], tile, DtUtils.OppositeTile(i));
@@ -501,8 +570,7 @@ namespace DotRecast.Detour
                 }
             }
 
-            result = GetTileRef(tile);
+            return GetTileRef(tile);
-            return DtStatus.DT_SUCCESS;
         }
 
         /// Removes the specified tile from the navigation mesh.
@@ -535,52 +603,39 @@ namespace DotRecast.Detour
             }
 
             // Remove tile from hash lookup.
-            int h = ComputeTileHash(tile.data.header.x, tile.data.header.y, m_tileLutMask);
+            GetTileListByPos(tile.data.header.x, tile.data.header.y).Remove(tile);
-            DtMeshTile prev = null;
-            DtMeshTile cur = m_posLookup[h];
-            while (null != cur)
-            {
-                if (cur == tile)
-                {
-                    if (null != prev)
-                        prev.next = cur.next;
-                    else
-                        m_posLookup[h] = cur.next;
-                    break;
-                }
-
-                prev = cur;
-                cur = cur.next;
-            }
 
             // Remove connections to neighbour tiles.
-            const int MAX_NEIS = 32;
+            // Create connections with neighbour tiles.
-            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);
+            List<DtMeshTile> nneis = GetTilesAt(tile.data.header.x, tile.data.header.y);
-            for (int j = 0; j < nneis; ++j)
+            foreach (DtMeshTile j in nneis)
             {
-                if (neis[j] == tile) continue;
+                if (j == tile)
-                UnconnectLinks(neis[j], tile);
+                {
+                    continue;
+                }
+
+                UnconnectLinks(j, tile);
             }
 
             // Disconnect from neighbour tiles.
             for (int i = 0; i < 8; ++i)
             {
-                nneis = GetNeighbourTilesAt(tile.data.header.x, tile.data.header.y, i, neis, MAX_NEIS);
+                nneis = GetNeighbourTilesAt(tile.data.header.x, tile.data.header.y, i);
-                for (int j = 0; j < nneis; ++j)
+                foreach (DtMeshTile j in nneis)
                 {
-                    UnconnectLinks(neis[j], tile);
+                    UnconnectLinks(j, tile);
                 }
             }
 
             // Reset tile.
             tile.data = null;
+
             tile.flags = 0;
-            tile.links = null;
+            tile.links.Clear();
-            tile.linksFreeList = DT_NULL_LINK;
+            tile.linksFreeList = DtNavMesh.DT_NULL_LINK;
 
             // Update salt, salt should never be zero.
             tile.salt = (tile.salt + 1) & ((1 << DT_SALT_BITS) - 1);
@@ -590,8 +645,7 @@ namespace DotRecast.Detour
             }
 
             // Add to free list.
-            tile.next = m_nextFree;
+            availableTiles.AddFirst(tile);
-            m_nextFree = tile;
             m_tileCount--;
             return GetTileRef(tile);
         }
@@ -609,7 +663,7 @@ namespace DotRecast.Detour
             for (int i = 0; i < tile.data.header.polyCount; ++i)
             {
                 DtPoly poly = tile.data.polys[i];
-                poly.firstLink = DT_NULL_LINK;
+                tile.polyLinks[poly.index] = DT_NULL_LINK;
 
                 if (poly.GetPolyType() == DtPolyTypes.DT_POLYTYPE_OFFMESH_CONNECTION)
                 {
@@ -629,17 +683,17 @@ namespace DotRecast.Detour
                     int idx = AllocLink(tile);
                     DtLink link = tile.links[idx];
                     link.refs = @base | (long)(poly.neis[j] - 1);
-                    link.edge = (byte)j;
+                    link.edge = j;
                     link.side = 0xff;
                     link.bmin = link.bmax = 0;
                     // Add to linked list.
-                    link.next = poly.firstLink;
+                    link.next = tile.polyLinks[poly.index];
-                    poly.firstLink = idx;
+                    tile.polyLinks[poly.index] = idx;
                 }
             }
         }
 
-        /// Removes external links at specified side.
+        /// Removes external links at specified side.V
         void UnconnectLinks(DtMeshTile tile, DtMeshTile target)
         {
             if (tile == null || target == null)
@@ -652,7 +706,7 @@ namespace DotRecast.Detour
             for (int i = 0; i < tile.data.header.polyCount; ++i)
             {
                 DtPoly poly = tile.data.polys[i];
-                int j = poly.firstLink;
+                int j = tile.polyLinks[poly.index];
                 int pj = DT_NULL_LINK;
                 while (j != DT_NULL_LINK)
                 {
@@ -662,7 +716,7 @@ namespace DotRecast.Detour
                         int nj = tile.links[j].next;
                         if (pj == DT_NULL_LINK)
                         {
-                            poly.firstLink = nj;
+                            tile.polyLinks[poly.index] = nj;
                         }
                         else
                         {
@@ -722,15 +776,13 @@ 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 = (byte)j;
+                        link.edge = j;
-                            link.side = (byte)dir;
+                        link.side = dir;
 
-                            link.next = poly.firstLink;
+                        link.next = tile.polyLinks[poly.index];
-                            poly.firstLink = idx;
+                        tile.polyLinks[poly.index] = idx;
 
                         // Compress portal limits to a byte value.
                         if (dir == 0 || dir == 4)
@@ -746,8 +798,8 @@ namespace DotRecast.Detour
                                 tmax = temp;
                             }
 
-                                link.bmin = (byte)MathF.Round(Math.Clamp(tmin, 0.0f, 1.0f) * 255.0f);
+                            link.bmin = (int)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);
+                            link.bmax = (int)MathF.Round(Math.Clamp(tmax, 0.0f, 1.0f) * 255.0f);
                         }
                         else if (dir == 2 || dir == 6)
                         {
@@ -762,9 +814,8 @@ namespace DotRecast.Detour
                                 tmax = temp;
                             }
 
-                                link.bmin = (byte)MathF.Round(Math.Clamp(tmin, 0.0f, 1.0f) * 255.0f);
+                            link.bmin = (int)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);
+                            link.bmax = (int)MathF.Round(Math.Clamp(tmax, 0.0f, 1.0f) * 255.0f);
-                            }
                         }
                     }
                 }
@@ -794,7 +845,7 @@ namespace DotRecast.Detour
                 DtPoly targetPoly = target.data.polys[targetCon.poly];
                 // Skip off-mesh connections which start location could not be
                 // connected at all.
-                if (targetPoly.firstLink == DT_NULL_LINK)
+                if (target.polyLinks[targetPoly.index] == DT_NULL_LINK)
                 {
                     continue;
                 }
@@ -832,11 +883,11 @@ namespace DotRecast.Detour
                 DtLink link = target.links[idx];
                 link.refs = refs;
                 link.edge = 1;
-                link.side = (byte)oppositeSide;
+                link.side = oppositeSide;
                 link.bmin = link.bmax = 0;
                 // Add to linked list.
-                link.next = targetPoly.firstLink;
+                link.next = target.polyLinks[targetPoly.index];
-                targetPoly.firstLink = idx;
+                target.polyLinks[targetPoly.index] = idx;
 
                 // Link target poly to off-mesh connection.
                 if ((targetCon.flags & DT_OFFMESH_CON_BIDIR) != 0)
@@ -847,11 +898,11 @@ namespace DotRecast.Detour
                     link = tile.links[tidx];
                     link.refs = GetPolyRefBase(target) | (long)targetCon.poly;
                     link.edge = 0xff;
-                    link.side = (byte)(side == -1 ? 0xff : side);
+                    link.side = (side == -1 ? 0xff : side);
                     link.bmin = link.bmax = 0;
                     // Add to linked list.
-                    link.next = landPoly.firstLink;
+                    link.next = tile.polyLinks[landPoly.index];
-                    landPoly.firstLink = tidx;
+                    tile.polyLinks[landPoly.index] = tidx;
                 }
             }
         }
@@ -918,7 +969,59 @@ namespace DotRecast.Detour
             return n;
         }
 
-        private bool OverlapSlabs(RcVec2f amin, RcVec2f amax, RcVec2f bmin, RcVec2f bmax, float px, float py)
+        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)
         {
             // Check for horizontal overlap.
             // The segment is shrunken a little so that slabs which touch
@@ -1009,8 +1112,8 @@ namespace DotRecast.Detour
                 link.side = 0xff;
                 link.bmin = link.bmax = 0;
                 // Add to linked list.
-                link.next = poly.firstLink;
+                link.next = tile.polyLinks[poly.index];
-                poly.firstLink = idx;
+                tile.polyLinks[poly.index] = idx;
 
                 // Start end-point is always connect back to off-mesh connection.
                 int tidx = AllocLink(tile);
@@ -1022,8 +1125,8 @@ namespace DotRecast.Detour
                 link.side = 0xff;
                 link.bmin = link.bmax = 0;
                 // Add to linked list.
-                link.next = landPoly.firstLink;
+                link.next = tile.polyLinks[landPoly.index];
-                landPoly.firstLink = tidx;
+                tile.polyLinks[landPoly.index] = tidx;
             }
         }
 
@@ -1045,7 +1148,6 @@ 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];
@@ -1058,7 +1160,7 @@ namespace DotRecast.Detour
                         continue;
                     }
 
-                    Span<RcVec3f> v = tempV;
+                    RcVec3f[] v = new RcVec3f[3];
                     for (int j = 0; j < 3; ++j)
                     {
                         if (tris[ti + j] < poly.vertCount)
@@ -1106,7 +1208,7 @@ namespace DotRecast.Detour
             }
             else
             {
-                Span<RcVec3f> v = tempV.Slice(0, 2);
+                RcVec3f[] v = new RcVec3f[2];
                 for (int j = 0; j < poly.vertCount; ++j)
                 {
                     int k = (j + 1) % poly.vertCount;
@@ -1144,11 +1246,11 @@ namespace DotRecast.Detour
 
             int ip = poly.index;
 
-            Span<float> verts = stackalloc float[m_maxVertPerPoly * 3];
+            float[] verts = new float[m_maxVertPerPoly * 3];
             int nv = poly.vertCount;
             for (int i = 0; i < nv; ++i)
             {
-                RcSpans.Copy(tile.data.verts, poly.verts[i] * 3, verts, i * 3, 3);
+                RcArrays.Copy(tile.data.verts, poly.verts[i] * 3, verts, i * 3, 3);
             }
 
             if (!DtUtils.PointInPolygon(pos, verts, nv))
@@ -1157,14 +1259,13 @@ 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;
-                    Span<RcVec3f> v = tempV;
+                    RcVec3f[] v = new RcVec3f[3];
                     for (int k = 0; k < 3; ++k)
                     {
                         if (tile.data.detailTris[t + k] < poly.vertCount)
@@ -1198,7 +1299,7 @@ namespace DotRecast.Detour
             }
             else
             {
-                Span<RcVec3f> v = tempV;
+                RcVec3f[] v = new RcVec3f[3];
                 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];
@@ -1306,27 +1407,19 @@ namespace DotRecast.Detour
 
         DtMeshTile GetTileAt(int x, int y, int layer)
         {
-            // Find tile based on hash.
+            foreach (DtMeshTile tile in GetTileListByPos(x, y))
-            int h = ComputeTileHash(x, y, m_tileLutMask);
-            DtMeshTile tile = m_posLookup[h];
-            while (null != tile)
             {
-                if (null != tile.data &&
+                if (tile.data.header != null && tile.data.header.x == x && tile.data.header.y == y
-                    null != tile.data.header &&
+                    && tile.data.header.layer == layer)
-                    tile.data.header.x == x &&
-                    tile.data.header.y == y &&
-                    tile.data.header.layer == layer)
                 {
                     return tile;
                 }
-
-                tile = tile.next;
             }
 
             return null;
         }
 
-        int GetNeighbourTilesAt(int x, int y, int side, DtMeshTile[] tiles, int maxTiles)
+        List<DtMeshTile> GetNeighbourTilesAt(int x, int y, int side)
         {
             int nx = x, ny = y;
             switch (side)
@@ -1361,36 +1454,21 @@ namespace DotRecast.Detour
                     break;
             }
 
-            return GetTilesAt(nx, ny, tiles, maxTiles);
+            return GetTilesAt(nx, ny);
         }
 
-        public int GetTilesAt(int x, int y, DtMeshTile[] tiles, int maxTiles)
+        public List<DtMeshTile> GetTilesAt(int x, int y)
         {
-            return GetTilesAt(x, y, (Span<DtMeshTile>)tiles, 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);
+                }
             }
 
-        public int GetTilesAt(int x, int y, Span<DtMeshTile> tiles, int maxTiles)
+            return tiles;
-        {
-            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)
@@ -1431,6 +1509,14 @@ 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.
@@ -1482,7 +1568,7 @@ namespace DotRecast.Detour
             int idx0 = 0, idx1 = 1;
 
             // Find link that points to first vertex.
-            for (int i = poly.firstLink; i != DT_NULL_LINK; i = tile.links[i].next)
+            for (int i = tile.polyLinks[poly.index]; i != DT_NULL_LINK; i = tile.links[i].next)
             {
                 if (tile.links[i].edge == 0)
                 {
@@ -1496,8 +1582,8 @@ namespace DotRecast.Detour
                 }
             }
 
-            startPos = RcVec.Create(tile.data.verts, poly.verts[idx0] * 3);
+            startPos = RcVecUtils.Create(tile.data.verts, poly.verts[idx0] * 3);
-            endPos = RcVec.Create(tile.data.verts, poly.verts[idx1] * 3);
+            endPos = RcVecUtils.Create(tile.data.verts, poly.verts[idx1] * 3);
 
             return DtStatus.DT_SUCCESS;
         }
@@ -1512,9 +1598,9 @@ namespace DotRecast.Detour
             return m_tileCount;
         }
 
-        public bool IsAvailableTileCount()
+        public int GetAvailableTileCount()
         {
-            return null != m_nextFree;
+            return availableTiles.Count;
         }
 
         public DtStatus SetPolyFlags(long refs, int flags)
@@ -1672,6 +1758,32 @@ 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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -24,35 +24,42 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {
-    using static DtDetour;
-
     public static class DtNavMeshBuilder
     {
         const int MESH_NULL_IDX = 0xffff;
 
 
-        private static void CalcExtends(BVItem[] items, int nitems, int imin, int imax, ref RcVec3i bmin, ref RcVec3i bmax)
+        private static int[][] CalcExtends(BVItem[] items, int nitems, int imin, int imax)
         {
-            bmin = items[imin].bmin;
+            int[] bmin = new int[3];
-            bmax = items[imin].bmax;
+            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];
 
             for (int i = imin + 1; i < imax; ++i)
             {
                 BVItem it = items[i];
-                if (it.bmin.X < bmin.X)
+                if (it.bmin[0] < bmin[0])
-                    bmin.X = it.bmin.X;
+                    bmin[0] = it.bmin[0];
-                if (it.bmin.Y < bmin.Y)
+                if (it.bmin[1] < bmin[1])
-                    bmin.Y = it.bmin.Y;
+                    bmin[1] = it.bmin[1];
-                if (it.bmin.Z < bmin.Z)
+                if (it.bmin[2] < bmin[2])
-                    bmin.Z = it.bmin.Z;
+                    bmin[2] = it.bmin[2];
 
-                if (it.bmax.X > bmax.X)
+                if (it.bmax[0] > bmax[0])
-                    bmax.X = it.bmax.X;
+                    bmax[0] = it.bmax[0];
-                if (it.bmax.Y > bmax.Y)
+                if (it.bmax[1] > bmax[1])
-                    bmax.Y = it.bmax.Y;
+                    bmax[1] = it.bmax[1];
-                if (it.bmax.Z > bmax.Z)
+                if (it.bmax[2] > bmax[2])
-                    bmax.Z = it.bmax.Z;
+                    bmax[2] = it.bmax[2];
             }
+
+            return new int[][] { bmin, bmax };
         }
 
         private static int LongestAxis(int x, int y, int z)
@@ -85,21 +92,25 @@ namespace DotRecast.Detour
             if (inum == 1)
             {
                 // Leaf
-                node.bmin = items[imin].bmin;
+                node.bmin[0] = items[imin].bmin[0];
-                node.bmax = items[imin].bmax;
+                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.i = items[imin].i;
             }
             else
             {
                 // Split
-                CalcExtends(items, nitems, imin, imax, ref node.bmin, ref node.bmax);
+                int[][] minmax = CalcExtends(items, nitems, imin, imax);
+                node.bmin = minmax[0];
+                node.bmax = minmax[1];
 
-                int axis = LongestAxis(
+                int axis = LongestAxis(node.bmax[0] - node.bmin[0], node.bmax[1] - node.bmin[1],
-                    node.bmax.X - node.bmin.X,
+                    node.bmax[2] - node.bmin[2]);
-                    node.bmax.Y - node.bmin.Y,
-                    node.bmax.Z - node.bmin.Z
-                );
 
                 if (axis == 0)
                 {
@@ -148,29 +159,29 @@ namespace DotRecast.Detour
                     int vb = option.detailMeshes[i * 4 + 0];
                     int ndv = option.detailMeshes[i * 4 + 1];
                     int dv = vb * 3;
-                    var bmin = RcVec.Create(option.detailVerts, dv);
+                    var bmin = RcVecUtils.Create(option.detailVerts, dv);
-                    var bmax = RcVec.Create(option.detailVerts, dv);
+                    var bmax = RcVecUtils.Create(option.detailVerts, dv);
                     for (int j = 1; j < ndv; j++)
                     {
-                        bmin = RcVec3f.Min(bmin, RcVec.Create(option.detailVerts, dv + j * 3));
+                        bmin = RcVecUtils.Min(bmin, option.detailVerts, dv + j * 3);
-                        bmax = RcVec3f.Max(bmax, RcVec.Create(option.detailVerts, dv + j * 3));
+                        bmax = RcVecUtils.Max(bmax, option.detailVerts, dv + j * 3);
                     }
 
                     // BV-tree uses cs for all dimensions
-                    it.bmin.X = Math.Clamp((int)((bmin.X - option.bmin.X) * quantFactor), 0, int.MaxValue);
+                    it.bmin[0] = 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[1] = 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.bmin[2] = Math.Clamp((int)((bmin.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[0] = 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[1] = 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);
+                    it.bmax[2] = Math.Clamp((int)((bmax.Z - option.bmin.Z) * quantFactor), 0, int.MaxValue);
                 }
                 else
                 {
                     int p = i * option.nvp * 2;
-                    it.bmin.X = it.bmax.X = option.verts[option.polys[p] * 3 + 0];
+                    it.bmin[0] = it.bmax[0] = option.verts[option.polys[p] * 3 + 0];
-                    it.bmin.Y = it.bmax.Y = option.verts[option.polys[p] * 3 + 1];
+                    it.bmin[1] = it.bmax[1] = option.verts[option.polys[p] * 3 + 1];
-                    it.bmin.Z = it.bmax.Z = option.verts[option.polys[p] * 3 + 2];
+                    it.bmin[2] = it.bmax[2] = option.verts[option.polys[p] * 3 + 2];
 
                     for (int j = 1; j < option.nvp; ++j)
                     {
@@ -180,24 +191,24 @@ 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.X)
+                        if (x < it.bmin[0])
-                            it.bmin.X = x;
+                            it.bmin[0] = x;
-                        if (y < it.bmin.Y)
+                        if (y < it.bmin[1])
-                            it.bmin.Y = y;
+                            it.bmin[1] = y;
-                        if (z < it.bmin.Z)
+                        if (z < it.bmin[2])
-                            it.bmin.Z = z;
+                            it.bmin[2] = z;
 
-                        if (x > it.bmax.X)
+                        if (x > it.bmax[0])
-                            it.bmax.X = x;
+                            it.bmax[0] = x;
-                        if (y > it.bmax.Y)
+                        if (y > it.bmax[1])
-                            it.bmax.Y = y;
+                            it.bmax[1] = y;
-                        if (z > it.bmax.Z)
+                        if (z > it.bmax[2])
-                            it.bmax.Z = z;
+                            it.bmax[2] = z;
                     }
 
                     // Remap y
-                    it.bmin.Y = (int)MathF.Floor(it.bmin.Y * option.ch * quantFactor);
+                    it.bmin[1] = (int)MathF.Floor(it.bmin[1] * option.ch * quantFactor);
-                    it.bmax.Y = (int)MathF.Ceiling(it.bmax.Y * option.ch * quantFactor);
+                    it.bmax[1] = (int)MathF.Ceiling(it.bmax[1] * option.ch * quantFactor);
                 }
             }
 
@@ -240,15 +251,14 @@ namespace DotRecast.Detour
             return 0xff;
         }
 
-        // TODO: Better error handling.
+        /**
-
+     * Builds navigation mesh tile data from the provided tile creation data.
-        /// @par
+     *
-        /// 
+     * @param option
-        /// The output data array is allocated using the detour allocator (dtAlloc()).  The method
+     *            Tile creation data.
-        /// used to free the memory will be determined by how the tile is added to the navigation
+     *
-        /// mesh.
+     * @return created tile data
-        ///
+     */
-        /// @see dtNavMesh, dtNavMesh::addTile()
         public static DtMeshData CreateNavMeshData(DtNavMeshCreateParams option)
         {
             if (option.vertCount >= 0xffff)
@@ -306,8 +316,8 @@ namespace DotRecast.Detour
 
                 for (int i = 0; i < option.offMeshConCount; ++i)
                 {
-                    var p0 = RcVec.Create(option.offMeshConVerts, (i * 2 + 0) * 3);
+                    var p0 = RcVecUtils.Create(option.offMeshConVerts, (i * 2 + 0) * 3);
-                    var p1 = RcVec.Create(option.offMeshConVerts, (i * 2 + 1) * 3);
+                    var p1 = RcVecUtils.Create(option.offMeshConVerts, (i * 2 + 1) * 3);
 
                     offMeshConClass[i * 2 + 0] = ClassifyOffMeshPoint(p0, bmin, bmax);
                     offMeshConClass[i * 2 + 1] = ClassifyOffMeshPoint(p1, bmin, bmax);
@@ -414,8 +424,8 @@ namespace DotRecast.Detour
             DtOffMeshConnection[] offMeshCons = new DtOffMeshConnection[storedOffMeshConCount];
 
             // Store header
-            header.magic = DT_NAVMESH_MAGIC;
+            header.magic = DtNavMesh.DT_NAVMESH_MAGIC;
-            header.version = DT_NAVMESH_VERSION;
+            header.version = DtNavMesh.DT_NAVMESH_VERSION;
             header.x = option.tileX;
             header.y = option.tileZ;
             header.layer = option.tileLayer;
@@ -487,13 +497,13 @@ namespace DotRecast.Detour
                         if (dir == 0xf) // Border
                             p.neis[j] = 0;
                         else if (dir == 0) // Portal x-
-                            p.neis[j] = DT_EXT_LINK | 4;
+                            p.neis[j] = DtNavMesh.DT_EXT_LINK | 4;
                         else if (dir == 1) // Portal z+
-                            p.neis[j] = DT_EXT_LINK | 2;
+                            p.neis[j] = DtNavMesh.DT_EXT_LINK | 2;
                         else if (dir == 2) // Portal x+
-                            p.neis[j] = DT_EXT_LINK | 0;
+                            p.neis[j] = DtNavMesh.DT_EXT_LINK | 0;
                         else if (dir == 3) // Portal z-
-                            p.neis[j] = DT_EXT_LINK | 6;
+                            p.neis[j] = DtNavMesh.DT_EXT_LINK | 6;
                     }
                     else
                     {
@@ -540,9 +550,9 @@ namespace DotRecast.Detour
                     int ndv = option.detailMeshes[i * 4 + 1];
                     int nv = navPolys[i].vertCount;
                     int vertBase = vbase;
-                    byte vertCount = (byte)(ndv - nv);
+                    int vertCount = (ndv - nv);
                     int triBase = option.detailMeshes[i * 4 + 2];
-                    byte triCount = (byte)option.detailMeshes[i * 4 + 3];
+                    int triCount = 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.
@@ -564,9 +574,9 @@ namespace DotRecast.Detour
                 {
                     int nv = navPolys[i].vertCount;
                     int vertBase = 0;
-                    byte vertCount = 0;
+                    int vertCount = 0;
                     int triBase = tbase;
-                    byte triCount = (byte)(nv - 2);
+                    int triCount = (nv - 2);
                     navDMeshes[i] = new DtPolyDetail(vertBase, triBase, vertCount, triCount);
                     // Triangulate polygon (local indices).
                     for (int j = 2; j < nv; ++j)
@@ -608,11 +618,11 @@ namespace DotRecast.Detour
                     int endPts = i * 2 * 3;
                     for (int j = 0; j < 2; ++j)
                     {
-                        con.pos[j] = RcVec.Create(option.offMeshConVerts, endPts + (j * 3));
+                        con.pos[j] = RcVecUtils.Create(option.offMeshConVerts, endPts + (j * 3));
                     }
 
                     con.rad = option.offMeshConRad[i];
-                    con.flags = option.offMeshConDir[i] != 0 ? DT_OFFMESH_CON_BIDIR : 0;
+                    con.flags = option.offMeshConDir[i] != 0 ? DtNavMesh.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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -18,21 +18,31 @@ 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.
+ * Configuration parameters used to define multi-tile navigation meshes. The values are used to allocate space during
-    /// @see dtNavMesh::init()
+ * the initialization of a navigation mesh.
-    /// @ingroup detour
+ *
+ * @see NavMesh
+ */
     public struct DtNavMeshParams
     {
-        public RcVec3f orig; //< The world space origin of the navigation mesh's tile space. [(x, y, z)]
+        /** 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 RcVec3f orig;
-        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.
+        /** The width of each tile. (Along the x-axis.) */
-        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.
+        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;
     }
 }

src/DotRecast.Detour/DtNavMeshQueryMock.cs

@@ -1,34 +0,0 @@
-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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -17,7 +17,6 @@ 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;
 
@@ -49,7 +48,6 @@ 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];
@@ -60,7 +58,7 @@ namespace DotRecast.Detour
 
                 ref DtPolyDetail pd = ref tile.data.detailMeshes[i];
 
-                Span<RcVec3f> verts = tempVerts;
+                RcVec3f[] verts = new RcVec3f[3];
                 for (int j = 0; j < pd.triCount; ++j)
                 {
                     int t = (pd.triBase + j) * 4;

src/DotRecast.Detour/DtNoOpDtPolygonByCircleConstraint.cs

@@ -1,5 +1,4 @@
-using System;
+using DotRecast.Core.Numerics;
-using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {
@@ -11,11 +10,9 @@ namespace DotRecast.Detour
         {
         }
 
-        public Span<float> Apply(Span<float> polyVerts, RcVec3f circleCenter, float radius, Span<float> resultBuffer)
+        public float[] Apply(float[] polyVerts, RcVec3f circleCenter, float radius)
         {
-            var result = resultBuffer.Slice(0, polyVerts.Length);
+            return polyVerts;
-            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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -18,10 +18,8 @@ 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
 {
@@ -29,68 +27,24 @@ namespace DotRecast.Detour
     {
         private readonly Dictionary<long, List<DtNode>> m_map;
 
-        private int m_usedNodesCount;
+        private int m_nodeCount;
-        private List<DtNode[]> m_buckets;
+        private readonly List<DtNode> m_nodes;
-        private readonly int m_initialBufferCapacityBase;
-        private readonly RcObjectPool<List<DtNode>> m_listPool;
 
-        public DtNodePool(int initialBufferCapacityBase = 6) // initial size 64
+        public DtNodePool()
         {
             m_map = new Dictionary<long, List<DtNode>>();
-            m_listPool = new RcObjectPool<List<DtNode>>(() => new List<DtNode>());
+            m_nodes = 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_usedNodesCount = 0;
+            m_nodeCount = 0;
         }
 
         public int GetNodeCount()
         {
-            return m_usedNodesCount;
+            return m_nodeCount;
         }
 
         public int FindNodes(long id, out List<DtNode> nodes)
@@ -130,8 +84,7 @@ namespace DotRecast.Detour
             }
             else
             {
-                nodes = m_listPool.Get();
+                nodes = new List<DtNode>();
-                nodes.Clear();
                 m_map.Add(id, nodes);
             }
 
@@ -140,10 +93,15 @@ namespace DotRecast.Detour
 
         private DtNode Create(long id, int state, List<DtNode> nodes)
         {
-            int i = m_usedNodesCount++;
+            if (m_nodes.Count <= m_nodeCount)
-            int bucketIndex = GetBucketIndexByElementIndex(i);
+            {
-            int bucketStartIndex = GetBucketStartIndex(bucketIndex);
+                var newNode = new DtNode(m_nodeCount);
-            var node = EnsureBucket(bucketIndex)[i - bucketStartIndex];
+                m_nodes.Add(newNode);
+            }
+
+            int i = m_nodeCount;
+            m_nodeCount++;
+            var node = m_nodes[i];
             node.pidx = 0;
             node.cost = 0;
             node.total = 0;
@@ -165,16 +123,9 @@ namespace DotRecast.Detour
 
         public DtNode GetNodeAtIdx(int idx)
         {
-            if (idx == 0)
+            return idx != 0
-                return null;
+                ? m_nodes[idx - 1]
-            
+                : 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)
@@ -184,7 +135,7 @@ namespace DotRecast.Detour
 
         public IEnumerable<DtNode> AsEnumerable()
         {
-            return m_buckets.SelectMany(x => x);
+            return m_nodes.Take(m_nodeCount);
         }
     }
 }

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -18,14 +18,12 @@ 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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -20,31 +20,27 @@ freely, subject to the following restrictions:
 
 using System;
 using System.Collections.Generic;
-using DotRecast.Core.Buffers;
+using System.Linq;
-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, int pathSize,
+            List<long> path,
             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.
-            Span<DtStraightPath> straightPath = stackalloc DtStraightPath[MAX_STEER_POINTS];
+            var straightPath = new List<DtStraightPath>(MAX_STEER_POINTS);
-            var result = navQuery.FindStraightPath(startPos, endPos, path, pathSize, straightPath, out var nsteerPath, MAX_STEER_POINTS, 0);
+            var result = navQuery.FindStraightPath(startPos, endPos, path, ref straightPath, MAX_STEER_POINTS, 0);
             if (result.Failed())
             {
                 return false;
@@ -52,7 +48,7 @@ namespace DotRecast.Detour
 
             // Find vertex far enough to steer to.
             int ns = 0;
-            while (ns < nsteerPath)
+            while (ns < straightPath.Count)
             {
                 // Stop at Off-Mesh link or when point is further than slop away.
                 if (((straightPath[ns].flags & DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0)
@@ -62,7 +58,7 @@ namespace DotRecast.Detour
             }
 
             // Failed to find good point to steer to.
-            if (ns >= nsteerPath)
+            if (ns >= straightPath.Count)
                 return false;
 
             steerPos = straightPath[ns].pos;
@@ -93,32 +89,29 @@ namespace DotRecast.Detour
         // +-S-+-T-+
         // |:::| | <-- the step can end up in here, resulting U-turn path.
         // +---+---+
-        public static int FixupShortcuts(ref List<long> path, int npath, DtNavMeshQuery navQuery)
+        public static List<long> FixupShortcuts(List<long> path, DtNavMeshQuery navQuery)
         {
-            if (npath < 3)
+            if (path.Count < 3)
             {
-                return npath;
+                return path;
             }
 
             // Get connected polygons
-            const int maxNeis = 16;
+            List<long> neis = new List<long>();
-            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 npath;
+                return path;
             }
 
 
-            for (int k = poly.firstLink; k != DT_NULL_LINK; k = tile.links[k].next)
+            for (int k = tile.polyLinks[poly.index]; k != DtNavMesh.DT_NULL_LINK; k = tile.links[k].next)
             {
                 DtLink link = tile.links[k];
                 if (link.refs != 0)
                 {
-                    if (nneis < maxNeis)
+                    neis.Add(link.refs);
-                        neis[nneis++] = link.refs;
                 }
             }
 
@@ -126,9 +119,9 @@ 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, npath) - 1; i > 1 && cut == 0; i--)
+            for (int i = Math.Min(maxLookAhead, path.Count) - 1; i > 1 && cut == 0; i--)
             {
-                for (int j = 0; j < nneis; j++)
+                for (int j = 0; j < neis.Count; j++)
                 {
                     if (path[i] == neis[j])
                     {
@@ -142,16 +135,14 @@ namespace DotRecast.Detour
             {
                 List<long> shortcut = new List<long>();
                 shortcut.Add(path[0]);
-                shortcut.AddRange(path.GetRange(cut, npath - cut));
+                shortcut.AddRange(path.GetRange(cut, path.Count - cut));
-
+                return shortcut;
-                path = shortcut;
-                return shortcut.Count;
             }
 
-            return npath;
+            return path;
         }
 
-        public static int MergeCorridorStartMoved(List<long> path, int npath, int maxPath, Span<long> visited, int nvisited)
+        public static int MergeCorridorStartMoved(List<long> path, int npath, int maxPath, List<long> visited)
         {
             int furthestPath = -1;
             int furthestVisited = -1;
@@ -160,7 +151,7 @@ namespace DotRecast.Detour
             for (int i = npath - 1; i >= 0; --i)
             {
                 bool found = false;
-                for (int j = nvisited - 1; j >= 0; --j)
+                for (int j = visited.Count - 1; j >= 0; --j)
                 {
                     if (path[i] == visited[j])
                     {
@@ -183,32 +174,45 @@ 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.
-            // Store visited
+            int req = visited.Count - furthestVisited;
-            for (int i = 0; i < length1; ++i) 
+            int orig = Math.Min(furthestPath + 1, npath);
-                result[i] = visited[endIndex - i];
+            int size = Math.Max(0, npath - orig);
+            if (req + size > maxPath)
+                size = maxPath - req;
 
-            path.CopyTo(furthestPath, result.AsArray(), length1, length2);
+            if (size > 0)
+            {
+                //memmove(path + req, path + orig, size * sizeof(dtPolyRef));
+                for (int i = 0; i < size; ++i)
+                {
+                    if (path.Count <= req + i)
+                        path.Add(0);
                     
-            path.Clear();
+                    path[req + i] = path[orig + i];
-            CollectionExtensions.AddRange(path, result.AsSpan());
+                }
-            return result.Length;
             }
 
-        public static int MergeCorridorEndMoved(List<long> path, int npath, int maxPath, Span<long> visited, int nvisited)
+            // Store visited
+            for (int i = 0, n = Math.Min(req, maxPath); i < n; ++i)
+            {
+                path[i] = visited[(visited.Count - 1) - i];
+            }
+
+            return req + size;
+        }
+
+        public static List<long> MergeCorridorEndMoved(List<long> path, int npath, int maxPath, List<long> visited)
         {
             int furthestPath = -1;
             int furthestVisited = -1;
 
             // Find furthest common polygon.
-            for (int i = 0; i < npath; ++i)
+            for (int i = 0; i < path.Count; ++i)
             {
                 bool found = false;
-                for (int j = nvisited - 1; j >= 0; --j)
+                for (int j = visited.Count - 1; j >= 0; --j)
                 {
                     if (path[i] == visited[j])
                     {
@@ -227,31 +231,25 @@ namespace DotRecast.Detour
             // If no intersection found just return current path.
             if (furthestPath == -1 || furthestVisited == -1)
             {
-                return npath;
+                return path;
             }
 
             // Concatenate paths.
-            var length1 = furthestPath;
+            List<long> result = path.GetRange(0, furthestPath);
-            var length2 = nvisited - furthestVisited;
+            result.AddRange(visited.GetRange(furthestVisited, visited.Count - furthestVisited));
-            using var result = RcRentedArray.Rent<long>(length1 + length2);
+            return result;
-            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 int MergeCorridorStartShortcut(List<long> path, int npath, int maxPath, List<long> visited, int nvisited)
+        public static List<long> MergeCorridorStartShortcut(List<long> path, int npath, int maxPath, List<long> visited)
         {
             int furthestPath = -1;
             int furthestVisited = -1;
 
             // Find furthest common polygon.
-            for (int i = npath - 1; i >= 0; --i)
+            for (int i = path.Count - 1; i >= 0; --i)
             {
                 bool found = false;
-                for (int j = nvisited - 1; j >= 0; --j)
+                for (int j = visited.Count - 1; j >= 0; --j)
                 {
                     if (path[i] == visited[j])
                     {
@@ -270,21 +268,15 @@ namespace DotRecast.Detour
             // If no intersection found just return current path.
             if (furthestPath == -1 || furthestVisited <= 0)
             {
-                return npath;
+                return path;
             }
 
             // Concatenate paths.
 
             // Adjust beginning of the buffer to include the visited.
-            var length1 = furthestVisited;
+            List<long> result = visited.GetRange(0, furthestVisited);
-            var length2 = npath - furthestPath;
+            result.AddRange(path.GetRange(furthestPath, path.Count - furthestPath));
-            using var result = RcRentedArray.Rent<long>(length1 + length2);
+            return result;
-            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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -20,26 +20,21 @@ freely, subject to the following restrictions:
 
 namespace DotRecast.Detour
 {
-    /// Defines a polygon within a dtMeshTile object.
+    /** Defines a polygon within a MeshTile object. */
-    /// @ingroup detour
     public class DtPoly
     {
         public readonly int index;
 
-        /// Index to first link in linked list. (Or #DT_NULL_LINK if there is no link.)
+        /** The indices of the polygon's vertices. The actual vertices are located in MeshTile::verts. */
-        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.
@@ -53,25 +48,25 @@ namespace DotRecast.Detour
             neis = new int[maxVertsPerPoly];
         }
 
-        /// Sets the user defined area id. [Limit: < #DT_MAX_AREAS]
+        /** Sets the user defined area id. [Limit: &lt; {@link org.recast4j.detour.NavMesh#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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -20,15 +20,22 @@ 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
     {
-        public readonly int vertBase; //< The offset of the vertices in the dtMeshTile::detailVerts array.
+        /** The offset of the vertices in the MeshTile::detailVerts array. */
-        public readonly int triBase; //< The offset of the triangles in the dtMeshTile::detailTris array.
+        public readonly int vertBase;
-        public readonly byte vertCount; //< The number of vertices in the sub-mesh.
-        public readonly byte triCount; //< The number of triangles in the sub-mesh.
 
-        public DtPolyDetail(int vertBase, int triBase, byte vertCount, byte triCount)
+        /** 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)
         {
             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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -23,8 +23,6 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {
-    using static DtDetour;
-
     /**
  * <b>The Default Implementation</b>
  *
@@ -52,7 +50,7 @@ namespace DotRecast.Detour
  */
     public class DtQueryDefaultFilter : IDtQueryFilter
     {
-        private readonly float[] m_areaCost = new float[DT_MAX_AREAS]; //< Cost per area type. (Used by default implementation.)
+        private readonly float[] m_areaCost = new float[DtNavMesh.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.) 
 
@@ -60,7 +58,7 @@ namespace DotRecast.Detour
         {
             m_includeFlags = 0xffff;
             m_excludeFlags = 0;
-            for (int i = 0; i < DT_MAX_AREAS; ++i)
+            for (int i = 0; i < DtNavMesh.DT_MAX_AREAS; ++i)
             {
                 m_areaCost[i] = 1.0f;
             }
@@ -70,12 +68,12 @@ namespace DotRecast.Detour
         {
             m_includeFlags = includeFlags;
             m_excludeFlags = excludeFlags;
-            for (int i = 0; i < Math.Min(DT_MAX_AREAS, areaCost.Length); ++i)
+            for (int i = 0; i < Math.Min(DtNavMesh.DT_MAX_AREAS, areaCost.Length); ++i)
             {
                 m_areaCost[i] = areaCost[i];
             }
 
-            for (int i = areaCost.Length; i < DT_MAX_AREAS; ++i)
+            for (int i = areaCost.Length; i < DtNavMesh.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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -38,16 +38,9 @@ namespace DotRecast.Detour
         public int hitEdgeIndex;
 
         /// Pointer to an array of reference ids of the visited polygons. [opt]
-        public long[] path;
+        public List<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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -25,16 +25,11 @@ 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, byte flags, long refs)
+        public DtStraightPath(RcVec3f pos, int 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 byte DT_STRAIGHTPATH_START = 0x01; //< The vertex is the start position in the path.
+        public const int 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 int 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.
+        public const int 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

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

src/DotRecast.Detour/DtUtils.cs

@@ -1,10 +1,13 @@
-using System;
+using System;
+using DotRecast.Core;
 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--;
@@ -36,6 +39,24 @@ 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)]
@@ -43,12 +64,12 @@ 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(ref RcVec3i amin, ref RcVec3i amax, ref RcVec3i bmin, ref RcVec3i bmax)
+        public static bool OverlapQuantBounds(int[] amin, int[] amax, int[] bmin, int[] bmax)
         {
             bool overlap = true;
-            overlap = (amin.X > bmax.X || amax.X < bmin.X) ? false : overlap;
+            overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap;
-            overlap = (amin.Y > bmax.Y || amax.Y < bmin.Y) ? false : overlap;
+            overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap;
-            overlap = (amin.Z > bmax.Z || amax.Z < bmin.Z) ? false : overlap;
+            overlap = (amin[2] > bmax[2] || amax[2] < bmin[2]) ? false : overlap;
             return overlap;
         }
 
@@ -76,7 +97,7 @@ namespace DotRecast.Detour
         /// @par
         ///
         /// All vertices are projected onto the xz-plane, so the y-values are ignored.
-        public static bool OverlapPolyPoly2D(Span<float> polya, int npolya, Span<float> polyb, int npolyb)
+        public static bool OverlapPolyPoly2D(float[] polya, int npolya, float[] polyb, int npolyb)
         {
             const float eps = 1e-4f;
             for (int i = 0, j = npolya - 1; i < npolya; j = i++)
@@ -124,7 +145,7 @@ 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(Span<float> verts, int a, int b, int c)
+        public static float TriArea2D(float[] verts, int a, int b, int c)
         {
             float abx = verts[b] - verts[a];
             float abz = verts[b + 2] - verts[a + 2];
@@ -144,7 +165,7 @@ namespace DotRecast.Detour
 
         // Returns a random point in a convex polygon.
         // Adapted from Graphics Gems article.
-        public static void RandomPointInConvexPoly(Span<float> pts, int npts, Span<float> areas, float s, float t, out RcVec3f @out)
+        public static RcVec3f RandomPointInConvexPoly(float[] pts, int npts, float[] areas, float s, float t)
         {
             // Calc triangle araes
             float areasum = 0.0f;
@@ -181,7 +202,7 @@ namespace DotRecast.Detour
             int pb = (tri - 1) * 3;
             int pc = tri * 3;
 
-            @out = new RcVec3f()
+            return 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],
@@ -225,13 +246,13 @@ namespace DotRecast.Detour
             return false;
         }
 
-        public static RcVec2f ProjectPoly(RcVec3f axis, Span<float> poly, int npoly)
+        public static RcVec2f ProjectPoly(RcVec3f axis, float[] poly, int npoly)
         {
             float rmin, rmax;
-            rmin = rmax = axis.Dot2D(new RcVec3f(poly));
+            rmin = rmax = axis.Dot2D(poly, 0);
             for (int i = 1; i < npoly; ++i)
             {
-                float d = axis.Dot2D(RcVec.Create(poly, i * 3));
+                float d = axis.Dot2D(poly, i * 3);
                 rmin = Math.Min(rmin, d);
                 rmax = Math.Max(rmax, d);
             }
@@ -246,7 +267,7 @@ namespace DotRecast.Detour
         /// @par
         ///
         /// All points are projected onto the xz-plane, so the y-values are ignored.
-        public static bool PointInPolygon(RcVec3f pt, Span<float> verts, int nverts)
+        public static bool PointInPolygon(RcVec3f pt, float[] verts, int nverts)
         {
             // TODO: Replace pnpoly with triArea2D tests?
             int i, j;
@@ -265,7 +286,7 @@ namespace DotRecast.Detour
             return c;
         }
 
-        public static bool DistancePtPolyEdgesSqr(RcVec3f pt, Span<float> verts, int nverts, Span<float> ed, Span<float> et)
+        public static bool DistancePtPolyEdgesSqr(RcVec3f pt, float[] verts, int nverts, float[] ed, float[] et)
         {
             // TODO: Replace pnpoly with triArea2D tests?
             int i, j;
@@ -286,10 +307,10 @@ namespace DotRecast.Detour
             return c;
         }
 
-        public static float DistancePtSegSqr2D(RcVec3f pt, Span<float> verts, int p, int q, out float t)
+        public static float DistancePtSegSqr2D(RcVec3f pt, float[] verts, int p, int q, out float t)
         {
-            var vp = RcVec.Create(verts, p);
+            var vp = RcVecUtils.Create(verts, p);
-            var vq = RcVec.Create(verts, q);
+            var vq = RcVecUtils.Create(verts, q);
             return DistancePtSegSqr2D(pt, vp, vq, out t);
         }
 
@@ -321,7 +342,7 @@ namespace DotRecast.Detour
         }
 
         public static bool IntersectSegmentPoly2D(RcVec3f p0, RcVec3f p1,
-            Span<RcVec3f> verts, int nverts,
+            RcVec3f[] verts, int nverts,
             out float tmin, out float tmax,
             out int segMin, out int segMax)
         {
@@ -341,8 +362,8 @@ namespace DotRecast.Detour
                 RcVec3f vpi = verts[i];
                 var edge = RcVec3f.Subtract(vpi, vpj);
                 var diff = RcVec3f.Subtract(p0v, vpj);
-                float n = RcVec.Perp2D(edge, diff);
+                float n = RcVecUtils.Perp2D(edge, diff);
-                float d = RcVec.Perp2D(dir, edge);
+                float d = RcVecUtils.Perp2D(dir, edge);
                 if (MathF.Abs(d) < EPS)
                 {
                     // S is nearly parallel to this edge
@@ -404,14 +425,14 @@ namespace DotRecast.Detour
             RcVec3f u = RcVec3f.Subtract(aq, ap);
             RcVec3f v = RcVec3f.Subtract(bq, bp);
             RcVec3f w = RcVec3f.Subtract(ap, bp);
-            float d = RcVec.PerpXZ(u, v);
+            float d = RcVecUtils.PerpXZ(u, v);
             if (MathF.Abs(d) < 1e-6f)
             {
                 return false;
             }
 
-            s = RcVec.PerpXZ(v, w) / d;
+            s = RcVecUtils.PerpXZ(v, w) / d;
-            t = RcVec.PerpXZ(u, w) / d;
+            t = RcVecUtils.PerpXZ(u, w) / d;
 
             return true;
         }

src/DotRecast.Detour/IDtPolyQuery.cs

@@ -1,14 +1,7 @@
-using System;
-
 namespace DotRecast.Detour
 {
-    /// Provides custom polygon query behavior.
-    /// Used by dtNavMeshQuery::queryPolygons.
-    /// @ingroup detour
     public interface IDtPolyQuery
     {
-        /// Called for each batch of unique polygons touched by the search area in dtNavMeshQuery::queryPolygons.
+        void Process(DtMeshTile tile, DtPoly poly, long refs);
-        /// 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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -24,6 +24,6 @@ namespace DotRecast.Detour
 {
     public interface IDtPolygonByCircleConstraint
     {
-        Span<float> Apply(Span<float> polyVerts, RcVec3f circleCenter, float radius, Span<float> resultBuffer);
+        float[] Apply(float[] polyVerts, RcVec3f circleCenter, float radius);
     }
 }

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

src/DotRecast.Detour/IDtQueryHeuristic.cs

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

src/DotRecast.Detour/Io/DtMeshDataReader.cs

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

src/DotRecast.Detour/Io/DtMeshDataWriter.cs

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

src/DotRecast.Detour/Io/DtMeshSetReader.cs

@@ -22,8 +22,6 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.Io
 {
-    using static DtDetour;
-
     public class DtMeshSetReader
     {
         private readonly DtMeshDataReader meshReader = new DtMeshDataReader();
@@ -31,7 +29,7 @@ namespace DotRecast.Detour.Io
 
         public DtNavMesh Read(BinaryReader @is, int maxVertPerPoly)
         {
-            return Read(RcIO.ToByteBuffer(@is), maxVertPerPoly, false);
+            return Read(IOUtils.ToByteBuffer(@is), maxVertPerPoly, false);
         }
 
         public DtNavMesh Read(RcByteBuffer bb, int maxVertPerPoly)
@@ -41,7 +39,7 @@ namespace DotRecast.Detour.Io
 
         public DtNavMesh Read32Bit(BinaryReader @is, int maxVertPerPoly)
         {
-            return Read(RcIO.ToByteBuffer(@is), maxVertPerPoly, true);
+            return Read(IOUtils.ToByteBuffer(@is), maxVertPerPoly, true);
         }
 
         public DtNavMesh Read32Bit(RcByteBuffer bb, int maxVertPerPoly)
@@ -51,7 +49,7 @@ namespace DotRecast.Detour.Io
 
         public DtNavMesh Read(BinaryReader @is)
         {
-            return Read(RcIO.ToByteBuffer(@is));
+            return Read(IOUtils.ToByteBuffer(@is));
         }
 
         public DtNavMesh Read(RcByteBuffer bb)
@@ -68,8 +66,7 @@ namespace DotRecast.Detour.Io
             }
 
             bool cCompatibility = header.version == NavMeshSetHeader.NAVMESHSET_VERSION;
-            DtNavMesh mesh = new DtNavMesh();
+            DtNavMesh mesh = new DtNavMesh(header.option, header.maxVertsPerPoly);
-            mesh.Init(header.option, header.maxVertsPerPoly);
             ReadTiles(bb, is32Bit, ref header, cCompatibility, mesh);
             return mesh;
         }
@@ -80,7 +77,7 @@ namespace DotRecast.Detour.Io
             header.magic = bb.GetInt();
             if (header.magic != NavMeshSetHeader.NAVMESHSET_MAGIC)
             {
-                header.magic = RcIO.SwapEndianness(header.magic);
+                header.magic = IOUtils.SwapEndianness(header.magic);
                 if (header.magic != NavMeshSetHeader.NAVMESHSET_MAGIC)
                 {
                     throw new IOException("Invalid magic " + header.magic);
@@ -134,7 +131,7 @@ namespace DotRecast.Detour.Io
                 }
 
                 DtMeshData data = meshReader.Read(bb, mesh.GetMaxVertsPerPoly(), is32Bit);
-                mesh.AddTile(data, i, tileHeader.tileRef, out _);
+                mesh.AddTile(data, i, tileHeader.tileRef);
             }
         }
 
@@ -150,7 +147,7 @@ namespace DotRecast.Detour.Io
             int salt = ((refs >> (m_polyBits + m_tileBits)) & saltMask);
             int it = ((refs >> m_polyBits) & tileMask);
             int ip = refs & polyMask;
-            return EncodePolyId(salt, it, ip);
+            return DtNavMesh.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
+    public class DtMeshSetWriter : DtWriter
     {
         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)
         {
-            RcIO.Write(stream, NavMeshSetHeader.NAVMESHSET_MAGIC, order);
+            Write(stream, NavMeshSetHeader.NAVMESHSET_MAGIC, order);
-            RcIO.Write(stream, cCompatibility ? NavMeshSetHeader.NAVMESHSET_VERSION : NavMeshSetHeader.NAVMESHSET_VERSION_RECAST4J, order);
+            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++;
             }
 
-            RcIO.Write(stream, numTiles, order);
+            Write(stream, numTiles, order);
             paramWriter.Write(stream, mesh.GetParams(), order);
             if (!cCompatibility)
             {
-                RcIO.Write(stream, mesh.GetMaxVertsPerPoly(), order);
+                Write(stream, mesh.GetMaxVertsPerPoly(), order);
             }
         }
 
@@ -77,11 +77,11 @@ namespace DotRecast.Detour.Io
 
                 byte[] ba = msw.ToArray();
                 tileHeader.dataSize = ba.Length;
-                RcIO.Write(stream, tileHeader.tileRef, order);
+                Write(stream, tileHeader.tileRef, order);
-                RcIO.Write(stream, tileHeader.dataSize, order);
+                Write(stream, tileHeader.dataSize, order);
                 if (cCompatibility)
                 {
-                    RcIO.Write(stream, 0, order); // C struct padding
+                    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
+    public class DtNavMeshParamWriter : DtWriter
     {
         public void Write(BinaryWriter stream, DtNavMeshParams option, RcByteOrder order)
         {
-            RcIO.Write(stream, option.orig.X, order);
+            Write(stream, option.orig.X, order);
-            RcIO.Write(stream, option.orig.Y, order);
+            Write(stream, option.orig.Y, order);
-            RcIO.Write(stream, option.orig.Z, order);
+            Write(stream, option.orig.Z, order);
-            RcIO.Write(stream, option.tileWidth, order);
+            Write(stream, option.tileWidth, order);
-            RcIO.Write(stream, option.tileHeight, order);
+            Write(stream, option.tileHeight, order);
-            RcIO.Write(stream, option.maxTiles, order);
+            Write(stream, option.maxTiles, order);
-            RcIO.Write(stream, option.maxPolys, order);
+            Write(stream, option.maxPolys, order);
         }
     }
 }

src/DotRecast.Detour/Io/DtWriter.cs

@@ -0,0 +1,98 @@
+/*
+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

@@ -0,0 +1,64 @@
+/*
+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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -32,7 +32,6 @@ namespace DotRecast.Recast.Demo
         private DtNavMesh _navMesh;
         private DtNavMeshQuery _navMeshQuery;
         private readonly RcNavMeshBuildSettings _settings;
-        private RcConfig _cfg;
         private IList<RcBuilderResult> _recastResults;
         private bool _changed;
 
@@ -57,11 +56,6 @@ namespace DotRecast.Recast.Demo
             return _geom;
         }
 
-        public RcConfig GetRecastConfig()
-        {
-            return _cfg;
-        }
-
         public IList<RcBuilderResult> GetRecastResults()
         {
             return _recastResults;
@@ -92,10 +86,9 @@ namespace DotRecast.Recast.Demo
             _changed = changed;
         }
 
-        public void Update(DemoInputGeomProvider geom, RcConfig cfg, IList<RcBuilderResult> recastResults, DtNavMesh navMesh)
+        public void Update(DemoInputGeomProvider geom, IList<RcBuilderResult> recastResults, DtNavMesh navMesh)
         {
             _geom = geom;
-            _cfg = cfg;
             _recastResults = recastResults;
             _navMesh = navMesh;
             SetQuery(navMesh);

src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.asmdef

@@ -1,44 +0,0 @@
-{
-    "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.Demo/DotRecast.Recast.Demo.csproj

@@ -20,15 +20,15 @@
   </ItemGroup>
 
   <ItemGroup>
-    <PackageReference Include="Serilog" Version="4.1.0" />
+    <PackageReference Include="Serilog" Version="3.1.1" />
-    <PackageReference Include="Serilog.Settings.Configuration" Version="8.0.4" />
+    <PackageReference Include="Serilog.Settings.Configuration" Version="8.0.0" />
-    <PackageReference Include="Serilog.Enrichers.Thread" Version="4.0.0" />
+    <PackageReference Include="Serilog.Enrichers.Thread" Version="3.1.0"/>
-    <PackageReference Include="Serilog.Sinks.Async" Version="2.1.0" />
+    <PackageReference Include="Serilog.Sinks.Async" Version="1.5.0"/>
-    <PackageReference Include="Serilog.Sinks.Console" Version="6.0.0" />
+    <PackageReference Include="Serilog.Sinks.Console" Version="5.0.1" />
-    <PackageReference Include="Serilog.Sinks.File" Version="6.0.0" />
+    <PackageReference Include="Serilog.Sinks.File" Version="5.0.0"/>
-    <PackageReference Include="K4os.Compression.LZ4" Version="1.3.8" />
+    <PackageReference Include="K4os.Compression.LZ4" Version="1.3.6"/>
-    <PackageReference Include="Silk.NET" Version="2.22.0" />
+    <PackageReference Include="Silk.NET" Version="2.20.0" />
-    <PackageReference Include="Silk.NET.OpenGL.Extensions.ImGui" Version="2.22.0" />
+    <PackageReference Include="Silk.NET.OpenGL.Extensions.ImGui" Version="2.20.0" />
   </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() : this(512) { }
+    public ArrayBuffer()
-
-    public ArrayBuffer(int capacity)
     {
-        if (capacity <= 0)
-            throw new ArgumentOutOfRangeException();
-
         _size = 0;
-        _items = new T[capacity];
+        _items = Array.Empty<T>();
     }
 
     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 Span<T> AsArray()
+    public T[] AsArray()
     {
-        return _items.AsSpan(0, _size);
+        return _items;
     }
 }

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -326,9 +326,9 @@ public class DebugDraw
         }
     }
 
-    private const int NUM_ARC_PTS = 8;
+    private static readonly int NUM_ARC_PTS = 8;
-    private const float PAD = 0.05f;
+    private static readonly float PAD = 0.05f;
-    private const float ARC_PTS_SCALE = (1.0f - PAD * 2) / NUM_ARC_PTS;
+    private static readonly 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(Span<float> bounds)
+    public bool FrustumTest(float[] bounds)
     {
         foreach (float[] plane in frustumPlanes)
         {
@@ -748,6 +748,6 @@ public class DebugDraw
 
     public bool FrustumTest(RcVec3f bmin, RcVec3f bmax)
     {
-        return FrustumTest(stackalloc float[] { bmin.X, bmin.Y, bmin.Z, bmax.X, bmax.Y, bmax.Z });
+        return FrustumTest(new 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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -32,18 +32,15 @@ public class GLCheckerTexture
         _gl = gl;
     }
 
-    public unsafe void Release()
+    public void Release()
     {
         if (m_texId != 0)
         {
-            fixed (uint* p = &m_texId)
+            _gl.DeleteTextures(1, m_texId);
-            {
-                _gl.DeleteTextures(1, p);
-            }
         }
     }
 
-    public unsafe void Bind()
+    public void Bind()
     {
         if (m_texId == 0)
         {
@@ -53,11 +50,7 @@ public class GLCheckerTexture
             uint TSIZE = 64;
             int[] data = new int[TSIZE * TSIZE];
 
-            fixed (uint* p = &m_texId)
+            _gl.GenTextures(1, out m_texId);
-            {
-                _gl.GenTextures(1, p);
-            }
-
             _gl.BindTexture(GLEnum.Texture2D, m_texId);
 
             int level = 0;
@@ -77,10 +70,8 @@ public class GLCheckerTexture
                 level++;
             }
 
-            uint linearMipmapNearest = (uint)GLEnum.LinearMipmapNearest;
+            _gl.TexParameterI(GLEnum.Texture2D, GLEnum.TextureMinFilter, (uint)GLEnum.LinearMipmapNearest);
-            uint linear = (uint)GLEnum.Linear;
+            _gl.TexParameterI(GLEnum.Texture2D, GLEnum.TextureMagFilter, (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

@@ -1,6 +1,5 @@
 /*
-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
@@ -69,8 +68,8 @@ 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
-        Span<float> m = stackalloc float[16], A = stackalloc float[16];
+        float[] m = new float[16], A = new float[16];
-        Span<float> @in = stackalloc float[4], @out = stackalloc float[4];
+        float[] @in = new float[4], @out = new float[4];
         // Calculation for inverting a matrix, compute projection x modelview
         // and store in A[16]
         MultiplyMatrices4by4OpenGL_FLOAT(A, projection, modelview);
@@ -93,7 +92,7 @@ public static class GLU
         return 1;
     }
 
-    static void MultiplyMatrices4by4OpenGL_FLOAT(Span<float> result, float[] matrix1, float[] matrix2)
+    static void MultiplyMatrices4by4OpenGL_FLOAT(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];
@@ -116,7 +115,7 @@ 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(Span<float> resultvector, Span<float> matrix, Span<float> pvector)
+    static void MultiplyMatrixByVector4by4OpenGL_FLOAT(float[] resultvector, float[] matrix, 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];
@@ -125,13 +124,15 @@ public static class GLU
     }
 
     // This code comes directly from GLU except that it is for float
-    static int GlhInvertMatrixf2(Span<float> m, Span<float> @out)
+    static int GlhInvertMatrixf2(float[] m, float[] @out)
     {
+        float[][] wtmp = RcArrays.Of<float>(4, 8);
         float m0, m1, m2, m3, s;
-        Span<float> r0 = stackalloc float[8];
+        float[] r0, r1, r2, r3;
-        Span<float> r1 = stackalloc float[8];
+        r0 = wtmp[0];
-        Span<float> r2 = stackalloc float[8];
+        r1 = wtmp[1];
-        Span<float> r3 = stackalloc float[8];
+        r2 = wtmp[2];
+        r3 = wtmp[3];
         r0[0] = MAT(m, 0, 0);
         r0[1] = MAT(m, 0, 1);
         r0[2] = MAT(m, 0, 2);
@@ -159,28 +160,27 @@ public static class GLU
         /* choose pivot - or die */
         if (MathF.Abs(r3[0]) > MathF.Abs(r2[0]))
         {
-            Span<float> r = r2;
+            float[] r = r2;
             r2 = r3;
             r3 = r;
         }
 
         if (MathF.Abs(r2[0]) > MathF.Abs(r1[0]))
         {
-            Span<float> r = r2;
+            float[] r = r2;
             r2 = r1;
             r1 = r;
         }
 
         if (MathF.Abs(r1[0]) > MathF.Abs(r0[0]))
         {
-            Span<float> r = r1;
+            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]))
         {
-            Span<float> r = r2;
+            float[] r = r2;
             r2 = r3;
             r3 = r;
         }
 
         if (MathF.Abs(r2[1]) > MathF.Abs(r1[1]))
         {
-            Span<float> r = r2;
+            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]))
         {
-            Span<float> r = r2;
+            float[] r = r2;
             r2 = r3;
             r3 = r;
         }
@@ -358,12 +358,12 @@ public static class GLU
         return 1;
     }
 
-    static float MAT(Span<float> m, int r, int c)
+    static float MAT(float[] m, int r, int c)
     {
         return m[(c) * 4 + (r)];
     }
 
-    static void MAT(Span<float> m, int r, int c, float v)
+    static void MAT(float[] m, int r, int c, float v)
     {
         m[(c) * 4 + (r)] = v;
     }

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

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

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

@@ -1,11 +1,10 @@
 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;
@@ -20,8 +19,8 @@ public class ModernOpenGLDraw : IOpenGLDraw
     private float fogEnd;
     private bool fogEnabled;
     private int uniformViewMatrix;
-    private readonly ArrayBuffer<OpenGLVertex> vertices = new(512);
+    private readonly ArrayBuffer<OpenGLVertex> vertices = new();
-    private readonly ArrayBuffer<int> elements = new(512);
+    private readonly ArrayBuffer<int> elements = new();
     private GLCheckerTexture _texture;
     private readonly float[] _viewMatrix = new float[16];
     private readonly float[] _projectionMatrix = new float[16];
@@ -37,42 +36,36 @@ public class ModernOpenGLDraw : IOpenGLDraw
 
     public unsafe void Init()
     {
-        const string SHADER_VERSION = "#version 400\n";
+        string SHADER_VERSION = "#version 400\n";
-        const string vertex_shader = $@"
+        string vertex_shader = SHADER_VERSION + "uniform mat4 ProjMtx;\n" //
-{SHADER_VERSION}
+                                              + "uniform mat4 ViewMtx;\n" //
-uniform mat4 ProjMtx;
+                                              + "in vec3 Position;\n" //
-uniform mat4 ViewMtx;
+                                              + "in vec2 TexCoord;\n" //
-in vec3 Position;
+                                              + "in vec4 Color;\n" //
-in vec2 TexCoord;
+                                              + "out vec2 Frag_UV;\n" //
-in vec4 Color;
+                                              + "out vec4 Frag_Color;\n" //
-out vec2 Frag_UV;
+                                              + "out float Frag_Depth;\n" //
-out vec4 Frag_Color;
+                                              + "void main() {\n" //
-out float Frag_Depth;
+                                              + "   Frag_UV = TexCoord;\n" //
-void main() {{
+                                              + "   Frag_Color = Color;\n" //
-   Frag_UV = TexCoord;
+                                              + "   vec4 VSPosition = ViewMtx * vec4(Position, 1);\n" //
-   Frag_Color = Color;
+                                              + "   Frag_Depth = -VSPosition.z;\n" //
-   vec4 VSPosition = ViewMtx * vec4(Position, 1);
+                                              + "   gl_Position = ProjMtx * VSPosition;\n" //
-   Frag_Depth = -VSPosition.z;
+                                              + "}\n";
-   gl_Position = ProjMtx * VSPosition;
+        string fragment_shader = SHADER_VERSION + "precision mediump float;\n" //
-}}
+                                                + "uniform sampler2D Texture;\n" //
-";
+                                                + "uniform float UseTexture;\n" //
-        const string fragment_shader = $@"
+                                                + "uniform float EnableFog;\n" //
-{SHADER_VERSION}
+                                                + "uniform float FogStart;\n" //
-precision mediump float;
+                                                + "uniform float FogEnd;\n" //
-uniform sampler2D Texture;
+                                                + "const vec4 FogColor = vec4(0.3f, 0.3f, 0.32f, 1.0f);\n" //
-uniform float UseTexture;
+                                                + "in vec2 Frag_UV;\n" //
-uniform float EnableFog;
+                                                + "in vec4 Frag_Color;\n" //
-uniform float FogStart;
+                                                + "in float Frag_Depth;\n" //
-uniform float FogEnd;
+                                                + "out vec4 Out_Color;\n" //
-const vec4 FogColor = vec4(0.3f, 0.3f, 0.32f, 1.0f);
+                                                + "void main(){\n" //
-in vec2 Frag_UV;
+                                                + "   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" //
-in vec4 Frag_Color;
+                                                + "}\n";
-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);
@@ -157,10 +150,6 @@ void main(){{
         _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()
@@ -202,18 +191,35 @@ void main(){{
         // GlBufferData(GL_ARRAY_BUFFER, MAX_VERTEX_BUFFER, GL_STREAM_DRAW);
         // GlBufferData(GL_ELEMENT_ARRAY_BUFFER, MAX_ELEMENT_BUFFER, GL_STREAM_DRAW);
 
-        _gl.BufferData<OpenGLVertex>(GLEnum.ArrayBuffer, vertices.AsArray(), GLEnum.DynamicDraw);
+        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);
+            }
 
             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)
                 {
-                elements.Add(i);
+                    bw.Write(i);
-                elements.Add(i + 1);
+                    bw.Write(i + 1);
-                elements.Add(i + 2);
+                    bw.Write(i + 2);
-                elements.Add(i);
+                    bw.Write(i);
-                elements.Add(i + 2);
+                    bw.Write(i + 2);
-                elements.Add(i + 3);
+                    bw.Write(i + 3);
                 }
             }
             else
@@ -222,10 +228,16 @@ void main(){{
                 {
                     elements.Add(i);
                 }
+
+                fixed (void* e = elements.AsArray())
+                {
+                    System.Buffer.MemoryCopy(e, pElems, eboSize, eboSize);
+                }
             }
 
-        _gl.BufferData<int>(GLEnum.ElementArrayBuffer, elements.AsArray(), GLEnum.DynamicDraw);
+            _gl.UnmapBuffer(GLEnum.ElementArrayBuffer);
-
+            _gl.UnmapBuffer(GLEnum.ArrayBuffer);
+        }
         if (_texture != null)
         {
             _texture.Bind();
@@ -259,22 +271,15 @@ void main(){{
         _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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -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.RcRecast;
+using static DotRecast.Recast.RcCommons;
 
 namespace DotRecast.Recast.Demo.Draw;
 
 public class NavMeshRenderer
 {
     private readonly RecastDebugDraw _debugDraw;
-    private readonly int _navMeshDrawFlags = RecastDebugDraw.DU_DRAWNAVMESH_OFFMESHCONS | RecastDebugDraw.DU_DRAWNAVMESH_CLOSEDLIST;
+    private readonly int _navMeshDrawFlags = RecastDebugDraw.DRAWNAVMESH_OFFMESHCONS | RecastDebugDraw.DRAWNAVMESH_CLOSEDLIST;
 
     public NavMeshRenderer(RecastDebugDraw debugDraw)
     {
@@ -123,80 +123,80 @@ public class NavMeshRenderer
 
         foreach (RcBuilderResult rcBuilderResult in rcBuilderResults)
         {
-            if (rcBuilderResult.CompactHeightfield != null && drawMode == DrawMode.DRAWMODE_COMPACT)
+            if (rcBuilderResult.GetCompactHeightfield() != null && drawMode == DrawMode.DRAWMODE_COMPACT)
             {
-                _debugDraw.DebugDrawCompactHeightfieldSolid(rcBuilderResult.CompactHeightfield);
+                _debugDraw.DebugDrawCompactHeightfieldSolid(rcBuilderResult.GetCompactHeightfield());
             }
 
-            if (rcBuilderResult.CompactHeightfield != null && drawMode == DrawMode.DRAWMODE_COMPACT_DISTANCE)
+            if (rcBuilderResult.GetCompactHeightfield() != null && drawMode == DrawMode.DRAWMODE_COMPACT_DISTANCE)
             {
-                _debugDraw.DebugDrawCompactHeightfieldDistance(rcBuilderResult.CompactHeightfield);
+                _debugDraw.DebugDrawCompactHeightfieldDistance(rcBuilderResult.GetCompactHeightfield());
             }
 
-            if (rcBuilderResult.CompactHeightfield != null && drawMode == DrawMode.DRAWMODE_COMPACT_REGIONS)
+            if (rcBuilderResult.GetCompactHeightfield() != null && drawMode == DrawMode.DRAWMODE_COMPACT_REGIONS)
             {
-                _debugDraw.DebugDrawCompactHeightfieldRegions(rcBuilderResult.CompactHeightfield);
+                _debugDraw.DebugDrawCompactHeightfieldRegions(rcBuilderResult.GetCompactHeightfield());
             }
 
-            if (rcBuilderResult.SolidHeightfiled != null && drawMode == DrawMode.DRAWMODE_VOXELS)
+            if (rcBuilderResult.GetSolidHeightfield() != null && drawMode == DrawMode.DRAWMODE_VOXELS)
             {
                 _debugDraw.Fog(true);
-                _debugDraw.DebugDrawHeightfieldSolid(rcBuilderResult.SolidHeightfiled);
+                _debugDraw.DebugDrawHeightfieldSolid(rcBuilderResult.GetSolidHeightfield());
                 _debugDraw.Fog(false);
             }
 
-            if (rcBuilderResult.SolidHeightfiled != null && drawMode == DrawMode.DRAWMODE_VOXELS_WALKABLE)
+            if (rcBuilderResult.GetSolidHeightfield() != null && drawMode == DrawMode.DRAWMODE_VOXELS_WALKABLE)
             {
                 _debugDraw.Fog(true);
-                _debugDraw.DebugDrawHeightfieldWalkable(rcBuilderResult.SolidHeightfiled);
+                _debugDraw.DebugDrawHeightfieldWalkable(rcBuilderResult.GetSolidHeightfield());
                 _debugDraw.Fog(false);
             }
 
-            if (rcBuilderResult.ContourSet != null && drawMode == DrawMode.DRAWMODE_RAW_CONTOURS)
+            if (rcBuilderResult.GetContourSet() != null && drawMode == DrawMode.DRAWMODE_RAW_CONTOURS)
             {
                 _debugDraw.DepthMask(false);
-                _debugDraw.DebugDrawRawContours(rcBuilderResult.ContourSet, 1f);
+                _debugDraw.DebugDrawRawContours(rcBuilderResult.GetContourSet(), 1f);
                 _debugDraw.DepthMask(true);
             }
 
-            if (rcBuilderResult.ContourSet != null && drawMode == DrawMode.DRAWMODE_BOTH_CONTOURS)
+            if (rcBuilderResult.GetContourSet() != null && drawMode == DrawMode.DRAWMODE_BOTH_CONTOURS)
             {
                 _debugDraw.DepthMask(false);
-                _debugDraw.DebugDrawRawContours(rcBuilderResult.ContourSet, 0.5f);
+                _debugDraw.DebugDrawRawContours(rcBuilderResult.GetContourSet(), 0.5f);
-                _debugDraw.DebugDrawContours(rcBuilderResult.ContourSet);
+                _debugDraw.DebugDrawContours(rcBuilderResult.GetContourSet());
                 _debugDraw.DepthMask(true);
             }
 
-            if (rcBuilderResult.ContourSet != null && drawMode == DrawMode.DRAWMODE_CONTOURS)
+            if (rcBuilderResult.GetContourSet() != null && drawMode == DrawMode.DRAWMODE_CONTOURS)
             {
                 _debugDraw.DepthMask(false);
-                _debugDraw.DebugDrawContours(rcBuilderResult.ContourSet);
+                _debugDraw.DebugDrawContours(rcBuilderResult.GetContourSet());
                 _debugDraw.DepthMask(true);
             }
 
-            if (rcBuilderResult.CompactHeightfield != null && drawMode == DrawMode.DRAWMODE_REGION_CONNECTIONS)
+            if (rcBuilderResult.GetCompactHeightfield() != null && drawMode == DrawMode.DRAWMODE_REGION_CONNECTIONS)
             {
-                _debugDraw.DebugDrawCompactHeightfieldRegions(rcBuilderResult.CompactHeightfield);
+                _debugDraw.DebugDrawCompactHeightfieldRegions(rcBuilderResult.GetCompactHeightfield());
                 _debugDraw.DepthMask(false);
-                if (rcBuilderResult.ContourSet != null)
+                if (rcBuilderResult.GetContourSet() != null)
                 {
-                    _debugDraw.DebugDrawRegionConnections(rcBuilderResult.ContourSet);
+                    _debugDraw.DebugDrawRegionConnections(rcBuilderResult.GetContourSet());
                 }
 
                 _debugDraw.DepthMask(true);
             }
 
-            if (rcBuilderResult.Mesh != null && drawMode == DrawMode.DRAWMODE_POLYMESH)
+            if (rcBuilderResult.GetMesh() != null && drawMode == DrawMode.DRAWMODE_POLYMESH)
             {
                 _debugDraw.DepthMask(false);
-                _debugDraw.DebugDrawPolyMesh(rcBuilderResult.Mesh);
+                _debugDraw.DebugDrawPolyMesh(rcBuilderResult.GetMesh());
                 _debugDraw.DepthMask(true);
             }
 
-            if (rcBuilderResult.MeshDetail != null && drawMode == DrawMode.DRAWMODE_POLYMESH_DETAIL)
+            if (rcBuilderResult.GetMeshDetail() != null && drawMode == DrawMode.DRAWMODE_POLYMESH_DETAIL)
             {
                 _debugDraw.DepthMask(false);
-                _debugDraw.DebugDrawPolyMeshDetail(rcBuilderResult.MeshDetail);
+                _debugDraw.DebugDrawPolyMeshDetail(rcBuilderResult.GetMeshDetail());
                 _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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -19,6 +19,7 @@ freely, subject to the following restrictions:
 */
 
 using System;
+using System.Collections.Generic;
 using DotRecast.Core.Numerics;
 using DotRecast.Detour;
 using DotRecast.Recast.Toolset.Builder;
@@ -26,13 +27,11 @@ using Silk.NET.OpenGL;
 
 namespace DotRecast.Recast.Demo.Draw;
 
-using static DtDetour;
-
 public class RecastDebugDraw : DebugDraw
 {
-    public const int DU_DRAWNAVMESH_OFFMESHCONS = 0x01;
+    public static readonly int DRAWNAVMESH_OFFMESHCONS = 0x01;
-    public const int DU_DRAWNAVMESH_CLOSEDLIST = 0x02;
+    public static readonly int DRAWNAVMESH_CLOSEDLIST = 0x02;
-    public const int DU_DRAWNAVMESH_COLOR_TILES = 0x04;
+    public static readonly int DRAWNAVMESH_COLOR_TILES = 0x04;
 
     public RecastDebugDraw(GL gl) : base(gl)
     {
@@ -102,7 +101,7 @@ public class RecastDebugDraw : DebugDraw
 
     public void DebugDrawNavMeshWithClosedList(DtNavMesh mesh, DtNavMeshQuery query, int flags)
     {
-        DtNavMeshQuery q = (flags & DU_DRAWNAVMESH_CLOSEDLIST) != 0 ? query : null;
+        DtNavMeshQuery q = (flags & DRAWNAVMESH_CLOSEDLIST) != 0 ? query : null;
         for (int i = 0; i < mesh.GetMaxTiles(); ++i)
         {
             DtMeshTile tile = mesh.GetTile(i);
@@ -117,7 +116,7 @@ public class RecastDebugDraw : DebugDraw
     {
         long @base = mesh.GetPolyRefBase(tile);
 
-        int tileNum = DecodePolyIdTile(@base);
+        int tileNum = DtNavMesh.DecodePolyIdTile(@base);
         int tileColor = DuIntToCol(tileNum, 128);
         DepthMask(false);
         Begin(DebugDrawPrimitives.TRIS);
@@ -136,7 +135,7 @@ public class RecastDebugDraw : DebugDraw
             }
             else
             {
-                if ((flags & DU_DRAWNAVMESH_COLOR_TILES) != 0)
+                if ((flags & DRAWNAVMESH_COLOR_TILES) != 0)
                 {
                     col = tileColor;
                 }
@@ -164,7 +163,7 @@ public class RecastDebugDraw : DebugDraw
         // Draw outer poly boundaries
         DrawPolyBoundaries(tile, DuRGBA(0, 48, 64, 220), 2.5f, false);
 
-        if ((flags & DU_DRAWNAVMESH_OFFMESHCONS) != 0)
+        if ((flags & DRAWNAVMESH_OFFMESHCONS) != 0)
         {
             Begin(DebugDrawPrimitives.LINES, 2.0f);
             for (int i = 0; i < tile.data.header.polyCount; ++i)
@@ -199,7 +198,7 @@ public class RecastDebugDraw : DebugDraw
                 // Check to see if start and end end-points have links.
                 bool startSet = false;
                 bool endSet = false;
-                for (int k = p.firstLink; k != DT_NULL_LINK; k = tile.links[k].next)
+                for (int k = tile.polyLinks[p.index]; k != DtNavMesh.DT_NULL_LINK; k = tile.links[k].next)
                 {
                     if (tile.links[k].edge == 0)
                     {
@@ -300,7 +299,6 @@ 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];
@@ -320,10 +318,10 @@ public class RecastDebugDraw : DebugDraw
                         continue;
                     }
 
-                    if ((p.neis[j] & DT_EXT_LINK) != 0)
+                    if ((p.neis[j] & DtNavMesh.DT_EXT_LINK) != 0)
                     {
                         bool con = false;
-                        for (int k = p.firstLink; k != DT_NULL_LINK; k = tile.links[k].next)
+                        for (int k = tile.polyLinks[p.index]; k != DtNavMesh.DT_NULL_LINK; k = tile.links[k].next)
                         {
                             if (tile.links[k].edge == j)
                             {
@@ -372,14 +370,14 @@ 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], tile.data.verts[p.verts[v] * 3 + 1],
-                                    tile.data.verts[p.verts[v] * 3 + 1],
                                     tile.data.verts[p.verts[v] * 3 + 2]
                                 );
                             }
@@ -395,7 +393,7 @@ public class RecastDebugDraw : DebugDraw
 
                         for (int m = 0, n = 2; m < 3; n = m++)
                         {
-                            if ((GetDetailTriEdgeFlags(tile.data.detailTris[t + 3], n) & DtDetailTriEdgeFlags.DT_DETAIL_EDGE_BOUNDARY) == 0)
+                            if ((DtNavMesh.GetDetailTriEdgeFlags(tile.data.detailTris[t + 3], n) & DtDetailTriEdgeFlags.DT_DETAIL_EDGE_BOUNDARY) == 0)
                                 continue;
 
                             if (((tile.data.detailTris[t + 3] >> (n * 2)) & 0x3) == 0)
@@ -465,13 +463,9 @@ public class RecastDebugDraw : DebugDraw
                 continue;
             }
 
-            AppendBoxWire(
+            AppendBoxWire(tile.data.header.bmin.X + n.bmin[0] * cs, tile.data.header.bmin.Y + n.bmin[1] * cs,
-                tile.data.header.bmin.X + n.bmin.X * 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.bmin.Y * cs,
+                tile.data.header.bmin.Y + n.bmax[1] * cs, tile.data.header.bmin.Z + n.bmax[2] * 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));
         }
 
@@ -503,7 +497,7 @@ public class RecastDebugDraw : DebugDraw
                     {
                         color = DuRGBA(0, 192, 255, 64);
                     }
-                    else if (area == RcRecast.RC_NULL_AREA)
+                    else if (area == RcConstants.RC_NULL_AREA)
                     {
                         color = DuRGBA(0, 0, 0, 64);
                     }
@@ -675,7 +669,7 @@ public class RecastDebugDraw : DebugDraw
                 int v3 = c.rverts[j * 4 + 3];
                 float off = 0;
                 int colv = color;
-                if ((v3 & RcRecast.RC_BORDER_VERTEX) != 0)
+                if ((v3 & RcConstants.RC_BORDER_VERTEX) != 0)
                 {
                     colv = DuRGBA(255, 255, 255, a);
                     off = ch * 2;
@@ -722,7 +716,7 @@ 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 & RcRecast.RC_AREA_BORDER) != 0 ? bcolor : color;
+                int col = (va3 & RcConstants.RC_AREA_BORDER) != 0 ? bcolor : color;
 
                 float fx = orig.X + va0 * cs;
                 float fy = orig.Y + (va1 + 1 + (i & 1)) * ch;
@@ -753,7 +747,7 @@ public class RecastDebugDraw : DebugDraw
                 int v3 = c.verts[j * 4 + 3];
                 float off = 0;
                 int colv = color;
-                if ((v3 & RcRecast.RC_BORDER_VERTEX) != 0)
+                if ((v3 & RcConstants.RC_BORDER_VERTEX) != 0)
                 {
                     colv = DuRGBA(255, 255, 255, a);
                     off = ch * 2;
@@ -833,7 +827,7 @@ public class RecastDebugDraw : DebugDraw
                     {
                         fcol[0] = DuRGBA(64, 128, 160, 255);
                     }
-                    else if (s.area == RcRecast.RC_NULL_AREA)
+                    else if (s.area == RcConstants.RC_NULL_AREA)
                     {
                         fcol[0] = DuRGBA(64, 64, 64, 255);
                     }
@@ -955,7 +949,7 @@ public class RecastDebugDraw : DebugDraw
             {
                 color = DuRGBA(0, 192, 255, 64);
             }
-            else if (area == RcRecast.RC_NULL_AREA)
+            else if (area == RcConstants.RC_NULL_AREA)
             {
                 color = DuRGBA(0, 0, 0, 64);
             }
@@ -967,7 +961,7 @@ public class RecastDebugDraw : DebugDraw
             int[] vi = new int[3];
             for (int j = 2; j < nvp; ++j)
             {
-                if (mesh.polys[p + j] == RcRecast.RC_MESH_NULL_IDX)
+                if (mesh.polys[p + j] == RcConstants.RC_MESH_NULL_IDX)
                 {
                     break;
                 }
@@ -998,7 +992,7 @@ public class RecastDebugDraw : DebugDraw
             int p = i * nvp * 2;
             for (int j = 0; j < nvp; ++j)
             {
-                if (mesh.polys[p + j] == RcRecast.RC_MESH_NULL_IDX)
+                if (mesh.polys[p + j] == RcConstants.RC_MESH_NULL_IDX)
                 {
                     break;
                 }
@@ -1008,7 +1002,7 @@ public class RecastDebugDraw : DebugDraw
                     continue;
                 }
 
-                int nj = (j + 1 >= nvp || mesh.polys[p + j + 1] == RcRecast.RC_MESH_NULL_IDX) ? 0 : j + 1;
+                int nj = (j + 1 >= nvp || mesh.polys[p + j + 1] == RcConstants.RC_MESH_NULL_IDX) ? 0 : j + 1;
                 int[] vi = { mesh.polys[p + j], mesh.polys[p + nj] };
 
                 for (int k = 0; k < 2; ++k)
@@ -1032,7 +1026,7 @@ public class RecastDebugDraw : DebugDraw
             int p = i * nvp * 2;
             for (int j = 0; j < nvp; ++j)
             {
-                if (mesh.polys[p + j] == RcRecast.RC_MESH_NULL_IDX)
+                if (mesh.polys[p + j] == RcConstants.RC_MESH_NULL_IDX)
                 {
                     break;
                 }
@@ -1042,7 +1036,7 @@ public class RecastDebugDraw : DebugDraw
                     continue;
                 }
 
-                int nj = (j + 1 >= nvp || mesh.polys[p + j + 1] == RcRecast.RC_MESH_NULL_IDX) ? 0 : j + 1;
+                int nj = (j + 1 >= nvp || mesh.polys[p + j + 1] == RcConstants.RC_MESH_NULL_IDX) ? 0 : j + 1;
                 int[] vi = { mesh.polys[p + j], mesh.polys[p + nj] };
 
                 int col = colb;
@@ -1333,7 +1327,7 @@ public class RecastDebugDraw : DebugDraw
 
         for (int side = 0; side < 8; ++side)
         {
-            int m = DT_EXT_LINK | (short)side;
+            int m = DtNavMesh.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;
 
@@ -10,8 +10,6 @@ public static class Program
 {
     public static void Main(string[] args)
     {
-        Thread.CurrentThread.Name ??= "main";
-        
         InitializeWorkingDirectory();
         InitializeLogger();
         StartDemo();
@@ -24,6 +22,7 @@ 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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -25,8 +25,6 @@ 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;
@@ -320,7 +318,7 @@ public class RecastDemo : IRecastDemoChannel
 
             if (null != mesh)
             {
-                _sample.Update(_sample.GetInputGeom(), _sample.GetRecastConfig(), ImmutableArray<RcBuilderResult>.Empty, mesh);
+                _sample.Update(_sample.GetInputGeom(), ImmutableArray<RcBuilderResult>.Empty, mesh);
                 _toolsetView.SetEnabled(true);
             }
         }
@@ -411,17 +409,9 @@ public class RecastDemo : IRecastDemoChannel
 
         var workingDirectory = Directory.GetCurrentDirectory();
         Logger.Information($"Working directory - {workingDirectory}");
-        Logger.Information($"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($"ImGui.Net - version({ImGui.GetVersion()}) UI scale({scale}) fontSize({fontSize})");
+        Logger.Information($"Dotnet - {Environment.Version.ToString()} culture({currentCulture.Name})");
+        Logger.Information($"OS Version - {Environment.OSVersion} {bitness}");
         Logger.Information($"{vendor} {rendererGl}");
         Logger.Information($"gl version({version}) lang version({glslString})");
     }
@@ -472,7 +462,7 @@ public class RecastDemo : IRecastDemoChannel
             var settings = _sample.GetSettings();
             RcVec3f bmin = _sample.GetInputGeom().GetMeshBoundsMin();
             RcVec3f bmax = _sample.GetInputGeom().GetMeshBoundsMax();
-            RcRecast.CalcGridSize(bmin, bmax, settings.cellSize, out var gw, out var gh);
+            RcCommons.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));
@@ -547,7 +537,6 @@ public class RecastDemo : IRecastDemoChannel
             bool hasBound = false;
             RcVec3f bminN = RcVec3f.Zero;
             RcVec3f bmaxN = RcVec3f.Zero;
-
             if (_sample.GetInputGeom() != null)
             {
                 bminN = _sample.GetInputGeom().GetMeshBoundsMin();
@@ -563,7 +552,7 @@ public class RecastDemo : IRecastDemoChannel
             {
                 foreach (RcBuilderResult result in _sample.GetRecastResults())
                 {
-                    if (result.CompactHeightfield != null)
+                    if (result.GetSolidHeightfield() != null)
                     {
                         if (!hasBound)
                         {
@@ -572,15 +561,15 @@ public class RecastDemo : IRecastDemoChannel
                         }
 
                         bminN = new RcVec3f(
-                            Math.Min(bminN.X, result.CompactHeightfield.bmin.X),
+                            Math.Min(bminN.X, result.GetSolidHeightfield().bmin.X),
-                            Math.Min(bminN.Y, result.CompactHeightfield.bmin.Y),
+                            Math.Min(bminN.Y, result.GetSolidHeightfield().bmin.Y),
-                            Math.Min(bminN.Z, result.CompactHeightfield.bmin.Z)
+                            Math.Min(bminN.Z, result.GetSolidHeightfield().bmin.Z)
                         );
 
                         bmaxN = new RcVec3f(
-                            Math.Max(bmaxN.X, result.CompactHeightfield.bmax.X),
+                            Math.Max(bmaxN.X, result.GetSolidHeightfield().bmax.X),
-                            Math.Max(bmaxN.Y, result.CompactHeightfield.bmax.Y),
+                            Math.Max(bmaxN.Y, result.GetSolidHeightfield().bmax.Y),
-                            Math.Max(bmaxN.Z, result.CompactHeightfield.bmax.Z)
+                            Math.Max(bmaxN.Z, result.GetSolidHeightfield().bmax.Z)
                         );
 
                         hasBound = true;
@@ -588,15 +577,12 @@ 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) +
+                camr = (float)(Math.Sqrt(RcMath.Sqr(bmax.X - bmin.X) + RcMath.Sqr(bmax.Y - bmin.Y) + RcMath.Sqr(bmax.Z - bmin.Z)) / 2);
-                                         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;
@@ -684,7 +670,7 @@ public class RecastDemo : IRecastDemoChannel
     {
         var geom = LoadInputMesh(args.FilePath);
 
-        _sample.Update(geom, null, ImmutableArray<RcBuilderResult>.Empty, null);
+        _sample.Update(geom, ImmutableArray<RcBuilderResult>.Empty, null);
     }
 
     private void OnNavMeshBuildBegan(NavMeshBuildBeganEvent args)
@@ -702,15 +688,14 @@ public class RecastDemo : IRecastDemoChannel
 
         NavMeshBuildResult buildResult;
 
-        var geom = _sample.GetInputGeom();
         var settings = _sample.GetSettings();
         if (settings.tiled)
         {
-            buildResult = tileNavMeshBuilder.Build(geom, settings);
+            buildResult = tileNavMeshBuilder.Build(_sample.GetInputGeom(), settings);
         }
         else
         {
-            buildResult = soloNavMeshBuilder.Build(geom, settings);
+            buildResult = soloNavMeshBuilder.Build(_sample.GetInputGeom(), settings);
         }
 
         if (!buildResult.Success)
@@ -719,7 +704,7 @@ public class RecastDemo : IRecastDemoChannel
             return;
         }
 
-        _sample.Update(_sample.GetInputGeom(), buildResult.Cfg, buildResult.RecastBuilderResults, buildResult.NavMesh);
+        _sample.Update(_sample.GetInputGeom(), buildResult.RecastBuilderResults, buildResult.NavMesh);
         _sample.SetChanged(false);
         settingsView.SetBuildTime((RcFrequency.Ticks - t) / TimeSpan.TicksPerMillisecond);
         //settingsUI.SetBuildTelemetry(buildResult.Item1.Select(x => x.GetTelemetry()).ToList());
@@ -728,7 +713,7 @@ public class RecastDemo : IRecastDemoChannel
         Logger.Information($"build times");
         Logger.Information($"-----------------------------------------");
         var telemetries = buildResult.RecastBuilderResults
-            .Select(x => x.Context)
+            .Select(x => x.GetTelemetry())
             .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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -18,9 +18,12 @@ 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;
@@ -95,11 +98,6 @@ 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();
@@ -120,11 +118,11 @@ public class CrowdAgentProfilingSampleTool : ISampleTool
                 ImGui.Text($"{rtt.Key}: {rtt.Micros} us");
             }
 
-            ImGui.Text($"Sampling Time: {_tool.GetCrowdUpdateSamplingTime():0.00} ms");
+            ImGui.Text($"Sampling Time: {_tool.GetCrowdUpdateSamplingTime()} ms");
-            ImGui.Text($"Current Update Time: {_tool.GetCrowdUpdateTime():0.00} ms");
+            ImGui.Text($"Current Update Time: {_tool.GetCrowdUpdateTime()} ms");
-            ImGui.Text($"Avg Update Time: {_tool.GetCrowdUpdateAvgTime():0.00} ms");
+            ImGui.Text($"Avg Update Time: {_tool.GetCrowdUpdateAvgTime()} ms");
-            ImGui.Text($"Max Update Time: {_tool.GetCrowdUpdateMaxTime():0.00} ms");
+            ImGui.Text($"Max Update Time: {_tool.GetCrowdUpdateMaxTime()} ms");
-            ImGui.Text($"Min Update Time: {_tool.GetCrowdUpdateMinTime():0.00} ms");
+            ImGui.Text($"Min Update Time: {_tool.GetCrowdUpdateMinTime()} ms");
         }
     }
 
@@ -134,7 +132,7 @@ public class CrowdAgentProfilingSampleTool : ISampleTool
         dd.DepthMask(false);
 
         var crowd = _tool.GetCrowd();
-        if (crowd != null && _tool.GetToolConfig().showAgents)
+        if (crowd != null)
         {
             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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -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 = RcVec.Create(trail.trail, v);
+                prev = RcVecUtils.Create(trail.trail, v);
             }
 
             dd.End();
@@ -251,10 +251,10 @@ public class CrowdSampleTool : ISampleTool
 
             if (_showCorners)
             {
-                if (0 < ag.ncorners)
+                if (0 < ag.corners.Count)
                 {
                     dd.Begin(LINES, 2.0f);
-                    for (int j = 0; j < ag.ncorners; ++j)
+                    for (int j = 0; j < ag.corners.Count; ++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.ncorners - 1].flags
+                    if ((ag.corners[ag.corners.Count - 1].flags
                          & DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0)
                     {
-                        RcVec3f v = ag.corners[ag.ncorners - 1].pos;
+                        RcVec3f v = ag.corners[ag.corners.Count - 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.nneis; ++j)
+                for (int j = 0; j < ag.neis.Count; ++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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -25,7 +25,6 @@ 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;
@@ -92,7 +91,7 @@ public class DynamicUpdateSampleTool : ISampleTool
         var bridgeGeom = DemoInputGeomProvider.LoadFile("bridge.obj");
         var houseGeom = DemoInputGeomProvider.LoadFile("house.obj");
         var convexGeom = DemoInputGeomProvider.LoadFile("convex.obj");
-        _tool = new(new RcRand(Random.Shared), bridgeGeom, houseGeom, convexGeom);
+        _tool = new(Random.Shared, bridgeGeom, houseGeom, convexGeom);
         executor = Task.Factory;
     }
 
@@ -117,17 +116,8 @@ public class DynamicUpdateSampleTool : ISampleTool
 
         if (mode == RcDynamicUpdateToolMode.BUILD)
         {
-            const string loadVoxelPopupStrId = "Load Voxels Popup";
+            var 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);
@@ -145,7 +135,7 @@ public class DynamicUpdateSampleTool : ISampleTool
                 ImGui.EndPopup();
             }
 
-            const string saveVoxelPopupStrId = "Save Voxels Popup";
+            var saveVoxelPopupStrId = "Save Voxels Popup";
             bool isSaveVoxelPopup = true;
 
             var dynaMesh = _tool.GetDynamicNavMesh();
@@ -154,7 +144,7 @@ public class DynamicUpdateSampleTool : ISampleTool
                 ImGui.Checkbox("Compression", ref compression);
                 if (ImGui.Button("Save Voxels..."))
                 {
-                    ImGui.OpenPopup(saveVoxelPopupStrId);
+                    ImGui.BeginPopup(saveVoxelPopupStrId);
                 }
 
                 if (ImGui.BeginPopupModal(saveVoxelPopupStrId, ref isSaveVoxelPopup, ImGuiWindowFlags.NoTitleBar))
@@ -162,7 +152,9 @@ 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);
                     }
 
@@ -414,12 +406,12 @@ public class DynamicUpdateSampleTool : ISampleTool
         long t = RcFrequency.Ticks;
         try
         {
-            bool updated = _tool.Update(executor);
+            bool updated = _tool.UpdateDynaMesh(executor);
             if (updated)
             {
                 buildTime = (RcFrequency.Ticks - t) / TimeSpan.TicksPerMillisecond;
                 var dynaMesh = _tool.GetDynamicNavMesh();
-                _sample.Update(null, null, dynaMesh.RecastResults(), dynaMesh.NavMesh());
+                _sample.Update(null, dynaMesh.RecastResults(), dynaMesh.NavMesh());
                 _sample.SetChanged(false);
             }
         }
@@ -429,15 +421,6 @@ 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)
     {
@@ -467,7 +450,7 @@ public class DynamicUpdateSampleTool : ISampleTool
         long t = RcFrequency.Ticks;
         try
         {
-            var _ = dynaMesh.Build(executor);
+            var _ = dynaMesh.Build(executor).Result;
         }
         catch (Exception e)
         {
@@ -475,7 +458,7 @@ public class DynamicUpdateSampleTool : ISampleTool
         }
 
         buildTime = (RcFrequency.Ticks - t) / TimeSpan.TicksPerMillisecond;
-        _sample.Update(null, null, dynaMesh.RecastResults(), dynaMesh.NavMesh());
+        _sample.Update(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;
@@ -36,11 +36,16 @@ public static class GizmoRenderer
         }
     }
 
-    public static int GetColorByNormal(RcVec3f v0, RcVec3f v1, RcVec3f v2)
+    public static int GetColorByNormal(float[] vertices, int v0, int v1, int v2)
     {
+        RcVec3f e0 = new RcVec3f();
+        RcVec3f e1 = new RcVec3f();
         RcVec3f normal = new RcVec3f();
-        RcVec3f e0 = v1 - v0;
+        for (int j = 0; j < 3; ++j)
-        RcVec3f e1 = v2 - v0;
+        {
+            e0 = RcVecUtils.Subtract(vertices, v1, v0);
+            e1 = RcVecUtils.Subtract(vertices, v2, v0);
+        }
 
         normal.X = e0.Y * e1.Z - e0.Z * e1.Y;
         normal.Y = e0.Z * e1.X - e0.X * e1.Z;
@@ -60,7 +65,7 @@ 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);
-        Span<float> vertices = stackalloc float[8 * 3];
+        float[] vertices = new float[8 * 3];
         for (int i = 0; i < 8; i++)
         {
             vertices[i * 3 + 0] = RcVec3f.Dot(RcBoxGizmo.VERTS[i], trX) + box.center.X;
@@ -155,13 +160,13 @@ public static class GizmoRenderer
         debugDraw.Begin(DebugDrawPrimitives.TRIS);
         for (int i = 0; i < trimesh.triangles.Length; i += 3)
         {
-            RcVec3f v0 = RcVec.Create(trimesh.vertices, 3 * trimesh.triangles[i]);
+            int v0 = 3 * trimesh.triangles[i];
-            RcVec3f v1 = RcVec.Create(trimesh.vertices, 3 * trimesh.triangles[i + 1]);
+            int v1 = 3 * trimesh.triangles[i + 1];
-            RcVec3f v2 = RcVec.Create(trimesh.vertices, 3 * trimesh.triangles[i + 2]);
+            int v2 = 3 * trimesh.triangles[i + 2];
-            int col = GetColorByNormal(v0, v1, v2);
+            int col = GetColorByNormal(trimesh.vertices, v0, v1, v2);
-            debugDraw.Vertex(v0.X, v0.Y, v0.Z, col);
+            debugDraw.Vertex(trimesh.vertices[v0], trimesh.vertices[v0 + 1], trimesh.vertices[v0 + 2], col);
-            debugDraw.Vertex(v1.X, v1.Y, v1.Z, col);
+            debugDraw.Vertex(trimesh.vertices[v1], trimesh.vertices[v1 + 1], trimesh.vertices[v1 + 2], col);
-            debugDraw.Vertex(v2.X, v2.Y, v2.Z, col);
+            debugDraw.Vertex(trimesh.vertices[v2], trimesh.vertices[v2 + 1], trimesh.vertices[v2 + 2], 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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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

@@ -16,7 +16,6 @@ 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;
@@ -97,25 +96,13 @@ public class JumpLinkBuilderSampleTool : ISampleTool
 
         if (build || _cfg.buildOffMeshConnections)
         {
-            do
+            if (0 < _sample.GetRecastResults().Count)
             {
-                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();
@@ -417,7 +404,7 @@ public class JumpLinkBuilderSampleTool : ISampleTool
     }
 
 
-    private void DrawTrajectory(RecastDebugDraw dd, JumpLink link, RcVec3f pa, RcVec3f pb, ITrajectory tra, int cola)
+    private void DrawTrajectory(RecastDebugDraw dd, JumpLink link, RcVec3f pa, RcVec3f pb, Trajectory 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.Cfg, buildResult.RecastBuilderResults, buildResult.NavMesh);
+                _sample.Update(_sample.GetInputGeom(), 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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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

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

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

@@ -1,6 +1,5 @@
 /*
-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.BeginChild(1, new Vector2(1024, 400)))
+        if (ImGui.BeginChildFrame(1, new Vector2(1024, 400)))
         {
             var di = new DirectoryInfo(CurrentFolder);
             if (di.Exists)
@@ -111,7 +111,7 @@ public class ImFilePicker
             }
         }
 
-        ImGui.EndChild();
+        ImGui.EndChildFrame();
 
 
         if (ImGui.Button("Cancel"))

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

@@ -1,6 +1,5 @@
 /*
-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, ImGuiChildFlags.None, ImGuiWindowFlags.HorizontalScrollbar))
+        if (ImGui.BeginChild("scrolling", Vector2.Zero, false, 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

@@ -1,6 +1,5 @@
 /*
-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
@@ -167,10 +166,6 @@ 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);
@@ -233,12 +228,6 @@ 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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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.Mesh;
+            RcPolyMesh pmesh = rcResult.GetMesh();
-            RcPolyMeshDetail dmesh = rcResult.MeshDetail;
+            RcPolyMeshDetail dmesh = rcResult.GetMeshDetail();
             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;
 
@@ -7,7 +7,6 @@ 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;
 
@@ -18,22 +17,11 @@ namespace DotRecast.Recast.Toolset.Builder
             NavMesh = null;
         }
         
-        // for solo
+        public NavMeshBuildResult(IList<RcBuilderResult> recastBuilderResults, DtNavMesh navMesh)
-        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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -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 const int SAMPLE_POLYFLAGS_WALK = 0x01; // Ability to walk (ground, grass, road)
+        public static readonly int SAMPLE_POLYFLAGS_WALK = 0x01; // Ability to walk (ground, grass, road)
-        public const int SAMPLE_POLYFLAGS_SWIM = 0x02; // Ability to swim (water).
+        public static readonly int SAMPLE_POLYFLAGS_SWIM = 0x02; // Ability to swim (water).
-        public const int SAMPLE_POLYFLAGS_DOOR = 0x04; // Ability to move through doors.
+        public static readonly int SAMPLE_POLYFLAGS_DOOR = 0x04; // Ability to move through doors.
-        public const int SAMPLE_POLYFLAGS_JUMP = 0x08; // Ability to jump.
+        public static readonly int SAMPLE_POLYFLAGS_JUMP = 0x08; // Ability to jump.
-        public const int SAMPLE_POLYFLAGS_DISABLED = 0x10; // Disabled polygon
+        public static readonly int SAMPLE_POLYFLAGS_DISABLED = 0x10; // Disabled polygon
-        public const int SAMPLE_POLYFLAGS_ALL = 0xffff; // All abilities.
+        public static readonly 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

@@ -1,6 +1,5 @@
 /*
-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
@@ -35,8 +34,7 @@ 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,
@@ -47,8 +45,7 @@ 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,
@@ -61,7 +58,7 @@ namespace DotRecast.Recast.Toolset.Builder
                 filterLowHangingObstacles, filterLedgeSpans, filterWalkableLowHeightSpans,
                 SampleAreaModifications.SAMPLE_AREAMOD_WALKABLE, true);
 
-            RcBuilderResult rcResult = BuildRecastResult(geom, cfg, keepInterResults);
+            RcBuilderResult rcResult = BuildRecastResult(geom, cfg);
             var meshData = BuildMeshData(geom, cellSize, cellHeight, agentHeight, agentRadius, agentMaxClimb, rcResult);
             if (null == meshData)
             {
@@ -69,26 +66,19 @@ namespace DotRecast.Recast.Toolset.Builder
             }
 
             var navMesh = BuildNavMesh(meshData, vertsPerPoly);
-            return new NavMeshBuildResult(cfg, RcImmutableArray.Create(rcResult), navMesh);
+            return new NavMeshBuildResult(RcImmutableArray.Create(rcResult), navMesh);
         }
 
         private DtNavMesh BuildNavMesh(DtMeshData meshData, int vertsPerPoly)
         {
-            var mesh = new DtNavMesh();
+            return new DtNavMesh(meshData, vertsPerPoly, 0);
-            var status = mesh.Init(meshData, vertsPerPoly, 0);
-            if (status.Failed())
-            {
-                return null;
         }
 
-            return mesh;
+        private RcBuilderResult BuildRecastResult(DemoInputGeomProvider geom, RcConfig cfg)
-        }
-
-        private RcBuilderResult BuildRecastResult(DemoInputGeomProvider geom, RcConfig cfg, bool keepInterResults)
         {
             RcBuilderConfig bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax());
             RcBuilder rcBuilder = new RcBuilder();
-            return rcBuilder.Build(geom, bcfg, keepInterResults);
+            return rcBuilder.Build(geom, bcfg);
         }
 
         public DtMeshData BuildMeshData(DemoInputGeomProvider geom,

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

@@ -1,6 +1,5 @@
 /*
-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
@@ -42,8 +41,7 @@ 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,
@@ -55,10 +53,9 @@ 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)
         {
-            NavMeshBuildResult result = BuildRecastResult(
+            List<RcBuilderResult> results = BuildRecastResult(
                 geom,
                 tileSize,
                 partitionType,
@@ -68,16 +65,15 @@ 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, result.RecastBuilderResults);
+            var tileMeshData = BuildMeshData(geom, cellSize, cellHeight, agentHeight, agentRadius, agentMaxClimb, results);
             var tileNavMesh = BuildNavMesh(geom, tileMeshData, cellSize, tileSize, vertsPerPoly);
-            return new NavMeshBuildResult(result.Cfg, result.RecastBuilderResults, tileNavMesh);
+            return new NavMeshBuildResult(results, tileNavMesh);
         }
 
-        public NavMeshBuildResult BuildRecastResult(IInputGeomProvider geom,
+        public List<RcBuilderResult> BuildRecastResult(IInputGeomProvider geom,
             int tileSize,
             RcPartition partitionType,
             float cellSize, float cellHeight,
@@ -86,8 +82,7 @@ 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,
@@ -102,8 +97,7 @@ namespace DotRecast.Recast.Toolset.Builder
                 filterLowHangingObstacles, filterLedgeSpans, filterWalkableLowHeightSpans,
                 SampleAreaModifications.SAMPLE_AREAMOD_WALKABLE, true);
             RcBuilder rcBuilder = new RcBuilder();
-            var results = rcBuilder.BuildTiles(geom, cfg, keepInterResults, buildAll, Environment.ProcessorCount + 1, Task.Factory);
+            return rcBuilder.BuildTiles(geom, cfg, Task.Factory);
-            return new NavMeshBuildResult(cfg, results);
         }
 
         public DtNavMesh BuildNavMesh(IInputGeomProvider geom, List<DtMeshData> meshData, float cellSize, int tileSize, int vertsPerPoly)
@@ -117,9 +111,8 @@ namespace DotRecast.Recast.Toolset.Builder
 
             navMeshParams.maxTiles = GetMaxTiles(geom, cellSize, tileSize);
             navMeshParams.maxPolys = GetMaxPolysPerTile(geom, cellSize, tileSize);
-            DtNavMesh navMesh = new DtNavMesh();
+            DtNavMesh navMesh = new DtNavMesh(navMeshParams, vertsPerPoly);
-            navMesh.Init(navMeshParams, vertsPerPoly);
+            meshData.ForEach(md => navMesh.AddTile(md, 0, 0));
-            meshData.ForEach(md => navMesh.AddTile(md, 0, 0, out _));
             return navMesh;
         }
 
@@ -130,9 +123,10 @@ namespace DotRecast.Recast.Toolset.Builder
             List<DtMeshData> meshData = new List<DtMeshData>();
             foreach (RcBuilderResult result in results)
             {
-                int x = result.TileX;
+                int x = result.tileX;
-                int z = result.TileZ;
+                int z = result.tileZ;
-                DtNavMeshCreateParams option = DemoNavMeshBuilder.GetNavMeshCreateParams(geom, cellSize, cellHeight, agentHeight, agentRadius, agentMaxClimb, result);
+                DtNavMeshCreateParams option = DemoNavMeshBuilder
+                    .GetNavMeshCreateParams(geom, cellSize, cellHeight, agentHeight, agentRadius, agentMaxClimb, result);
 
                 option.tileX = x;
                 option.tileZ = z;
@@ -161,7 +155,7 @@ namespace DotRecast.Recast.Toolset.Builder
 
         private int GetTileBits(IInputGeomProvider geom, float cellSize, int tileSize)
         {
-            RcRecast.CalcGridSize(geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), cellSize, out var gw, out var gh);
+            RcCommons.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);
@@ -170,7 +164,7 @@ namespace DotRecast.Recast.Toolset.Builder
 
         public int[] GetTiles(DemoInputGeomProvider geom, float cellSize, int tileSize)
         {
-            RcRecast.CalcGridSize(geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), cellSize, out var gw, out var gh);
+            RcCommons.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/DotRecast.Recast.Toolset.asmdef

@@ -1,22 +0,0 @@
-{
-    "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

@@ -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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -41,7 +41,7 @@ namespace DotRecast.Recast.Toolset.Geom
 
         public static DemoInputGeomProvider LoadFile(string objFilePath)
         {
-            byte[] chunk = RcIO.ReadFileIfFound(objFilePath);
+            byte[] chunk = RcResources.Load(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 = new RcVec3f(vertices);
+            bmin = RcVecUtils.Create(vertices);
-            bmax = new RcVec3f(vertices);
+            bmax = RcVecUtils.Create(vertices);
             for (int i = 1; i < vertices.Length / 3; i++)
             {
-                bmin = RcVec3f.Min(bmin, RcVec.Create(vertices, i * 3));
+                bmin = RcVecUtils.Min(bmin, vertices, i * 3);
-                bmax = RcVec3f.Max(bmax, RcVec.Create(vertices, i * 3));
+                bmax = RcVecUtils.Max(bmax, 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)
             {
-                RcVec3f v0 = RcVec.Create(vertices, faces[i] * 3);
+                int v0 = faces[i] * 3;
-                RcVec3f v1 = RcVec.Create(vertices, faces[i + 1] * 3);
+                int v1 = faces[i + 1] * 3;
-                RcVec3f v2 = RcVec.Create(vertices, faces[i + 2] * 3);
+                int v2 = faces[i + 2] * 3;
-                RcVec3f e0 = v1 - v0;
+                var e0 = RcVecUtils.Subtract(vertices, v1, v0);
-                RcVec3f e1 = v2 - v0;
+                var e1 = RcVecUtils.Subtract(vertices, 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 = RcChunkyTriMeshs.GetChunksOverlappingSegment(_mesh.chunkyTriMesh, p, q);
+            List<RcChunkyTriMeshNode> chunks = _mesh.chunkyTriMesh.GetChunksOverlappingSegment(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);
-            Span<RcVec3f> normals = stackalloc RcVec3f[3];
+            RcVec3f[] normals = new 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);
-            Span<RcVec3f> normals = stackalloc RcVec3f[3];
+            RcVec3f[] normals = new 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 const int SEGMENTS = 16;
+        private static readonly int SEGMENTS = 16;
-        private const int RINGS = 8;
+        private static readonly int RINGS = 8;
 
         private static float[] sphericalVertices;
 

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

@@ -1,6 +1,7 @@
-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
     {
@@ -31,8 +31,5 @@ namespace DotRecast.Recast.Toolset
 
         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 double _samplingUpdateTime;
+        private long _samplingUpdateTime;
         private readonly RcCyclicBuffer<long> _updateTimes;
-        private double _curUpdateTime;
+        private long _curUpdateTime;
-        private double _avgUpdateTime;
+        private long _avgUpdateTime;
-        private double _minUpdateTime;
+        private long _minUpdateTime;
-        private double _maxUpdateTime;
+        private long _maxUpdateTime;
 
         public RcCrowdAgentProfilingTool()
         {
@@ -269,11 +269,11 @@ namespace DotRecast.Recast.Toolset.Tools
             _updateTimes.PushBack(currentTime);
 
             // for benchmark
-            _samplingUpdateTime = _updateTimes.Sum() / (double)TimeSpan.TicksPerMillisecond;
+            _samplingUpdateTime = _updateTimes.Sum() / TimeSpan.TicksPerMillisecond;
-            _curUpdateTime = currentTime / (double)TimeSpan.TicksPerMillisecond;
+            _curUpdateTime = currentTime / TimeSpan.TicksPerMillisecond;
-            _avgUpdateTime = (_updateTimes.Average() / (double)TimeSpan.TicksPerMillisecond);
+            _avgUpdateTime = (long)(_updateTimes.Average() / TimeSpan.TicksPerMillisecond);
-            _minUpdateTime = _updateTimes.Min() / (double)TimeSpan.TicksPerMillisecond;
+            _minUpdateTime = _updateTimes.Min() / TimeSpan.TicksPerMillisecond;
-            _maxUpdateTime = _updateTimes.Max() / (double)TimeSpan.TicksPerMillisecond;
+            _maxUpdateTime = _updateTimes.Max() / TimeSpan.TicksPerMillisecond;
         }
 
         private void MoveMob(DtNavMeshQuery navquery, IDtQueryFilter filter, DtCrowdAgent ag, RcCrowdAgentData crowAgentData)
@@ -374,27 +374,27 @@ namespace DotRecast.Recast.Toolset.Tools
             }
         }
 
-        public double GetCrowdUpdateSamplingTime()
+        public long GetCrowdUpdateSamplingTime()
         {
             return _samplingUpdateTime;
         }
 
-        public double GetCrowdUpdateTime()
+        public long GetCrowdUpdateTime()
         {
             return _curUpdateTime;
         }
 
-        public double GetCrowdUpdateAvgTime()
+        public long GetCrowdUpdateAvgTime()
         {
             return _avgUpdateTime;
         }
 
-        public double GetCrowdUpdateMinTime()
+        public long GetCrowdUpdateMinTime()
         {
             return _minUpdateTime;
         }
 
-        public double GetCrowdUpdateMaxTime()
+        public long 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
     {
@@ -12,7 +12,5 @@ namespace DotRecast.Recast.Toolset.Tools
         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 * speed;
+            return vel.Scale(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 IRcRand random;
+        private readonly Random random;
         private readonly DemoInputGeomProvider bridgeGeom;
         private readonly DemoInputGeomProvider houseGeom;
         private readonly DemoInputGeomProvider convexGeom;
 
-        public RcDynamicUpdateTool(IRcRand rand, DemoInputGeomProvider bridgeGeom, DemoInputGeomProvider houseGeom, DemoInputGeomProvider convexGeom)
+        public RcDynamicUpdateTool(Random rand, DemoInputGeomProvider bridgeGeom, DemoInputGeomProvider houseGeom, DemoInputGeomProvider convexGeom)
         {
             this.colliderGizmos = new Dictionary<long, RcGizmo>();
             this.random = rand;
@@ -141,16 +141,6 @@ 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);
@@ -169,7 +159,7 @@ 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.OpenOrCreate, FileAccess.Write, FileShare.ReadWrite);
+            using var fs = new FileStream(filename, FileMode.CreateNew, FileAccess.Write);
             using var bw = new BinaryWriter(fs);
             DtVoxelFileWriter writer = new DtVoxelFileWriter(compressor);
             writer.Write(bw, voxelFile, compression);
@@ -349,14 +339,20 @@ namespace DotRecast.Recast.Toolset.Tools
             return resultvector;
         }
 
-        public bool Update(TaskFactory executor)
+        public bool UpdateDynaMesh(TaskFactory executor)
         {
             if (dynaMesh == null)
             {
                 return false;
             }
 
-            return dynaMesh.Update(executor);
+            bool updated = dynaMesh.Update(executor).Result;
+            if (updated)
+            {
+                return false;
+            }
+
+            return true;
         }
 
         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 || RcVec.Dist2D(prev, p) > agentRadius)
+                if (i == 0 || RcVecUtils.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();
-            RcRecast.CalcGridSize(bmin, bmax, setting.cellSize, out var gw, out var gh);
+            RcCommons.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(cfg, RcImmutableArray<RcBuilderResult>.Empty, _tc.GetNavMesh());
+            return new NavMeshBuildResult(RcImmutableArray<RcBuilderResult>.Empty, _tc.GetNavMesh());
         }
 
         public void ClearAllTempObstacles()
@@ -141,8 +141,7 @@ namespace DotRecast.Recast.Toolset.Tools
             navMeshParams.maxTiles = 256; // ..
             navMeshParams.maxPolys = 16384;
 
-            var navMesh = new DtNavMesh();
+            var navMesh = new DtNavMesh(navMeshParams, 6);
-            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(RcVec.DistanceSquared(p, offMeshCon.verts, 0), RcVec.DistanceSquared(p, offMeshCon.verts, 3));
+                float d = Math.Min(RcVecUtils.DistanceSquared(p, offMeshCon.verts, 0), RcVecUtils.DistanceSquared(p, offMeshCon.verts, 3));
                 if (d < nearestDist && Math.Sqrt(d) < settings.agentRadius)
                 {
                     nearestDist = d;

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

@@ -1,5 +1,6 @@
-using System;
+using System;
 using System.Collections.Generic;
+using System.Linq;
 using DotRecast.Core;
 using DotRecast.Core.Numerics;
 using DotRecast.Detour;
@@ -11,6 +12,7 @@ namespace DotRecast.Recast.Toolset.Tools
         public const int MAX_POLYS = 256;
         public const int MAX_SMOOTH = 2048;
 
+
         public RcTestNavMeshTool()
         {
         }
@@ -21,7 +23,7 @@ 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, int pathIterPolyCount, ref List<RcVec3f> smoothPath)
+            ref List<long> pathIterPolys, ref List<RcVec3f> smoothPath)
         {
             if (startRef == 0 || endRef == 0)
             {
@@ -35,8 +37,6 @@ 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);
@@ -44,29 +44,24 @@ 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 _);
 
-            const float STEP_SIZE = 0.5f;
+            float STEP_SIZE = 0.5f;
-            const float SLOP = 0.01f;
+            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 < pathIterPolyCount && smoothPath.Count < MAX_SMOOTH)
+            while (0 < pathIterPolys.Count && smoothPath.Count < MAX_SMOOTH)
             {
                 // Find location to steer towards.
                 if (!DtPathUtils.GetSteerTarget(navQuery, iterPos, targetPos, SLOP,
-                        pathIterPolys, pathIterPolyCount, out var steerPos, out var steerPosFlag, out var steerPosRef))
+                        pathIterPolys, out var steerPos, out var steerPosFlag, out var steerPosRef))
                 {
                     break;
                 }
@@ -91,15 +86,15 @@ namespace DotRecast.Recast.Toolset.Tools
                     len = STEP_SIZE / len;
                 }
 
-                RcVec3f moveTgt = RcVec.Mad(iterPos, delta, len);
+                RcVec3f moveTgt = RcVecUtils.Mad(iterPos, delta, len);
 
                 // Move
-                navQuery.MoveAlongSurface(pathIterPolys[0], iterPos, moveTgt, filter, out var result, visited, out nvisited, 16);
+                navQuery.MoveAlongSurface(pathIterPolys[0], iterPos, moveTgt, filter, out var result, ref visited);
 
                 iterPos = result;
 
-                pathIterPolyCount = DtPathUtils.MergeCorridorStartMoved(pathIterPolys, pathIterPolyCount, MAX_POLYS, visited, nvisited);
+                DtPathUtils.MergeCorridorStartMoved(pathIterPolys, pathIterPolys.Count, MAX_POLYS, visited);
-                pathIterPolyCount = DtPathUtils.FixupShortcuts(ref pathIterPolys, pathIterPolyCount, navQuery);
+                pathIterPolys = DtPathUtils.FixupShortcuts(pathIterPolys, navQuery);
 
                 var status = navQuery.GetPolyHeight(pathIterPolys[0], result, out var h);
                 if (status.Succeeded())
@@ -129,7 +124,7 @@ namespace DotRecast.Recast.Toolset.Tools
                     long prevRef = 0;
                     long polyRef = pathIterPolys[0];
                     int npos = 0;
-                    while (npos < pathIterPolyCount && polyRef != steerPosRef)
+                    while (npos < pathIterPolys.Count && polyRef != steerPosRef)
                     {
                         prevRef = polyRef;
                         polyRef = pathIterPolys[npos];
@@ -137,7 +132,6 @@ 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);
@@ -171,15 +165,15 @@ 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, Span<DtStraightPath> straightPath, out int straightPathCount, int maxStraightPath, int straightPathOptions)
+            ref List<long> polys, ref List<DtStraightPath> straightPath, 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();
@@ -201,7 +195,7 @@ namespace DotRecast.Recast.Toolset.Tools
                 }
             }
 
-            navQuery.FindStraightPath(startPt, epos, polys, polys.Count, straightPath, out straightPathCount, maxStraightPath, straightPathOptions);
+            navQuery.FindStraightPath(startPt, epos, polys, ref straightPath, MAX_POLYS, straightPathOptions);
 
             return DtStatus.DT_SUCCESS;
         }
@@ -220,9 +214,8 @@ namespace DotRecast.Recast.Toolset.Tools
         }
 
         public DtStatus UpdateSlicedFindPath(DtNavMeshQuery navQuery, int maxIter, long endRef, RcVec3f startPos, RcVec3f endPos,
-            ref List<long> path, Span<DtStraightPath> straightPath, out int straightPathCount, int maxStraightPath)
+            ref List<long> path, ref List<DtStraightPath> straightPath)
         {
-            straightPathCount = 0;
             var status = navQuery.UpdateSlicedFindPath(maxIter, out _);
 
             if (!status.Succeeded())
@@ -232,6 +225,7 @@ 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.
@@ -245,7 +239,8 @@ namespace DotRecast.Recast.Toolset.Tools
                     }
                 }
 
-                navQuery.FindStraightPath(startPos, epos, path, path.Count, straightPath, out straightPathCount, maxStraightPath, DtStraightPathOptions.DT_STRAIGHTPATH_ALL_CROSSINGS);
+                straightPath = new List<DtStraightPath>(MAX_POLYS);
+                navQuery.FindStraightPath(startPos, epos, path, ref straightPath, MAX_POLYS, DtStraightPathOptions.DT_STRAIGHTPATH_ALL_CROSSINGS);
             }
 
             return DtStatus.DT_SUCCESS;
@@ -253,12 +248,13 @@ namespace DotRecast.Recast.Toolset.Tools
 
 
         public DtStatus Raycast(DtNavMeshQuery navQuery, long startRef, long endRef, RcVec3f startPos, RcVec3f endPos, IDtQueryFilter filter,
-            ref List<long> polys, Span<DtStraightPath> straightPath, out int straightPathCount, int maxStraightPath, ref RcVec3f hitPos, ref RcVec3f hitNormal, ref bool hitResult)
+            ref List<long> polys, ref List<DtStraightPath> straightPath, ref RcVec3f hitPos, ref RcVec3f hitNormal, ref bool hitResult)
         {
-            straightPathCount = 0;
             if (startRef == 0 || endRef == 0)
             {
                 polys?.Clear();
+                straightPath?.Clear();
+
                 return DtStatus.DT_FAILURE;
             }
 
@@ -272,7 +268,7 @@ namespace DotRecast.Recast.Toolset.Tools
             // results ...
             polys = path;
 
-            if (t >= 1)
+            if (t > 1)
             {
                 // No hit
                 hitPos = endPos;
@@ -296,8 +292,10 @@ namespace DotRecast.Recast.Toolset.Tools
                 }
             }
 
-            straightPath[straightPathCount++] = new DtStraightPath(startPos, 0, 0);
+            straightPath ??= new List<DtStraightPath>();
-            straightPath[straightPathCount++] = new DtStraightPath(hitPos, 0, 0);
+            straightPath.Clear();
+            straightPath.Add(new DtStraightPath(startPos, 0, 0));
+            straightPath.Add(new DtStraightPath(hitPos, 0, 0));
 
             return status;
         }
@@ -380,7 +378,7 @@ namespace DotRecast.Recast.Toolset.Tools
             float nx = (epos.Z - spos.Z) * 0.25f;
             float nz = -(epos.X - spos.X) * 0.25f;
 
-            RcVec3f[] tempQueryPoly = new RcVec3f[4];
+            var 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;
-            RcRecast.CalcGridSize(bmin, bmax, settings.cellSize, out gw, out gh);
+            RcCommons.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;
-            RcRecast.CalcGridSize(bmin, bmax, settings.cellSize, out gw, out gh);
+            RcCommons.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 availableTile = navMesh.IsAvailableTileCount();
+            var availableTileCount = navMesh.GetAvailableTileCount();
-            if (!availableTile)
+            if (0 >= availableTileCount)
             {
                 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, settings.keepInterResults);
+            var result = rb.BuildTile(geom, cfg, bmin, bmax, tx, ty, new RcAtomicInteger(0), 1);
 
             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/DotRecast.Recast.asmdef

@@ -1,16 +0,0 @@
-{
-    "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/EdgeValues.cs

@@ -1,8 +0,0 @@
-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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -18,14 +18,278 @@ 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
     {
-        public List<RcChunkyTriMeshNode> nodes;
+        private List<RcChunkyTriMeshNode> nodes;
-        public int ntris;
+        private int ntris;
-        public int maxTrisPerChunk;
+        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;
+        }
     }
 }

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

@@ -1,305 +0,0 @@
-/*
-Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023-2024 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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -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, int userId = 0)
+        public RcOffMeshConnection(RcVec3f start, RcVec3f end, float radius, bool bidir, int area, int flags)
         {
             verts = new float[6];
             verts[0] = start.X;
@@ -46,7 +46,6 @@ 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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -19,7 +19,6 @@ freely, subject to the following restrictions:
 */
 
 using System.Collections.Generic;
-using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast.Geom
 {
@@ -33,8 +32,7 @@ namespace DotRecast.Recast.Geom
         {
             this.vertices = vertices;
             this.faces = faces;
-            chunkyTriMesh = new RcChunkyTriMesh();
+            chunkyTriMesh = new RcChunkyTriMesh(vertices, faces, faces.Length / 3, 32);
-            RcChunkyTriMeshs.CreateChunkyTriMesh(vertices, faces, faces.Length / 3, 32, chunkyTriMesh);
         }
 
         public int[] GetTris()
@@ -47,9 +45,9 @@ namespace DotRecast.Recast.Geom
             return vertices;
         }
 
-        public List<RcChunkyTriMeshNode> GetChunksOverlappingRect(RcVec2f bmin, RcVec2f bmax)
+        public List<RcChunkyTriMeshNode> GetChunksOverlappingRect(float[] bmin, float[] bmax)
         {
-            return RcChunkyTriMeshs.GetChunksOverlappingRect(chunkyTriMesh, bmin, bmax);
+            return chunkyTriMesh.GetChunksOverlappingRect(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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -39,7 +39,7 @@ namespace DotRecast.Recast.Geom
 
         public static SimpleInputGeomProvider LoadFile(string objFilePath)
         {
-            byte[] chunk = RcIO.ReadFileIfFound(objFilePath);
+            byte[] chunk = RcResources.Load(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 = new RcVec3f(vertices);
+            bmin = RcVecUtils.Create(vertices);
-            bmax = new RcVec3f(vertices);
+            bmax = RcVecUtils.Create(vertices);
             for (int i = 1; i < vertices.Length / 3; i++)
             {
-                bmin = RcVec3f.Min(bmin, RcVec.Create(vertices, i * 3));
+                bmin = RcVecUtils.Min(bmin, vertices, i * 3);
-                bmax = RcVec3f.Max(bmax, RcVec.Create(vertices, i * 3));
+                bmax = RcVecUtils.Max(bmax, 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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -25,7 +25,8 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast
 {
-    using static RcRecast;
+    using static RcConstants;
+    using static RcCommons;
 
     public static class RcAreas
     {
@@ -456,12 +457,12 @@ namespace DotRecast.Recast
             int zStride = xSize; // For readability
 
             // Compute the bounding box of the polygon
-            RcVec3f bmin = new RcVec3f(verts);
+            RcVec3f bmin = RcVecUtils.Create(verts);
-            RcVec3f bmax = new RcVec3f(verts);
+            RcVec3f bmax = RcVecUtils.Create(verts);
             for (int i = 3; i < verts.Length; i += 3)
             {
-                bmin = RcVec3f.Min(bmin, RcVec.Create(verts, i));
+                bmin = RcVecUtils.Min(bmin, verts, i);
-                bmax = RcVec3f.Max(bmax, RcVec.Create(verts, i));
+                bmax = RcVecUtils.Max(bmax, verts, i);
             }
 
             bmin.Y = minY;
@@ -752,19 +753,19 @@ namespace DotRecast.Recast
                 int vertIndexB = vertIndex;
                 int vertIndexC = (vertIndex + 1) % numVerts;
 
-                RcVec3f vertA = RcVec.Create(verts, vertIndexA * 3);
+                RcVec3f vertA = RcVecUtils.Create(verts, vertIndexA * 3);
-                RcVec3f vertB = RcVec.Create(verts, vertIndexB * 3);
+                RcVec3f vertB = RcVecUtils.Create(verts, vertIndexB * 3);
-                RcVec3f vertC = RcVec.Create(verts, vertIndexC * 3);
+                RcVec3f vertC = RcVecUtils.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 = RcVec.SafeNormalize(prevSegmentDir);
+                prevSegmentDir = RcVecUtils.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 = RcVec.SafeNormalize(currSegmentDir);
+                currSegmentDir = RcVecUtils.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
@@ -791,7 +792,7 @@ 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 > RcVec.EPSILON)
+                if (cornerMiterSqMag > RcVecUtils.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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -19,9 +19,7 @@ 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;
@@ -30,7 +28,7 @@ using DotRecast.Recast.Geom;
 
 namespace DotRecast.Recast
 {
-    using static RcRecast;
+    using static RcCommons;
     using static RcAreas;
 
     public class RcBuilder
@@ -47,113 +45,132 @@ namespace DotRecast.Recast
             _progressListener = progressListener;
         }
 
-        public List<RcBuilderResult> BuildTiles(IInputGeomProvider geom, RcConfig cfg, bool keepInterResults, bool buildAll,
+        public List<RcBuilderResult> BuildTiles(IInputGeomProvider geom, RcConfig cfg, TaskFactory taskFactory)
-            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 (1 < threads)
+            if (null != taskFactory)
             {
-                return BuildMultiThread(geom, cfg, bmin, bmax, tw, th, threads, taskFactory ?? Task.Factory, cancellation, keepInterResults, buildAll);
+                BuildMultiThreadAsync(geom, cfg, bmin, bmax, tw, th, results, taskFactory, default);
             }
-
+            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)
             {
-            var results = new List<RcBuilderResult>(th * tw);
+                BuildSingleThreadAsync(geom, cfg, bmin, bmax, tw, th, results);
-            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);
 
-            List<Task> limits = new List<Task>(threads);
+        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>();
+
             for (int x = 0; x < tw; ++x)
             {
                 for (int y = 0; y < th; ++y)
                 {
                     int tx = x;
                     int ty = y;
-                    var task = taskFactory.StartNew(state =>
+                    var task = taskFactory.StartNew(() =>
                     {
-                        if (cancellation.IsCancellationRequested)
+                        if (cancellationToken.IsCancellationRequested)
                             return;
 
                         try
                         {
-                            RcBuilderResult result = BuildTile(geom, cfg, bmin, bmax, tx, ty, progress, tw * th, keepInterResults);
+                            RcBuilderResult tile = BuildTile(geom, cfg, bmin, bmax, tx, ty, counter, tw * th);
-                            results.Enqueue(result);
+                            lock (results)
+                            {
+                                results.Add(tile);
+                            }
                         }
                         catch (Exception e)
                         {
                             Console.WriteLine(e);
                         }
-                    }, null, cancellation);
 
-                    limits.Add(task);
+
-                    if (threads <= limits.Count)
+                        latch.Signal();
+                    }, cancellationToken);
+
+                    tasks.Add(task);
+                }
+            }
+
+            try
             {
-                        Task.WaitAll(limits.ToArray());
+                latch.Wait();
-                        limits.Clear();
             }
-                }
+            catch (ThreadInterruptedException)
-            }
-
-            if (0 < limits.Count)
             {
-                Task.WaitAll(limits.ToArray());
-                limits.Clear();
             }
 
-            var list = results.ToList();
+            return Task.WhenAll(tasks.ToArray());
-            return list;
         }
 
-        public RcBuilderResult BuildTile(IInputGeomProvider geom, RcConfig cfg, RcVec3f bmin, RcVec3f bmax, int tx, int ty, RcAtomicInteger progress, int total, bool keepInterResults)
+        public RcBuilderResult BuildTile(IInputGeomProvider geom, RcConfig cfg, RcVec3f bmin, RcVec3f bmax, int tx,
+            int ty, RcAtomicInteger counter, int total)
         {
-            var bcfg = new RcBuilderConfig(cfg, bmin, bmax, tx, ty);
+            RcBuilderResult result = Build(geom, new RcBuilderConfig(cfg, bmin, bmax, tx, ty));
-            RcBuilderResult result = Build(geom, bcfg, keepInterResults);
             if (_progressListener != null)
             {
-                _progressListener.OnProgress(progress.IncrementAndGet(), total);
+                _progressListener.OnProgress(counter.IncrementAndGet(), total);
             }
 
-
             return result;
         }
 
-        public RcBuilderResult Build(IInputGeomProvider geom, RcBuilderConfig bcfg, bool keepInterResults)
+        public RcBuilderResult Build(IInputGeomProvider geom, RcBuilderConfig builderCfg)
         {
-            RcConfig cfg = bcfg.cfg;
+            RcConfig cfg = builderCfg.cfg;
             RcContext ctx = new RcContext();
             //
             // Step 1. Rasterize input polygon soup.
             //
-            RcHeightfield solid = RcVoxelizations.BuildSolidHeightfield(ctx, geom, bcfg);
+            RcHeightfield solid = RcVoxelizations.BuildSolidHeightfield(ctx, geom, builderCfg);
-            return Build(ctx, bcfg.tileX, bcfg.tileZ, geom, cfg, solid, keepInterResults);
+            return Build(ctx, builderCfg.tileX, builderCfg.tileZ, geom, cfg, solid);
         }
 
-        public RcBuilderResult Build(RcContext ctx, int tileX, int tileZ, IInputGeomProvider geom, RcConfig cfg, RcHeightfield solid, bool keepInterResults)
+        public RcBuilderResult Build(RcContext ctx, int tileX, int tileZ, IInputGeomProvider geom, RcConfig cfg, RcHeightfield solid)
         {
             FilterHeightfield(ctx, solid, cfg);
             RcCompactHeightfield chf = BuildCompactHeightfield(ctx, geom, cfg, solid);
@@ -224,17 +241,7 @@ 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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -92,7 +92,7 @@ namespace DotRecast.Recast
             }
             else
             {
-                RcRecast.CalcGridSize(this.bmin, this.bmax, cfg.Cs, out width, out height);
+                RcCommons.CalcGridSize(this.bmin, this.bmax, cfg.Cs, out width, out height);
             }
         }
     }

src/DotRecast.Recast/RcBuilderResult.cs

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

src/DotRecast.Recast/RcCommons.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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -24,81 +24,10 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast
 {
-    public static class RcRecast
+    using static RcConstants;
+
+    public static class RcCommons
     {
-        /// 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 };
@@ -198,10 +127,7 @@ namespace DotRecast.Recast
             for (int i = 0; i < nt; ++i)
             {
                 int tri = i * 3;
-                RcVec3f v0 = RcVec.Create(verts, tris[tri + 0] * 3);
+                CalcTriNormal(verts, tris[tri], tris[tri + 1], tris[tri + 2], ref norm);
-                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]);
@@ -210,10 +136,10 @@ namespace DotRecast.Recast
             return areas;
         }
 
-        public static void CalcTriNormal(RcVec3f v0, RcVec3f v1, RcVec3f v2, ref RcVec3f norm)
+        public static void CalcTriNormal(float[] verts, int v0, int v1, int v2, ref RcVec3f norm)
         {
-            var e0 = v1 - v0;
+            var e0 = RcVecUtils.Subtract(verts, v1 * 3, v0 * 3);
-            var e1 = v2 - v0;
+            var e1 = RcVecUtils.Subtract(verts, v2 * 3, v0 * 3);
             norm = RcVec3f.Cross(e0, e1);
             norm = RcVec3f.Normalize(norm);
         }
@@ -236,10 +162,7 @@ namespace DotRecast.Recast
             for (int i = 0; i < nt; ++i)
             {
                 int tri = i * 3;
-                RcVec3f v0 = RcVec.Create(verts, tris[tri + 0] * 3);
+                CalcTriNormal(verts, tris[tri], tris[tri + 1], tris[tri + 2], ref norm);
-                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/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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -20,14 +20,17 @@ freely, subject to the following restrictions:
 using System;
 using System.Linq;
 using DotRecast.Core;
+using static DotRecast.Recast.RcConstants;
+
 
 namespace DotRecast.Recast
 {
-    using static RcRecast;
+    using static RcCommons;
+
 
     public static class RcCompacts
     {
-        private const int MAX_HEIGHT = RC_SPAN_MAX_HEIGHT;
+        private const int MAX_HEIGHT = RcConstants.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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

src/DotRecast.Recast/RcConstants.cs

@@ -0,0 +1,93 @@
+/*
+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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -20,14 +20,25 @@ 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
     {
-        public int[] verts; //< Simplified contour vertex and connection data. [Size: 4 * #nverts]
+        /** Simplified contour vertex and connection data. [Size: 4 * #nverts] */
-        public int nverts; //< The number of vertices in the simplified contour.
+        public int[] verts;
-        public int[] rverts; //< Raw contour vertex and connection data. [Size: 4 * #nrverts]
+
-        public int nrverts; //< The number of vertices in the raw contour.
+        /** The number of vertices in the simplified contour. */
-        public int reg; //< The region id of the contour.
+        public int nverts;
-        public int area; //< The area id of the contour.
+
+        /** 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;
     }
 }

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -24,8 +24,8 @@ using DotRecast.Core;
 
 namespace DotRecast.Recast
 {
-    
+    using static RcConstants;
-    using static RcRecast;
+    using static RcCommons;
 
     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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -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)
         {
-            RcVec.Cross(planes[p], v1, v2);
+            RcVecUtils.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)
             {
-                Span<RcVec3f> rectangleOnStartPlane = stackalloc RcVec3f[4];
+                RcVec3f[] rectangleOnStartPlane = new RcVec3f[4];
-                Span<RcVec3f> rectangleOnEndPlane = stackalloc RcVec3f[4];
+                RcVec3f[] rectangleOnEndPlane = new 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, Span<RcVec3f> rectangleOnPlane)
+        private static float[] CylinderCapIntersection(RcVec3f start, float radiusSqr, float[] s, int i, 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] &&
+                if (vertices[vi] >= rectangle[0] && vertices[vi] < rectangle[2] && vertices[vi + 2] >= rectangle[1]
-                    vertices[vi + 2] >= rectangle[1] && vertices[vi + 2] < rectangle[3])
+                    && 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 = RcVec3f.Dot(new RcVec3f(planes[j]), point);
+                        float dotNormalPoint = RcVecUtils.Dot(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] - RcVec3f.Dot(new RcVec3f(planes[plane]), point)) / planes[plane][1];
+            float t = (planes[plane][3] - RcVecUtils.Dot(planes[plane], point)) / planes[plane][1];
-            RcVec3f s = new RcVec3f(point.X, point.Y + t, point.Z);
+            float[] s = { point.X, point.Y + t, point.Z };
-            float u = RcVec3f.Dot(s, new RcVec3f(planes[plane + 1])) - planes[plane + 1][3];
+            float u = RcVecUtils.Dot(s, planes[plane + 1]) - planes[plane + 1][3];
             if (u < 0.0f || u > 1.0f)
             {
                 return false;
             }
 
-            float v = RcVec3f.Dot(s, new RcVec3f(planes[plane + 2])) - planes[plane + 2][3];
+            float v = RcVecUtils.Dot(s, planes[plane + 2]) - planes[plane + 2][3];
             if (v < 0.0f)
             {
                 return false;
@@ -749,7 +749,7 @@ namespace DotRecast.Recast
                 return false;
             }
 
-            y = s.Y;
+            y = s[1];
             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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -23,8 +23,8 @@ using DotRecast.Core;
 
 namespace DotRecast.Recast
 {
-    
+    using static RcConstants;
-    using static RcRecast;
+    using static RcCommons;
 
     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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -22,21 +22,29 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast
 {
-    /// A dynamic heightfield representing obstructed space.
+    /** Represents a heightfield layer within a layer set. */
-    /// @ingroup recast
     public class RcHeightfield
     {
-        public readonly int width; //< The width of the heightfield. (Along the x-axis in cell units.)
+        /** 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 int width;
-        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).
 
-        // memory pool for rcSpan instances.
+        /** The height of the heightfield. (Along the z-axis in cell units.) */
-        public RcSpanPool pools; //< Linked list of span pools.
+        public readonly int height;
-        public RcSpan freelist; //< The next free span.
+
+        /** The minimum bounds in world space. [(x, y, z)] */
+        public readonly RcVec3f bmin;
+
+        /** The maximum bounds in world space. [(x, y, z)] */
+        public RcVec3f bmax;
+
+        /** The size of each cell. (On the xz-plane.) */
+        public readonly float cs;
+
+        /** The height of each cell. (The minimum increment along the y-axis.) */
+        public readonly float ch;
+
+        /** Heightfield of spans (width*height). */
+        public readonly RcSpan[] spans;
 
         /** Border size in cell units */
         public readonly int borderSize;

src/DotRecast.Recast/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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

src/DotRecast.Recast/RcLayerRegion.cs

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

src/DotRecast.Recast/RcLayerSweepSpan.cs

@@ -1,9 +1,9 @@
-namespace DotRecast.Recast
+namespace DotRecast.Recast
 {
     public class RcLayerSweepSpan
     {
         public int ns; // number samples
-        public byte id; // region id
+        public int id; // region id
-        public byte nei; // neighbour id
+        public int 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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -25,10 +25,15 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast
 {
-    using static RcRecast;
+    using static RcConstants;
+    using static RcCommons;
 
     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))
@@ -56,6 +61,7 @@ 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.
@@ -74,10 +80,10 @@ namespace DotRecast.Recast
             int w = chf.width;
             int h = chf.height;
             
-            Span<byte> srcReg = stackalloc byte[chf.spanCount];
+            int[] srcReg = new int[chf.spanCount];
-            srcReg.Fill(0xFF);
+            Array.Fill(srcReg, 0xFF);
             
-            int nsweeps = chf.width;
+            int nsweeps = chf.width; // Math.Max(chf.width, chf.height);
             RcLayerSweepSpan[] sweeps = new RcLayerSweepSpan[nsweeps];
             for (int i = 0; i < sweeps.Length; i++)
             {
@@ -85,15 +91,15 @@ namespace DotRecast.Recast
             }
 
             // Partition walkable area into monotone regions.
-            Span<int> prevCount = stackalloc int[256];
+            int[] prevCount = new int[256];
-            byte regId = 0;
+            int regId = 0;
             
             // Sweep one line at a time.
             for (int y = borderSize; y < h - borderSize; ++y)
             {
                 // Collect spans from this row.
-                prevCount.Fill(0);
+                Array.Fill(prevCount, 0);
-                byte sweepId = 0;
+                int sweepId = 0;
 
                 for (int x = borderSize; x < w - borderSize; ++x)
                 {
@@ -105,7 +111,7 @@ namespace DotRecast.Recast
                         if (chf.areas[i] == RC_NULL_AREA)
                             continue;
                         
-                        byte sid = 0xFF;
+                        int sid = 0xFF;
                         
                         // -x
                         if (GetCon(ref s, 0) != RC_NOT_CONNECTED)
@@ -130,7 +136,7 @@ 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);
-                            byte nr = srcReg[ai];
+                            int nr = srcReg[ai];
                             if (nr != 0xff)
                             {
                                 // Set neighbour when first valid neighbour is encoutered.
@@ -260,11 +266,9 @@ namespace DotRecast.Recast
             }
 
             // Create 2D layers from regions.
-            byte layerId = 0;
+            int layerId = 0;
 
-            const int MAX_STACK = 64;
+            List<int> stack = new List<int>();
-            Span<byte> stack = stackalloc byte[MAX_STACK];
-            int nstack = 0;
 
             for (int i = 0; i < nregs; ++i)
             {
@@ -277,16 +281,14 @@ namespace DotRecast.Recast
                 root.layerId = layerId;
                 root.@base = true;
 
-                nstack = 0;
+                stack.Add(i);
-                stack[nstack++] = ((byte)i);
 
-                while (0 != nstack)
+                while (stack.Count != 0)
                 {
                     // Pop front
-                    RcLayerRegion reg = regs[stack[0]];
+                    int pop = stack[0]; // TODO : 여기에 stack 처럼 작동하게 했는데, 스택인지는 모르겠음
-                    nstack--;
+                    stack.RemoveAt(0);
-                    for (int j = 0; j < nstack; ++j)
+                    RcLayerRegion reg = regs[pop];
-                        stack[j] = stack[j + 1];
 
                     foreach (int nei in reg.neis)
                     {
@@ -305,10 +307,8 @@ namespace DotRecast.Recast
                         if ((ymax - ymin) >= 255)
                             continue;
 
-                        if (nstack < MAX_STACK)
-                        {
                         // Deepen
-                            stack[nstack++] = (byte)nei;
+                        stack.Add(nei);
 
                         // Mark layer id
                         regn.layerId = layerId;
@@ -322,7 +322,6 @@ namespace DotRecast.Recast
                         root.ymax = Math.Max(root.ymax, regn.ymax);
                     }
                 }
-                }
 
                 layerId++;
             }
@@ -336,7 +335,7 @@ namespace DotRecast.Recast
                 if (!ri.@base)
                     continue;
 
-                byte newId = ri.layerId;
+                int newId = ri.layerId;
 
                 for (;;)
                 {
@@ -412,7 +411,7 @@ namespace DotRecast.Recast
             }
 
             // Compact layerIds
-            Span<byte> remap = stackalloc byte[256];
+            int[] remap = new int[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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -22,57 +22,178 @@ using System;
 using System.Collections.Generic;
 using DotRecast.Core;
 using DotRecast.Core.Numerics;
-
+using static DotRecast.Recast.RcConstants;
 
 namespace DotRecast.Recast
 {
-    using static RcRecast;
+    using static RcCommons;
-    using static RcVec;
+
-    using static EdgeValues;
 
     public static class RcMeshDetails
     {
-        public const int RC_UNSET_HEIGHT = RC_SPAN_MAX_HEIGHT;
+        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 static bool CircumCircle(RcVec3f p1, RcVec3f p2, RcVec3f p3, ref RcVec3f c, out float r)
+        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)
         {
             const float EPS = 1e-6f;
             // Calculate the circle relative to p1, to avoid some precision issues.
             var v1 = new RcVec3f();
-            var v2 = p2 - p1;
+            var v2 = RcVecUtils.Subtract(verts, p2, p1);
-            var v3 = p3 - p1;
+            var v3 = RcVecUtils.Subtract(verts, p3, p1);
 
-            float cp = Cross2(v1, v2, v3);
+            float cp = Vcross2(v1, v2, v3);
             if (MathF.Abs(cp) > EPS)
             {
-                float v1Sq = Dot2(v1, v1);
+                float v1Sq = Vdot2(v1, v1);
-                float v2Sq = Dot2(v2, v2);
+                float v2Sq = Vdot2(v2, v2);
-                float v3Sq = Dot2(v3, v3);
+                float v3Sq = Vdot2(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 = Dist2(c, v1);
+                r.Exchange(Vdist2(c, v1));
-                c = c + p1;
+                c = RcVecUtils.Add(c, verts, p1);
                 return true;
             }
 
-            c = p1;
+            c = RcVecUtils.Create(verts, p1);
-            r = 0f;
+            r.Exchange(0f);
             return false;
         }
 
-        public static float DistPtTri(RcVec3f p, RcVec3f a, RcVec3f b, RcVec3f c)
+        private static float DistPtTri(RcVec3f p, float[] verts, int a, int b, int c)
         {
-            var v0 = c - a;
+            var v0 = RcVecUtils.Subtract(verts, c, a);
-            var v1 = b - a;
+            var v1 = RcVecUtils.Subtract(verts, b, a);
-            var v2 = p - a;
+            var v2 = RcVecUtils.Subtract(p, verts, a);
 
-            float dot00 = Dot2(v0, v0);
+            float dot00 = Vdot2(v0, v0);
-            float dot01 = Dot2(v0, v1);
+            float dot01 = Vdot2(v0, v1);
-            float dot02 = Dot2(v0, v2);
+            float dot02 = Vdot2(v0, v2);
-            float dot11 = Dot2(v1, v1);
+            float dot11 = Vdot2(v1, v1);
-            float dot12 = Dot2(v1, v2);
+            float dot12 = Vdot2(v1, v2);
 
             // Compute barycentric coordinates
             float invDenom = 1.0f / (dot00 * dot11 - dot01 * dot01);
@@ -83,14 +204,14 @@ namespace DotRecast.Recast
             const float EPS = 1e-4f;
             if (u >= -EPS && v >= -EPS && (u + v) <= 1 + EPS)
             {
-                float y = a.Y + v0.Y * u + v1.Y * v;
+                float y = verts[a + 1] + v0.Y * u + v1.Y * v;
                 return MathF.Abs(y - p.Y);
             }
 
             return float.MaxValue;
         }
 
-        public static float DistancePtSeg(float[] verts, int pt, int p, int q)
+        private 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];
@@ -121,7 +242,7 @@ namespace DotRecast.Recast
             return dx * dx + dy * dy + dz * dz;
         }
 
-        public static float DistancePtSeg2d(RcVec3f verts, float[] poly, int p, int q)
+        private 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];
@@ -149,7 +270,7 @@ namespace DotRecast.Recast
             return dx * dx + dz * dz;
         }
 
-        public static float DistancePtSeg2d(float[] verts, int pt, float[] poly, int p, int q)
+        private 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];
@@ -177,15 +298,15 @@ namespace DotRecast.Recast
             return dx * dx + dz * dz;
         }
 
-        public static float DistToTriMesh(RcVec3f p, float[] verts, int nverts, List<int> tris, int ntris)
+        private 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)
             {
-                RcVec3f va = RcVec.Create(verts, tris[i * 4 + 0] * 3);
+                int va = tris[i * 4 + 0] * 3;
-                RcVec3f vb = RcVec.Create(verts, tris[i * 4 + 1] * 3);
+                int vb = tris[i * 4 + 1] * 3;
-                RcVec3f vc = RcVec.Create(verts, tris[i * 4 + 2] * 3);
+                int vc = tris[i * 4 + 2] * 3;
-                float d = DistPtTri(p, va, vb, vc);
+                float d = DistPtTri(p, verts, va, vb, vc);
                 if (d < dmin)
                 {
                     dmin = d;
@@ -200,7 +321,7 @@ namespace DotRecast.Recast
             return dmin;
         }
 
-        public static float DistToPoly(int nvert, float[] verts, RcVec3f p)
+        private static float DistToPoly(int nvert, float[] verts, RcVec3f p)
         {
             float dmin = float.MaxValue;
             int i, j;
@@ -221,7 +342,7 @@ namespace DotRecast.Recast
             return c ? -dmin : dmin;
         }
 
-        public static int GetHeight(float fx, float fy, float fz, float cs, float ics, float ch, int radius,
+        private 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);
@@ -304,7 +425,7 @@ namespace DotRecast.Recast
             return h;
         }
 
-        public static int FindEdge(List<int> edges, int s, int t)
+        private static int FindEdge(List<int> edges, int s, int t)
         {
             for (int i = 0; i < edges.Count / 4; i++)
             {
@@ -318,7 +439,7 @@ namespace DotRecast.Recast
             return EV_UNDEF;
         }
 
-        public static void AddEdge(RcContext ctx, List<int> edges, int maxEdges, int s, int t, int l, int r)
+        private static void AddEdge(RcContext ctx, List<int> edges, int maxEdges, int s, int t, int l, int r)
         {
             if (edges.Count / 4 >= maxEdges)
             {
@@ -336,7 +457,7 @@ namespace DotRecast.Recast
             }
         }
 
-        public static void UpdateLeftFace(List<int> edges, int e, int s, int t, int f)
+        private 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)
             {
@@ -348,13 +469,13 @@ namespace DotRecast.Recast
             }
         }
 
-        public static bool OverlapSegSeg2d(float[] verts, int a, int b, int c, int d)
+        private static bool OverlapSegSeg2d(float[] verts, int a, int b, int c, int d)
         {
-            float a1 = Cross2(verts, a, b, d);
+            float a1 = Vcross2(verts, a, b, d);
-            float a2 = Cross2(verts, a, b, c);
+            float a2 = Vcross2(verts, a, b, c);
             if (a1 * a2 < 0.0f)
             {
-                float a3 = Cross2(verts, c, d, a);
+                float a3 = Vcross2(verts, c, d, a);
                 float a4 = a3 + a2 - a1;
                 if (a3 * a4 < 0.0f)
                 {
@@ -365,7 +486,7 @@ namespace DotRecast.Recast
             return false;
         }
 
-        public static bool OverlapEdges(float[] pts, List<int> edges, int s1, int t1)
+        private static bool OverlapEdges(float[] pts, List<int> edges, int s1, int t1)
         {
             for (int i = 0; i < edges.Count / 4; ++i)
             {
@@ -386,7 +507,7 @@ namespace DotRecast.Recast
             return false;
         }
 
-        public static int CompleteFacet(RcContext ctx, float[] pts, int npts, List<int> edges, int maxEdges, int nfaces, int e)
+        static int CompleteFacet(RcContext ctx, float[] pts, int npts, List<int> edges, int maxEdges, int nfaces, int e)
         {
             const float EPS = 1e-5f;
 
@@ -413,7 +534,7 @@ namespace DotRecast.Recast
             // Find best point on left of edge.
             int pt = npts;
             RcVec3f c = new RcVec3f();
-            float r = -1f;
+            RcAtomicFloat r = new RcAtomicFloat(-1f);
             for (int u = 0; u < npts; ++u)
             {
                 if (u == s || u == t)
@@ -421,32 +542,28 @@ namespace DotRecast.Recast
                     continue;
                 }
 
-                RcVec3f vs = RcVec.Create(pts, s * 3);
+                if (Vcross2(pts, s * 3, t * 3, u * 3) > EPS)
-                RcVec3f vt = RcVec.Create(pts, t * 3);
-                RcVec3f vu = RcVec.Create(pts, u * 3);
-
-                if (Cross2(vs, vt, vu) > EPS)
                 {
-                    if (r < 0)
+                    if (r.Get() < 0)
                     {
                         // The circle is not updated yet, do it now.
                         pt = u;
-                        CircumCircle(vs, vt, vu, ref c, out r);
+                        CircumCircle(pts, s * 3, t * 3, u * 3, ref c, r);
                         continue;
                     }
 
-                    float d = Dist2(c, vu);
+                    float d = Vdist2(c, pts, u * 3);
                     float tol = 0.001f;
-                    if (d > r * (1 + tol))
+                    if (d > r.Get() * (1 + tol))
                     {
                         // Outside current circumcircle, skip.
                         continue;
                     }
-                    else if (d < r * (1 - tol))
+                    else if (d < r.Get() * (1 - tol))
                     {
                         // Inside safe circumcircle, update circle.
                         pt = u;
-                        CircumCircle(vs, vt, vu, ref c, out r);
+                        CircumCircle(pts, s * 3, t * 3, u * 3, ref c, r);
                     }
                     else
                     {
@@ -464,7 +581,7 @@ namespace DotRecast.Recast
 
                         // Edge is valid.
                         pt = u;
-                        CircumCircle(vs, vt, vu, ref c, out r);
+                        CircumCircle(pts, s * 3, t * 3, u * 3, ref c, r);
                     }
                 }
             }
@@ -507,7 +624,7 @@ namespace DotRecast.Recast
             return nfaces;
         }
 
-        public static void DelaunayHull(RcContext ctx, int npts, float[] pts, int nhull, int[] hull, List<int> tris)
+        private static void DelaunayHull(RcContext ctx, int npts, float[] pts, int nhull, int[] hull, List<int> tris)
         {
             int nfaces = 0;
             int maxEdges = npts * 10;
@@ -603,7 +720,7 @@ namespace DotRecast.Recast
         }
 
         // Calculate minimum extend of the polygon.
-        public static float PolyMinExtent(float[] verts, int nverts)
+        private static float PolyMinExtent(float[] verts, int nverts)
         {
             float minDist = float.MaxValue;
             for (int i = 0; i < nverts; i++)
@@ -629,7 +746,7 @@ namespace DotRecast.Recast
             return MathF.Sqrt(minDist);
         }
 
-        public static void TriangulateHull(int nverts, float[] verts, int nhull, int[] hull, int nin, List<int> tris)
+        private static void TriangulateHull(int nverts, float[] verts, int nhull, int[] hull, int nin, List<int> tris)
         {
             int start = 0, left = 1, right = nhull - 1;
 
@@ -649,7 +766,7 @@ namespace DotRecast.Recast
                 int pv = hull[pi] * 3;
                 int cv = hull[i] * 3;
                 int nv = hull[ni] * 3;
-                float d = Dist2(verts, pv, cv) + Dist2(verts, cv, nv) + Dist2(verts, nv, pv);
+                float d = Vdist2(verts, pv, cv) + Vdist2(verts, cv, nv) + Vdist2(verts, nv, pv);
                 if (d < dmin)
                 {
                     start = i;
@@ -679,8 +796,8 @@ namespace DotRecast.Recast
                 int nvleft = hull[nleft] * 3;
                 int cvright = hull[right] * 3;
                 int nvright = hull[nright] * 3;
-                float dleft = Dist2(verts, cvleft, nvleft) + Dist2(verts, nvleft, cvright);
+                float dleft = Vdist2(verts, cvleft, nvleft) + Vdist2(verts, nvleft, cvright);
-                float dright = Dist2(verts, cvright, nvright) + Dist2(verts, cvleft, nvright);
+                float dright = Vdist2(verts, cvright, nvright) + Vdist2(verts, cvleft, nvright);
 
                 if (dleft < dright)
                 {
@@ -701,37 +818,33 @@ namespace DotRecast.Recast
             }
         }
 
-        public static float GetJitterX(int i)
+        private static float GetJitterX(int i)
         {
             return (((i * 0x8da6b343) & 0xffff) / 65535.0f * 2.0f) - 1.0f;
         }
 
-        public static float GetJitterY(int i)
+        private static float GetJitterY(int i)
         {
             return (((i * 0xd8163841) & 0xffff) / 65535.0f * 2.0f) - 1.0f;
         }
 
-        public static int BuildPolyDetail(RcContext ctx, float[] @in, int nin, 
+        static int BuildPolyDetail(RcContext ctx, float[] @in, int nin, float sampleDist, float sampleMaxError,
-                                            float sampleDist, float sampleMaxError, 
+            int heightSearchRadius, RcCompactHeightfield chf, RcHeightPatch hp, float[] verts, List<int> tris)
-                                            int heightSearchRadius, RcCompactHeightfield chf, 
-                                            RcHeightPatch hp, float[] verts, 
-                                            ref List<int> tris, ref List<int> edges, ref List<int> samples)
         {
-            const int MAX_VERTS = 127;
+            List<int> samples = new List<int>(512);
-            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;
+            int nverts = 0;
             float[] edge = new float[(MAX_VERTS_PER_EDGE + 1) * 3];
             int[] hull = new int[MAX_VERTS];
             int nhull = 0;
 
-            int nverts = nin;
+            nverts = nin;
 
             for (int i = 0; i < nin; ++i)
             {
-                RcVec.Copy(verts, i * 3, @in, i * 3);
+                RcVecUtils.Copy(verts, i * 3, @in, i * 3);
             }
 
-            edges.Clear();
             tris.Clear();
 
             float cs = chf.cs;
@@ -844,7 +957,7 @@ namespace DotRecast.Recast
                     {
                         for (int k = nidx - 2; k > 0; --k)
                         {
-                            RcVec.Copy(verts, nverts * 3, edge, idx[k] * 3);
+                            RcVecUtils.Copy(verts, nverts * 3, edge, idx[k] * 3);
                             hull[nhull++] = nverts;
                             nverts++;
                         }
@@ -853,7 +966,7 @@ namespace DotRecast.Recast
                     {
                         for (int k = 1; k < nidx - 1; ++k)
                         {
-                            RcVec.Copy(verts, nverts * 3, edge, idx[k] * 3);
+                            RcVecUtils.Copy(verts, nverts * 3, edge, idx[k] * 3);
                             hull[nhull++] = nverts;
                             nverts++;
                         }
@@ -884,12 +997,12 @@ namespace DotRecast.Recast
             if (sampleDist > 0)
             {
                 // Create sample locations in a grid.
-                RcVec3f bmin = new RcVec3f(@in);
+                RcVec3f bmin = RcVecUtils.Create(@in);
-                RcVec3f bmax = new RcVec3f(@in);
+                RcVec3f bmax = RcVecUtils.Create(@in);
                 for (int i = 1; i < nin; ++i)
                 {
-                    bmin = RcVec3f.Min(bmin, RcVec.Create(@in, i * 3));
+                    bmin = RcVecUtils.Min(bmin, @in, i * 3);
-                    bmax = RcVec3f.Max(bmax, RcVec.Create(@in, i * 3));
+                    bmax = RcVecUtils.Max(bmax, @in, i * 3);
                 }
 
                 int x0 = (int)MathF.Floor(bmin.X / sampleDist);
@@ -992,7 +1105,7 @@ namespace DotRecast.Recast
             return nverts;
         }
 
-        public static bool OnHull(int a, int b, int nhull, int[] hull)
+        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)
@@ -1008,7 +1121,7 @@ namespace DotRecast.Recast
         }
 
         // Find edges that lie on hull and mark them as such.
-        public static void SetTriFlags(List<int> tris, int nhull, int[] hull)
+        static void SetTriFlags(List<int> tris, int nhull, int[] hull)
         {
             // Matches DT_DETAIL_EDGE_BOUNDARY
             const int DETAIL_EDGE_BOUNDARY = 0x1;
@@ -1027,7 +1140,7 @@ namespace DotRecast.Recast
         }
 
 
-        public static void SeedArrayWithPolyCenter(RcContext ctx, RcCompactHeightfield chf, int[] meshpoly, int poly, int npoly,
+        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)
@@ -1176,25 +1289,22 @@ namespace DotRecast.Recast
             hp.data[cx - hp.xmin + (cy - hp.ymin) * hp.width] = cs2.y;
         }
 
+        const int RETRACT_SIZE = 256;
 
-        public static void Push3(List<int> queue, int v1, int v2, int v3)
+        static void Push3(List<int> queue, int v1, int v2, int v3)
         {
             queue.Add(v1);
             queue.Add(v2);
             queue.Add(v3);
         }
 
-        public static void GetHeightData(RcContext ctx, RcCompactHeightfield chf,
+        static void GetHeightData(RcContext ctx, RcCompactHeightfield chf, int[] meshpolys, int poly, int npoly, int[] verts,
-            int[] meshpolys, int poly, int npoly,
+            int bs, RcHeightPatch hp, int region)
-            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.
 
-            queue.Clear();
+            List<int> queue = new List<int>(512);
-            // Set all heights to RC_UNSET_HEIGHT.
             Array.Fill(hp.data, RC_UNSET_HEIGHT, 0, (hp.width * hp.height) - (0));
 
             bool empty = true;
@@ -1260,7 +1370,6 @@ 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
@@ -1332,10 +1441,7 @@ 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;
@@ -1420,20 +1526,18 @@ 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, ref hp, ref arr, mesh.regs[i]);
+                GetHeightData(ctx, chf, mesh.polys, p, npoly, mesh.verts, borderSize, hp, mesh.regs[i]);
 
                 // Build detail mesh.
-                int nverts = BuildPolyDetail(ctx, poly, npoly,
+                int nverts = BuildPolyDetail(ctx, poly, npoly, sampleDist, sampleMaxError, heightSearchRadius, chf, hp,
-                    sampleDist, sampleMaxError,
+                    verts, tris);
-                    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;
                 }
 
@@ -1510,7 +1614,7 @@ namespace DotRecast.Recast
         }
 
         /// @see rcAllocPolyMeshDetail, rcPolyMeshDetail
-        public static RcPolyMeshDetail MergePolyMeshDetails(RcContext ctx, RcPolyMeshDetail[] meshes, int nmeshes)
+        private static RcPolyMeshDetail MergePolyMeshDetails(RcContext ctx, RcPolyMeshDetail[] meshes, int nmeshes)
         {
             using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_MERGE_POLYMESHDETAIL);
 
@@ -1561,7 +1665,7 @@ namespace DotRecast.Recast
 
                 for (int k = 0; k < dm.nverts; ++k)
                 {
-                    RcVec.Copy(mesh.verts, mesh.nverts * 3, dm.verts, k * 3);
+                    RcVecUtils.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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -24,7 +24,7 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast
 {
-    using static RcRecast;
+    using static RcConstants;
 
     public static class RcMeshs
     {
@@ -715,13 +715,8 @@ 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.
@@ -961,7 +956,7 @@ namespace DotRecast.Recast
                 mesh.npolys++;
                 if (mesh.npolys > maxTris)
                 {
-                    throw new Exception($"removeVertex: Too many polygons {mesh.npolys} max:({maxTris}).");
+                    throw new Exception("removeVertex: Too many polygons " + mesh.npolys + " (max:" + maxTris + ".");
                 }
             }
         }
@@ -1038,23 +1033,11 @@ namespace DotRecast.Recast
                 // Triangulate contour
                 for (int j = 0; j < cont.nverts; ++j)
                     indices[j] = j;
-
                 int ntris = Triangulate(cont.nverts, cont.verts, indices, tris);
                 if (ntris <= 0)
                 {
                     // Bad triangulation, should not happen.
-                    /*
+                    ctx.Warn("buildPolyMesh: Bad triangulation Contour " + i + ".");
-                    printf("\tconst float bmin[3] = {%ff,%ff,%ff};\n", cset.bmin[0], cset.bmin[1], cset.bmin[2]);
-                    printf("\tconst float cs = %ff;\n", cset.cs);
-                    printf("\tconst float ch = %ff;\n", cset.ch);
-                    printf("\tconst int verts[] = {\n");
-                    for (int k = 0; k < cont.nverts; ++k)
-                    {
-                       const int* v = &cont.verts[k*4];
-                       printf("\t\t%d,%d,%d,%d,\n", v[0], v[1], v[2], v[3]);
-                    }
-                    printf("\t};\n\tconst int nverts = sizeof(verts)/(sizeof(int)*4);\n");*/
-                    ctx.Warn($"BuildPolyMesh: Bad triangulation Contour {i}.");
                     ntris = -ntris;
                 }
 
@@ -1215,12 +1198,14 @@ namespace DotRecast.Recast
 
             if (mesh.nverts > MAX_MESH_VERTS_POLY)
             {
-                throw new Exception($"BuildPolyMesh: The resulting mesh has too many vertices {mesh.nverts} (max {MAX_MESH_VERTS_POLY}). Data can be corrupted.");
+                throw new Exception("rcBuildPolyMesh: 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($"BuildPolyMesh: The resulting mesh has too many polygons {mesh.npolys} (max {MAX_MESH_VERTS_POLY}). Data can be corrupted.");
+                throw new Exception("rcBuildPolyMesh: 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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

src/DotRecast.Recast/RcPolyMeshRaycast.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -17,7 +17,6 @@ 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;
@@ -31,9 +30,9 @@ namespace DotRecast.Recast
             hitTime = 0.0f;
             foreach (RcBuilderResult result in results)
             {
-                if (result.MeshDetail != null)
+                if (result.GetMeshDetail() != null)
                 {
-                    if (Raycast(result.Mesh, result.MeshDetail, src, dst, out hitTime))
+                    if (Raycast(result.GetMesh(), result.GetMeshDetail(), src, dst, out hitTime))
                     {
                         return true;
                     }
@@ -46,7 +45,6 @@ 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)
@@ -59,7 +57,7 @@ namespace DotRecast.Recast
                     int tris = btris * 4;
                     for (int j = 0; j < ntris; ++j)
                     {
-                        Span<RcVec3f> vs = tempVs;
+                        RcVec3f[] vs = new RcVec3f[3];
                         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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -21,12 +21,10 @@ 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
@@ -44,63 +42,6 @@ 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.
@@ -209,13 +150,13 @@ 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(Span<float> inVerts, int inVertsOffset, int inVertsCount,
+        private static void DividePoly(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.
-            Span<float> inVertAxisDelta = stackalloc float[12];
+            float[] inVertAxisDelta = new float[12];
             for (int inVert = 0; inVert < inVertsCount; ++inVert)
             {
                 inVertAxisDelta[inVert] = axisOffset - inVerts[inVertsOffset + inVert * 3 + axis];
@@ -233,7 +174,7 @@ 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;
-                    RcVec.Copy(inVerts, outVerts2 + poly2Vert * 3, inVerts, outVerts1 + poly1Vert * 3);
+                    RcVecUtils.Copy(inVerts, outVerts2 + poly2Vert * 3, inVerts, outVerts1 + poly1Vert * 3);
                     poly1Vert++;
                     poly2Vert++;
 
@@ -241,12 +182,12 @@ namespace DotRecast.Recast
                     // since these were already added above
                     if (inVertAxisDelta[inVertA] > 0)
                     {
-                        RcVec.Copy(inVerts, outVerts1 + poly1Vert * 3, inVerts, inVertsOffset + inVertA * 3);
+                        RcVecUtils.Copy(inVerts, outVerts1 + poly1Vert * 3, inVerts, inVertsOffset + inVertA * 3);
                         poly1Vert++;
                     }
                     else if (inVertAxisDelta[inVertA] < 0)
                     {
-                        RcVec.Copy(inVerts, outVerts2 + poly2Vert * 3, inVerts, inVertsOffset + inVertA * 3);
+                        RcVecUtils.Copy(inVerts, outVerts2 + poly2Vert * 3, inVerts, inVertsOffset + inVertA * 3);
                         poly2Vert++;
                     }
                 }
@@ -255,7 +196,7 @@ 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)
                     {
-                        RcVec.Copy(inVerts, outVerts1 + poly1Vert * 3, inVerts, inVertsOffset + inVertA * 3);
+                        RcVecUtils.Copy(inVerts, outVerts1 + poly1Vert * 3, inVerts, inVertsOffset + inVertA * 3);
                         poly1Vert++;
                         if (inVertAxisDelta[inVertA] != 0)
                         {
@@ -263,7 +204,7 @@ namespace DotRecast.Recast
                         }
                     }
 
-                    RcVec.Copy(inVerts, outVerts2 + poly2Vert * 3, inVerts, inVertsOffset + inVertA * 3);
+                    RcVecUtils.Copy(inVerts, outVerts2 + poly2Vert * 3, inVerts, inVertsOffset + inVertA * 3);
                     poly2Vert++;
                 }
             }
@@ -295,13 +236,13 @@ namespace DotRecast.Recast
             int flagMergeThreshold)
         {
             // Calculate the bounding box of the triangle.
-            RcVec3f triBBMin = RcVec.Create(verts, v0 * 3);
+            RcVec3f triBBMin = RcVecUtils.Create(verts, v0 * 3);
-            triBBMin = RcVec3f.Min(triBBMin, RcVec.Create(verts, v1 * 3));
+            triBBMin = RcVecUtils.Min(triBBMin, verts, v1 * 3);
-            triBBMin = RcVec3f.Min(triBBMin, RcVec.Create(verts, v2 * 3));
+            triBBMin = RcVecUtils.Min(triBBMin, verts, v2 * 3);
 
-            RcVec3f triBBMax = RcVec.Create(verts, v0 * 3);
+            RcVec3f triBBMax = RcVecUtils.Create(verts, v0 * 3);
-            triBBMax = RcVec3f.Max(triBBMax, RcVec.Create(verts, v1 * 3));
+            triBBMax = RcVecUtils.Max(triBBMax, verts, v1 * 3);
-            triBBMax = RcVec3f.Max(triBBMax, RcVec.Create(verts, v2 * 3));
+            triBBMax = RcVecUtils.Max(triBBMax, verts, v2 * 3);
 
             // If the triangle does not touch the bounding box of the heightfield, skip the triangle.
             if (!OverlapBounds(triBBMin, triBBMax, heightfieldBBMin, heightfieldBBMax))
@@ -322,15 +263,15 @@ namespace DotRecast.Recast
             z1 = Math.Clamp(z1, 0, h - 1);
 
             // Clip the triangle into all grid cells it touches.
-            Span<float> buf = stackalloc float[7 * 3 * 4];
+            float[] buf = new float[7 * 3 * 4];
             int @in = 0;
             int inRow = 7 * 3;
             int p1 = inRow + 7 * 3;
             int p2 = p1 + 7 * 3;
 
-            RcVec.Copy(buf, 0, verts, v0 * 3);
+            RcVecUtils.Copy(buf, 0, verts, v0 * 3);
-            RcVec.Copy(buf, 3, verts, v1 * 3);
+            RcVecUtils.Copy(buf, 3, verts, v1 * 3);
-            RcVec.Copy(buf, 6, verts, v2 * 3);
+            RcVecUtils.Copy(buf, 6, verts, v2 * 3);
             int nvRow;
             int nvIn = 3;
 

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -25,8 +25,8 @@ using DotRecast.Core;
 
 namespace DotRecast.Recast
 {
-    
+    using static RcConstants;
-    using static RcRecast;
+    using static RcCommons;
 
     public static class RcRegions
     {
@@ -1665,8 +1665,8 @@ namespace DotRecast.Recast
 
             ctx.StartTimer(RcTimerLabel.RC_TIMER_BUILD_REGIONS_WATERSHED);
 
-            const int LOG_NB_STACKS = 3;
+            int LOG_NB_STACKS = 3;
-            const int NB_STACKS = 1 << LOG_NB_STACKS;
+            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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -20,13 +20,19 @@ 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
     {
-        public int smin; //< The lower limit of the span. [Limit: < #smax]
+        /** The lower limit of the span. [Limit: &lt; smax] */
-        public int smax; //< The upper limit of the span. [Limit: <= #RC_SPAN_MAX_HEIGHT]
+        public int smin;
-        public int area; //< The area id assigned to the span.
+
-        public RcSpan next; //< The next span higher up in column.
+        /** The upper limit of the span. [Limit: &lt;= 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;
     }
 }

src/DotRecast.Recast/RcSpanPool.cs

@@ -1,38 +0,0 @@
-/*
-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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -19,7 +19,6 @@ freely, subject to the following restrictions:
 
 using System.Collections.Generic;
 using DotRecast.Core;
-using DotRecast.Core.Numerics;
 using DotRecast.Recast.Geom;
 
 namespace DotRecast.Recast
@@ -45,18 +44,18 @@ namespace DotRecast.Recast
                 float[] verts = geom.GetVerts();
                 if (cfg.UseTiles)
                 {
-                    RcVec2f tbmin;
+                    float[] tbmin = new float[2];
-                    RcVec2f tbmax;
+                    float[] tbmax = new float[2];
-                    tbmin.X = builderCfg.bmin.X;
+                    tbmin[0] = builderCfg.bmin.X;
-                    tbmin.Y = builderCfg.bmin.Z;
+                    tbmin[1] = builderCfg.bmin.Z;
-                    tbmax.X = builderCfg.bmax.X;
+                    tbmax[0] = builderCfg.bmax.X;
-                    tbmax.Y = builderCfg.bmax.Z;
+                    tbmax[1] = 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 = RcRecast.MarkWalkableTriangles(ctx, cfg.WalkableSlopeAngle, verts, tris, ntris, cfg.WalkableAreaMod);
+                        int[] m_triareas = RcCommons.MarkWalkableTriangles(ctx, cfg.WalkableSlopeAngle, verts, tris, ntris, cfg.WalkableAreaMod);
                         RcRasterizations.RasterizeTriangles(ctx, verts, tris, m_triareas, ntris, solid, cfg.WalkableClimb);
                     }
                 }
@@ -64,7 +63,7 @@ namespace DotRecast.Recast
                 {
                     int[] tris = geom.GetTris();
                     int ntris = tris.Length / 3;
-                    int[] m_triareas = RcRecast.MarkWalkableTriangles(ctx, cfg.WalkableSlopeAngle, verts, tris, ntris, cfg.WalkableAreaMod);
+                    int[] m_triareas = RcCommons.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 +0,0 @@
-{
-  "name": "com.rnd.dotrecast",
-  "displayName": "DotRecast",
-  "version": "0.4.1"
-}

test/DotRecast.Benchmark/BenchmarkProgram.cs

@@ -1,22 +0,0 @@
-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

@@ -1,278 +0,0 @@
-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

@@ -1,71 +0,0 @@
-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

@@ -1,73 +0,0 @@
-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

@@ -1,18 +0,0 @@
-<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="17.11.1" />
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.9.0" />
-        <PackageReference Include="Moq" Version="4.20.72" />
+        <PackageReference Include="Moq" Version="4.20.70" />
-        <PackageReference Include="NUnit" Version="4.2.2" />
+        <PackageReference Include="NUnit" Version="4.0.1" />
-        <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
+        <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
-        <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
+        <PackageReference Include="NUnit.Analyzers" Version="4.0.1">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>
-        <PackageReference Include="coverlet.collector" Version="6.0.2">
+        <PackageReference Include="coverlet.collector" Version="6.0.1">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>

test/DotRecast.Core.Test/RcArrayBenchmarkTests.cs

@@ -1,157 +0,0 @@
-using System;
-using System.Buffers;
-using System.Collections.Generic;
-using System.Net.Sockets;
-using DotRecast.Core.Buffers;
-using DotRecast.Core.Collections;
-using NUnit.Framework;
-
-namespace DotRecast.Core.Test;
-
-public class RcArrayBenchmarkTests
-{
-    private const int StepLength = 512;
-    private const int RandomLoop = 1000;
-    private readonly RcRand _rand = new RcRand();
-
-    private (string title, long ticks) Bench(string title, Action<int> source)
-    {
-        var begin = RcFrequency.Ticks;
-        for (int step = StepLength; step > 0; --step)
-        {
-            for (int i = 0; i < RandomLoop; ++i)
-            {
-                source.Invoke(step);
-            }
-        }
-
-        var end = RcFrequency.Ticks - begin;
-        return (title, end);
-    }
-
-
-    private void RoundForArray(int len)
-    {
-        var array = new int[len];
-        for (int ii = 0; ii < len; ++ii)
-        {
-            array[ii] = _rand.NextInt32();
-        }
-    }
-
-
-    private void RoundForPureRentArray(int len)
-    {
-        var array = ArrayPool<int>.Shared.Rent(len);
-        for (int ii = 0; ii < array.Length; ++ii)
-        {
-            array[ii] = _rand.NextInt32();
-        }
-
-        ArrayPool<int>.Shared.Return(array);
-    }
-
-
-    private void RoundForRcRentedArray(int len)
-    {
-        using var rentedArray = RcRentedArray.Rent<int>(len);
-        var array = rentedArray.AsArray();
-        for (int i = 0; i < rentedArray.Length; ++i)
-        {
-            array[i] = _rand.NextInt32();
-        }
-    }
-
-
-    private void RoundForRcStackArray(int len)
-    {
-        var array = new RcStackArray512<int>();
-        for (int ii = 0; ii < len; ++ii)
-        {
-            array[ii] = _rand.NextInt32();
-        }
-    }
-
-    private void RoundForStackalloc(int len)
-    {
-        Span<int> array = stackalloc int[len];
-        for (int ii = 0; ii < len; ++ii)
-        {
-            array[ii] = _rand.NextInt32();
-        }
-    }
-
-
-    [Test]
-    public void TestBenchmarkArrays()
-    {
-        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));
-
-        results.Sort((x, y) => x.ticks.CompareTo(y.ticks));
-
-        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

@@ -1,147 +0,0 @@
-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

@@ -1,38 +0,0 @@
-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

@@ -1,38 +0,0 @@
-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

@@ -1,6 +1,5 @@
-using System;
+using System;
 using System.Collections.Generic;
-using System.Linq;
 using DotRecast.Core.Buffers;
 using NUnit.Framework;
 
@@ -32,7 +31,7 @@ public class RcRentedArrayTest
             {
                 int length = Math.Max(2, (int)(rand.Next() * 2048));
                 var values = RandomValues(length);
-                using var array = RcRentedArray.Rent<int>(length);
+                using var array = RcRentedArray.RentDisposableArray<int>(length);
 
                 for (int i = 0; i < array.Length; ++i)
                 {
@@ -57,50 +56,4 @@ 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

@@ -1,148 +0,0 @@
-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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -25,6 +25,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Crowd.Test;
 
+
 public class AbstractCrowdTest
 {
     protected readonly long[] startRefs =
@@ -62,9 +63,8 @@ public class AbstractCrowdTest
     [SetUp]
     public void SetUp()
     {
-        nmd = TestMeshDataFactory.Create();
+        nmd = new RecastTestMeshBuilder().GetMeshData();
-        navmesh = new DtNavMesh();
+        navmesh = new DtNavMesh(nmd, 6, 0);
-        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 * speed;
+        vel = vel.Scale(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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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

@@ -7,15 +7,15 @@
     </PropertyGroup>
 
     <ItemGroup>
-        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.1" />
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.9.0" />
-        <PackageReference Include="Moq" Version="4.20.72" />
+        <PackageReference Include="Moq" Version="4.20.70" />
-        <PackageReference Include="NUnit" Version="4.2.2" />
+        <PackageReference Include="NUnit" Version="4.0.1" />
-        <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
+        <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
-        <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
+        <PackageReference Include="NUnit.Analyzers" Version="4.0.1">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>
-        <PackageReference Include="coverlet.collector" Version="6.0.2">
+        <PackageReference Include="coverlet.collector" Version="6.0.1">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>

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

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -17,57 +17,212 @@ 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 Moq;
 using NUnit.Framework;
 
 namespace DotRecast.Detour.Crowd.Test;
 
 public class DtPathCorridorTest
 {
-    private readonly DtPathCorridor corridor = new DtPathCorridor();
+    private DtPathCorridor corridor;
-    private readonly IDtQueryFilter filter = new DtQueryDefaultFilter();
+    private IDtQueryFilter filter;
 
     [SetUp]
     public void SetUp()
     {
-        corridor.Init(256);
+        corridor = new DtPathCorridor();
+        corridor.Init(DtCrowdConst.MAX_PATH_RESULT);
         corridor.Reset(0, new RcVec3f(10, 20, 30));
+
+        filter = new DtQueryDefaultFilter();
+    }
+
+    [Test(Description = "dtMergeCorridorStartMoved")]
+    public void ShouldHandleEmptyInput()
+    {
+        var path = new List<long>();
+        const int npath = 0;
+        const int maxPath = 0;
+        var visited = new List<long>();
+        var result = DtPathUtils.MergeCorridorStartMoved(path, npath, maxPath, visited);
+        Assert.That(result, Is.EqualTo(0));
+    }
+
+    [Test(Description = "dtMergeCorridorStartMoved")]
+    public void ShouldHandleEmptyVisited()
+    {
+        var path = new List<long> { 1 };
+        const int npath = 1;
+        const int maxPath = 1;
+
+        var visited = new List<long>();
+
+        var result = DtPathUtils.MergeCorridorStartMoved(path, npath, maxPath, visited);
+        Assert.That(result, Is.EqualTo(1));
+
+        var expectedPath = new List<long> { 1 };
+        Assert.That(path, Is.EqualTo(expectedPath));
+    }
+
+    [Test(Description = "dtMergeCorridorStartMoved")]
+    public void ShouldHandleEmptyPath()
+    {
+        var path = new List<long>();
+        const int npath = 0;
+        const int maxPath = 0;
+
+        var visited = new List<long> { 1 };
+
+        var result = DtPathUtils.MergeCorridorStartMoved(path, npath, maxPath, visited);
+        Assert.That(result, Is.EqualTo(0));
+    }
+
+    [Test(Description = "dtMergeCorridorStartMoved")]
+    public void ShouldStripVisitedPointsFromPathExceptLast()
+    {
+        var path = new List<long> { 1, 2 };
+        const int npath = 2;
+        const int maxPath = 2;
+
+        var visited = new List<long> { 1, 2 };
+
+        var result = DtPathUtils.MergeCorridorStartMoved(path, npath, maxPath, visited);
+        Assert.That(result, Is.EqualTo(1));
+
+        var expectedPath = new List<long> { 2, 2 };
+        Assert.That(path, Is.EqualTo(expectedPath));
+    }
+
+    [Test(Description = "dtMergeCorridorStartMoved")]
+    public void ShouldAddVisitedPointsNotPresentInPathInReverseOrder()
+    {
+        var path = new List<long> { 1, 2, 0 };
+        const int npath = 2;
+        const int maxPath = 3;
+        var visited = new List<long> { 1, 2, 3, 4 };
+        var result = DtPathUtils.MergeCorridorStartMoved(path, npath, maxPath, visited);
+        Assert.That(result, Is.EqualTo(3));
+
+        var expectedPath = new List<long> { 4, 3, 2 };
+        Assert.That(path, Is.EqualTo(expectedPath));
+    }
+
+    [Test(Description = "dtMergeCorridorStartMoved")]
+    public void ShouldAddVisitedPointsNotPresentInPathUpToThePathCapacity()
+    {
+        var path = new List<long>() { 1, 2, 0 };
+        const int npath = 2;
+        const int maxPath = 3;
+        var visited = new List<long>() { 1, 2, 3, 4, 5 };
+        var result = DtPathUtils.MergeCorridorStartMoved(path, npath, maxPath, visited);
+        Assert.That(result, Is.EqualTo(3));
+
+        var expectedPath = new List<long> { 5, 4, 3 };
+        Assert.That(path, Is.EqualTo(expectedPath));
+    }
+
+    [Test(Description = "dtMergeCorridorStartMoved")]
+    public void ShouldNotChangePathIfThereIsNoIntersectionWithVisited()
+    {
+        var path = new List<long>() { 1, 2 };
+        const int npath = 2;
+        const int maxPath = 2;
+        var visited = new List<long>() { 3, 4 };
+        var result = DtPathUtils.MergeCorridorStartMoved(path, npath, maxPath, visited);
+        Assert.That(result, Is.EqualTo(2));
+
+        var expectedPath = new List<long> { 1, 2 };
+        Assert.That(path, Is.EqualTo(expectedPath));
+    }
+
+    [Test(Description = "dtMergeCorridorStartMoved")]
+    public void ShouldSaveUnvisitedPathPoints()
+    {
+        var path = new List<long>() { 1, 2, 0 };
+        const int npath = 2;
+        const int maxPath = 3;
+        var visited = new List<long>() { 1, 3 };
+        var result = DtPathUtils.MergeCorridorStartMoved(path, npath, maxPath, visited);
+        Assert.That(result, Is.EqualTo(3));
+
+        var expectedPath = new List<long> { 3, 1, 2 };
+        Assert.That(path, Is.EqualTo(expectedPath));
+    }
+
+    [Test(Description = "dtMergeCorridorStartMoved")]
+    public void ShouldSaveUnvisitedPathPointsUpToThePathCapacity()
+    {
+        var path = new List<long>() { 1, 2 };
+        const int npath = 2;
+        const int maxPath = 2;
+        var visited = new List<long>() { 1, 3 };
+        var result = DtPathUtils.MergeCorridorStartMoved(path, npath, maxPath, visited);
+        Assert.That(result, Is.EqualTo(2));
+
+        var expectedPath = new List<long> { 3, 1 };
+        Assert.That(path, Is.EqualTo(expectedPath));
     }
 
     [Test]
     public void ShouldKeepOriginalPathInFindCornersWhenNothingCanBePruned()
     {
-        var straightPath = new DtStraightPath[4];
+        List<DtStraightPath> straightPath = new();
-        straightPath[0] = new DtStraightPath(new RcVec3f(11, 20, 30.00001f), 0, 0);
+        straightPath.Add(new DtStraightPath(new RcVec3f(11, 20, 30.00001f), 0, 0));
-        straightPath[1] = new DtStraightPath(new RcVec3f(12, 20, 30.00002f), 0, 0);
+        straightPath.Add(new DtStraightPath(new RcVec3f(12, 20, 30.00002f), 0, 0));
-        straightPath[2] = new DtStraightPath(new RcVec3f(11f, 21, 32f), 0, 0);
+        straightPath.Add(new DtStraightPath(new RcVec3f(11f, 21, 32f), 0, 0));
-        straightPath[3] = new DtStraightPath(new RcVec3f(11f, 21, 32f), 0, 0);
+        straightPath.Add(new DtStraightPath(new RcVec3f(11f, 21, 32f), 0, 0));
-        var query = new DtNavMeshQueryMock(straightPath, DtStatus.DT_SUCCESS);
+        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);
 
-        Span<DtStraightPath> path = stackalloc DtStraightPath[8];
+        var path = new List<DtStraightPath>();
-        var npath = corridor.FindCorners(path, 8, query, filter);
+        corridor.FindCorners(ref path, int.MaxValue, mockQuery.Object, filter);
-        Assert.That(npath, Is.EqualTo(4));
+        Assert.That(path.Count, Is.EqualTo(4));
-        Assert.That(path.Slice(0, npath).ToArray(), Is.EqualTo(straightPath));
+        Assert.That(path, Is.EqualTo(straightPath));
     }
 
-
     [Test]
     public void ShouldPrunePathInFindCorners()
     {
-        DtStraightPath[] straightPath = new DtStraightPath[5];
+        List<DtStraightPath> straightPath = new();
-        straightPath[0] = (new DtStraightPath(new RcVec3f(10, 20, 30.00001f), 0, 0)); // too close
+        straightPath.Add(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.Add(new DtStraightPath(new RcVec3f(10, 20, 30.00002f), 0, 0)); // too close
-        straightPath[2] = (new DtStraightPath(new RcVec3f(11f, 21, 32f), 0, 0));
+        straightPath.Add(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.Add(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
+        straightPath.Add(new DtStraightPath(new RcVec3f(11f, 21, 32f), DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION, 0)); // offmesh
 
-        var query = new DtNavMeshQueryMock(straightPath, DtStatus.DT_SUCCESS);
+        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);
 
-        Span<DtStraightPath> path = stackalloc DtStraightPath[8];
+        var path = new List<DtStraightPath>();
-        int npath = corridor.FindCorners(path, 8, query, filter);
+        corridor.FindCorners(ref path, int.MaxValue, mockQuery.Object, filter);
-        Assert.That(npath, Is.EqualTo(2));
+        Assert.That(path.Count, Is.EqualTo(2));
-        Assert.That(path.Slice(0, npath).ToArray(), Is.EqualTo(new DtStraightPath[] { straightPath[2], straightPath[3] }));
+        Assert.That(path, Is.EqualTo(new List<DtStraightPath> { straightPath[2], straightPath[3] }));
     }
 }

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

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

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

@@ -1,6 +1,5 @@
 /*
 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/DotRecast.Detour.Dynamic.Test.csproj

@@ -7,19 +7,19 @@
     </PropertyGroup>
 
     <ItemGroup>
-        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.1" />
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.9.0" />
-        <PackageReference Include="Moq" Version="4.20.72" />
+        <PackageReference Include="Moq" Version="4.20.70" />
-        <PackageReference Include="NUnit" Version="4.2.2" />
+        <PackageReference Include="NUnit" Version="4.0.1" />
-        <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
+        <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
-        <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
+        <PackageReference Include="NUnit.Analyzers" Version="4.0.1">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>
-        <PackageReference Include="coverlet.collector" Version="6.0.2">
+        <PackageReference Include="coverlet.collector" Version="6.0.1">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>
-        <PackageReference Include="K4os.Compression.LZ4" Version="1.3.8" />
+        <PackageReference Include="K4os.Compression.LZ4" Version="1.3.6" />
     </ItemGroup>
 
     <ItemGroup>

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

@@ -1,4 +1,3 @@
-using System;
 using System.Collections.Generic;
 using System.IO;
 using System.Threading.Tasks;
@@ -7,11 +6,11 @@ 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);
@@ -23,7 +22,7 @@ public class DynamicNavMeshTest
     [Test]
     public void E2eTest()
     {
-        byte[] bytes = RcIO.ReadFileIfFound("test_tiles.voxels");
+        byte[] bytes = RcResources.Load("test_tiles.voxels");
         using var ms = new MemoryStream(bytes);
         using var br = new BinaryReader(ms);
 
@@ -33,7 +32,9 @@ public class DynamicNavMeshTest
         // create dynamic navmesh
         DtDynamicNavMesh mesh = new DtDynamicNavMesh(f);
         // build navmesh asynchronously using multiple threads
-        mesh.Build(Task.Factory);
+        Task<bool> future = mesh.Build(Task.Factory);
+        // wait for build to complete
+        bool _ = future.Result;
 
         // create new query
         DtNavMeshQuery query = new DtNavMeshQuery(mesh.NavMesh());
@@ -53,8 +54,9 @@ public class DynamicNavMeshTest
         long colliderId = mesh.AddCollider(colldier);
 
         // update navmesh asynchronously
-        mesh.Update(Task.Factory);
+        future = mesh.Update(Task.Factory);
-
+        // wait for update to complete
+        _ = future.Result;
         // create new query
         query = new DtNavMeshQuery(mesh.NavMesh());
 
@@ -68,7 +70,9 @@ public class DynamicNavMeshTest
         // remove obstacle
         mesh.RemoveCollider(colliderId);
         // update navmesh asynchronously
-        mesh.Update(Task.Factory);
+        future = mesh.Update(Task.Factory);
+        // wait for update to complete
+        _ = future.Result;
         // create new query
         query = new DtNavMeshQuery(mesh.NavMesh());
 
@@ -80,101 +84,4 @@ 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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -31,7 +31,7 @@ public class VoxelFileReaderTest
     [Test]
     public void ShouldReadSingleTileFile()
     {
-        byte[] bytes = RcIO.ReadFileIfFound("test.voxels");
+        byte[] bytes = RcResources.Load("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 = RcIO.ReadFileIfFound("test_tiles.voxels");
+        byte[] bytes = RcResources.Load("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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -32,7 +32,7 @@ public class VoxelFileReaderWriterTest
     [TestCase(true)]
     public void ShouldReadSingleTileFile(bool compression)
     {
-        byte[] bytes = RcIO.ReadFileIfFound("test.voxels");
+        byte[] bytes = RcResources.Load("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 = RcIO.ReadFileIfFound("test_tiles.voxels");
+        byte[] bytes = RcResources.Load("test_tiles.voxels");
         using var ms = new MemoryStream(bytes);
         using var br = new BinaryReader(ms);
 

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

@@ -1,6 +1,5 @@
 /*
 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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -31,6 +31,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Dynamic.Test;
 
+
 public class VoxelQueryTest
 {
     private const int TILE_WIDTH = 100;
@@ -93,19 +94,19 @@ public class VoxelQueryTest
 
     private DtDynamicNavMesh CreateDynaMesh()
     {
-        var bytes = RcIO.ReadFileIfFound("test_tiles.voxels");
+        var bytes = RcResources.Load("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
-        mesh.Build(Task.Factory);
+        Task<bool> future = mesh.Build(Task.Factory);
+        // wait for build to complete
+        var _ = future.Result;
         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="17.11.1" />
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.9.0" />
-        <PackageReference Include="Moq" Version="4.20.72" />
+        <PackageReference Include="Moq" Version="4.20.70" />
-        <PackageReference Include="NUnit" Version="4.2.2" />
+        <PackageReference Include="NUnit" Version="4.0.1" />
-        <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
+        <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
-        <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
+        <PackageReference Include="NUnit.Analyzers" Version="4.0.1">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>
-        <PackageReference Include="coverlet.collector" Version="6.0.2">
+        <PackageReference Include="coverlet.collector" Version="6.0.1">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>

test/DotRecast.Detour.Extras.Test/Unity/Astar/UnityAStarPathfindingImporterTest.cs

@@ -1,6 +1,5 @@
 /*
-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

@@ -1,6 +1,5 @@
 /*
 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 +21,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
+
 public abstract class AbstractDetourTest
 {
     protected static readonly long[] startRefs =
@@ -64,8 +64,6 @@ public abstract class AbstractDetourTest
 
     protected DtNavMesh CreateNavMesh()
     {
-        var mesh = new DtNavMesh();
+        return new DtNavMesh(new RecastTestMeshBuilder().GetMeshData(), 6, 0);
-        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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -17,7 +17,6 @@ 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;
@@ -30,10 +29,9 @@ 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[] buffer = new float[128];
+        float[] intersection = DtConvexConvexIntersections.Intersect(p, q);
-        Span<float> intersection = DtConvexConvexIntersections.Intersect(p, q, buffer);
         Assert.That(intersection.Length, Is.EqualTo(5 * 3));
-        Assert.That(intersection.ToArray(), Is.EquivalentTo(p));
+        Assert.That(intersection, Is.EqualTo(p));
     }
 
     [Test]
@@ -41,9 +39,8 @@ 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[] buffer = new float[128];
+        float[] intersection = DtConvexConvexIntersections.Intersect(p, q);
-        Span<float> intersection = DtConvexConvexIntersections.Intersect(p, q, buffer);
         Assert.That(intersection.Length, Is.EqualTo(5 * 3));
-        Assert.That(intersection.ToArray(), Is.EquivalentTo(new[] { 1, 0, 3, 1, 0, -3.4f, -2, 0, -4, -4, 0, 0, -3, 0, 3 }));
+        Assert.That(intersection, Is.EqualTo(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="17.11.1" />
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.9.0" />
-        <PackageReference Include="Moq" Version="4.20.72" />
+        <PackageReference Include="Moq" Version="4.20.70" />
-        <PackageReference Include="NUnit" Version="4.2.2" />
+        <PackageReference Include="NUnit" Version="4.0.1" />
-        <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
+        <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
-        <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
+        <PackageReference Include="NUnit.Analyzers" Version="4.0.1">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>
-        <PackageReference Include="coverlet.collector" Version="6.0.2">
+        <PackageReference Include="coverlet.collector" Version="6.0.1">
             <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

@@ -1,68 +0,0 @@
-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

@@ -1,6 +1,5 @@
 /*
 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

@@ -1,6 +1,5 @@
 /*
 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

@@ -1,6 +1,5 @@
 /*
 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
@@ -22,12 +21,10 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
+
 public class FindNearestPolyTest : AbstractDetourTest
 {
-    private static readonly long[] POLY_REFS =
+    private static readonly long[] POLY_REFS = { 281474976710696L, 281474976710773L, 281474976710680L, 281474976710753L, 281474976710733L };
-    {
-        281474976710696L, 281474976710773L, 281474976710680L, 281474976710753L, 281474976710733L
-    };
 
     private static readonly RcVec3f[] POLY_POS =
     {
@@ -47,11 +44,11 @@ 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, $"index({i})");
+            Assert.That(status.Succeeded(), Is.True);
-            Assert.That(nearestRef, Is.EqualTo(POLY_REFS[i]), $"index({i})");
+            Assert.That(nearestRef, Is.EqualTo(POLY_REFS[i]));
-            Assert.That(nearestPt.X, Is.EqualTo(POLY_POS[i].X).Within(0.001f), $"index({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), $"index({i})");
+            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), $"index({i})");
+            Assert.That(nearestPt.Z, Is.EqualTo(POLY_POS[i].Z).Within(0.001f));
         }
     }
 

test/DotRecast.Detour.Test/FindPathTest.cs

@@ -1,6 +1,5 @@
 /*
 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
@@ -17,13 +16,13 @@ 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 =
@@ -185,7 +184,6 @@ 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++) {
@@ -194,8 +192,9 @@ 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);
-            query.FindStraightPath(startPos, endPos, path, path.Count, straightPath, out var nstraightPath, 256, 0);
+            var straightPath = new List<DtStraightPath>();
-            Assert.That(nstraightPath, Is.EqualTo(STRAIGHT_PATHS[i].Length));
+            query.FindStraightPath(startPos, endPos, path, ref straightPath, int.MaxValue, 0);
+            Assert.That(straightPath.Count, 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

@@ -1,6 +1,5 @@
 /*
 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

@@ -1,6 +1,5 @@
 /*
 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

@@ -1,6 +1,5 @@
 /*
 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
@@ -17,13 +16,13 @@ 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 =
@@ -83,30 +82,28 @@ public class GetPolyWallSegmentsTest : AbstractDetourTest
     [Test]
     public void TestFindDistanceToWall()
     {
-        const int MAX_SEGS = DtDetour.DT_VERTS_PER_POLYGON * 4;
+        var segmentVerts = new List<RcSegmentVert>();
-        Span<RcSegmentVert> segs = stackalloc RcSegmentVert[MAX_SEGS];
+        var segmentRefs = new List<long>();
-        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], filter, segs, refs, ref nsegs, MAX_SEGS);
+            var result = query.GetPolyWallSegments(startRefs[i], true, filter, ref segmentVerts, ref segmentRefs);
-            Assert.That(nsegs, Is.EqualTo(VERTICES[i].Length));
+            Assert.That(segmentVerts.Count, Is.EqualTo(VERTICES[i].Length));
-            Assert.That(nsegs, Is.EqualTo(REFS[i].Length));
+            Assert.That(segmentRefs.Count, Is.EqualTo(REFS[i].Length));
             for (int v = 0; v < VERTICES[i].Length / 6; v++)
             {
-                Assert.That(segs[v].vmin.X, Is.EqualTo(VERTICES[i][v].vmin.X).Within(0.001f));
+                Assert.That(segmentVerts[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(segmentVerts[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(segmentVerts[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(segmentVerts[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(segmentVerts[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));
+                Assert.That(segmentVerts[v].vmax.Z, Is.EqualTo(VERTICES[i][v].vmax.Z).Within(0.001f));
             }
 
             for (int v = 0; v < REFS[i].Length; v++)
             {
-                Assert.That(refs[v], Is.EqualTo(REFS[i][v]));
+                Assert.That(segmentRefs[v], Is.EqualTo(REFS[i][v]));
             }
         }
     }

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

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

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

@@ -1,6 +1,5 @@
 /*
 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
@@ -25,6 +24,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test.Io;
 
+
 public class MeshSetReaderTest
 {
     private readonly DtMeshSetReader reader = new DtMeshSetReader();
@@ -32,35 +32,27 @@ public class MeshSetReaderTest
     [Test]
     public void TestNavmesh()
     {
-        byte[] @is = RcIO.ReadFileIfFound("all_tiles_navmesh.bin");
+        byte[] @is = RcResources.Load("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);
-        const int MAX_NEIS = 32;
+        Assert.That(tiles.Count, Is.EqualTo(1));
-        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);
-        nneis = mesh.GetTilesAt(1, 6, tiles, MAX_NEIS);
+        Assert.That(tiles.Count, Is.EqualTo(1));
-        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);
-        nneis = mesh.GetTilesAt(6, 2, tiles, MAX_NEIS);
+        Assert.That(tiles.Count, Is.EqualTo(1));
-        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);
-        nneis = mesh.GetTilesAt(7, 6, tiles, MAX_NEIS);
+        Assert.That(tiles.Count, Is.EqualTo(1));
-        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));
     }
@@ -68,7 +60,7 @@ public class MeshSetReaderTest
     [Test]
     public void TestDungeon()
     {
-        byte[] @is = RcIO.ReadFileIfFound("dungeon_all_tiles_navmesh.bin");
+        byte[] @is = RcResources.Load("dungeon_all_tiles_navmesh.bin");
         using var ms = new MemoryStream(@is);
         using var br = new BinaryReader(ms);
 
@@ -76,28 +68,20 @@ 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);
-        const int MAX_NEIS = 32;
+        Assert.That(tiles.Count, Is.EqualTo(1));
-        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);
-        nneis = mesh.GetTilesAt(2, 9, tiles, MAX_NEIS);
+        Assert.That(tiles.Count, Is.EqualTo(1));
-        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);
-        nneis = mesh.GetTilesAt(4, 3, tiles, MAX_NEIS);
+        Assert.That(tiles.Count, Is.EqualTo(1));
-        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);
-        nneis = mesh.GetTilesAt(2, 8, tiles, MAX_NEIS);
+        Assert.That(tiles.Count, Is.EqualTo(1));
-        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));
     }
@@ -105,7 +89,7 @@ public class MeshSetReaderTest
     [Test]
     public void TestDungeon32Bit()
     {
-        byte[] @is = RcIO.ReadFileIfFound("dungeon_all_tiles_navmesh_32bit.bin");
+        byte[] @is = RcResources.Load("dungeon_all_tiles_navmesh_32bit.bin");
         using var ms = new MemoryStream(@is);
         using var br = new BinaryReader(ms);
 
@@ -113,28 +97,20 @@ 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);
-        const int MAX_NEIS = 32;
+        Assert.That(tiles.Count, Is.EqualTo(1));
-        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);
-        nneis = mesh.GetTilesAt(2, 9, tiles, MAX_NEIS);
+        Assert.That(tiles.Count, Is.EqualTo(1));
-        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);
-        nneis = mesh.GetTilesAt(4, 3, tiles, MAX_NEIS);
+        Assert.That(tiles.Count, Is.EqualTo(1));
-        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);
-        nneis = mesh.GetTilesAt(2, 8, tiles, MAX_NEIS);
+        Assert.That(tiles.Count, Is.EqualTo(1));
-        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

@@ -1,6 +1,5 @@
 /*
 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
@@ -29,6 +28,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test.Io;
 
+
 public class MeshSetReaderWriterTest
 {
     private readonly DtMeshSetWriter writer = new DtMeshSetWriter();
@@ -66,12 +66,11 @@ public class MeshSetReaderWriterTest
         header.option.maxTiles = m_maxTiles;
         header.option.maxPolys = m_maxPolysPerTile;
         header.numTiles = 0;
-        DtNavMesh mesh = new DtNavMesh();
+        DtNavMesh mesh = new DtNavMesh(header.option, 6);
-        mesh.Init(header.option, 6);
 
         RcVec3f bmin = geom.GetMeshBoundsMin();
         RcVec3f bmax = geom.GetMeshBoundsMax();
-        RcRecast.CalcTileCount(bmin, bmax, m_cellSize, m_tileSize, m_tileSize, out var tw, out var th);
+        RcCommons.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)
@@ -93,7 +92,7 @@ public class MeshSetReaderWriterTest
                 if (data != null)
                 {
                     mesh.RemoveTile(mesh.GetTileRefAt(x, y, 0));
-                    mesh.AddTile(data, 0, 0, out _);
+                    mesh.AddTile(data, 0, 0);
                 }
             }
         }
@@ -108,28 +107,20 @@ 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);
-        const int MAX_NEIS = 32;
+        Assert.That(tiles.Count, Is.EqualTo(1));
-        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);
-        nneis = mesh.GetTilesAt(2, 9, tiles, MAX_NEIS);
+        Assert.That(tiles.Count, Is.EqualTo(1));
-        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);
-        nneis = mesh.GetTilesAt(4, 3, tiles, MAX_NEIS);
+        Assert.That(tiles.Count, Is.EqualTo(1));
-        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);
-        nneis = mesh.GetTilesAt(2, 8, tiles, MAX_NEIS);
+        Assert.That(tiles.Count, Is.EqualTo(1));
-        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

@@ -1,6 +1,5 @@
 /*
 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
@@ -17,13 +16,13 @@ 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 =
@@ -70,21 +69,20 @@ public class MoveAlongSurfaceTest : AbstractDetourTest
     public void TestMoveAlongSurface()
     {
         IDtQueryFilter filter = new DtQueryDefaultFilter();
-        const int MAX_VISITED = 32;
+        var visited = new List<long>();
-        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, visited, out var nvisited, MAX_VISITED);
+            var status = query.MoveAlongSurface(startRef, startPos, endPos, filter, out var result, ref 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(nvisited, Is.EqualTo(VISITED[i].Length));
+            Assert.That(visited.Count, 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

@@ -1,6 +1,5 @@
 /*
 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
@@ -22,7 +21,6 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-using static DtDetour;
 
 public class NavMeshBuilderTest
 {
@@ -31,7 +29,7 @@ public class NavMeshBuilderTest
     [SetUp]
     public void SetUp()
     {
-        nmd = TestMeshDataFactory.Create();
+        nmd = new RecastTestMeshBuilder().GetMeshData();
     }
 
     [Test]
@@ -54,12 +52,12 @@ public class NavMeshBuilderTest
 
         for (int i = 0; i < 2; i++)
         {
-            Assert.That(RcVec.Create(nmd.verts, 223 * 3 + (i * 3)), Is.EqualTo(nmd.offMeshCons[0].pos[i]));
+            Assert.That(RcVecUtils.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(DT_OFFMESH_CON_BIDIR));
+        Assert.That(nmd.offMeshCons[0].flags, Is.EqualTo(DtNavMesh.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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -17,7 +17,6 @@ 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;
 
@@ -33,12 +32,9 @@ public class PolygonByCircleConstraintTest
     {
         float[] polygon = { -2, 0, 2, 2, 0, 2, 2, 0, -2, -2, 0, -2 };
         RcVec3f center = new RcVec3f(1, 0, 1);
-        var radius = 6;
+        float[] constrained = _constraint.Apply(polygon, center, 6);
 
-        float[] buffer = new float[128];
+        Assert.That(constrained, Is.EqualTo(polygon));
-        Span<float> constrained = _constraint.Apply(polygon, center, radius, buffer);
-
-        Assert.That(constrained.ToArray(), Is.EquivalentTo(polygon));
     }
 
     [Test]
@@ -47,13 +43,10 @@ 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.ToArray(), Is.SupersetOf(new[] { 2f, 0f, 2f, 2f, 0f, -2f }));
+        Assert.That(constrained, Is.SupersetOf(new[] { 2f, 0f, 2f, 2f, 0f, -2f }));
     }
 
     [Test]
@@ -62,10 +55,7 @@ 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);
-        var radius = 2;
+        float[] constrained = _constraint.Apply(polygon, center, 2);
-        
-        float[] buffer = new float[128];
-        Span<float> constrained = _constraint.Apply(polygon, center, radius, buffer);
 
         Assert.That(constrained.Length, Is.EqualTo(expectedSize));
 
@@ -83,13 +73,10 @@ 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);
-        var radius = 3;
+        float[] constrained = _constraint.Apply(polygon, center, 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.ToArray(), Is.SupersetOf(new[] { -2f, 0f, -4f, -4f, 0f, 0f, -3.4641016f, 0.0f, 1.60769534f, -2.0f, 0.0f, 2.0f }));
+        Assert.That(constrained, Is.SupersetOf(new[] { -2f, 0f, -4f, -4f, 0f, 0f, -3.4641016f, 0.0f, 1.60769534f, -2.0f, 0.0f, 2.0f }));
     }
 
     [Test]
@@ -98,12 +85,9 @@ 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);
-        var radius = 4;
+        float[] constrained = _constraint.Apply(polygon, center, 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.ToArray(), Is.SupersetOf(new[] { 1.53589869f, 0f, 3f, 2f, 0f, 3f, 3f, 0f, -3f }));
+        Assert.That(constrained, Is.SupersetOf(new[] { 1.53589869f, 0f, 3f, 2f, 0f, 3f, 3f, 0f, -3f }));
     }
 }

test/DotRecast.Detour.Test/RandomPointTest.cs

@@ -1,6 +1,5 @@
 /*
 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
@@ -20,22 +19,21 @@ 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);
@@ -57,9 +55,6 @@ 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]
@@ -108,7 +103,7 @@ 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 = RcVec.Dist2D(randomPt, nextRandomPt);
+            float distance = RcVecUtils.Dist2D(randomPt, nextRandomPt);
             Assert.That(distance <= radius, Is.True);
 
             randomRef = nextRandomRef;

test/DotRecast.Detour.Test/RecastTestMeshBuilder.cs

@@ -1,6 +1,5 @@
 /*
 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
@@ -17,13 +16,15 @@ 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 static class TestMeshDataFactory
+public class RecastTestMeshBuilder
 {
+    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;
@@ -38,24 +39,27 @@ public static class TestMeshDataFactory
     private const float m_detailSampleDist = 6.0f;
     private const float m_detailSampleMaxError = 1.0f;
 
-    public static DtMeshData Create()
+    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)
     {
-        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,
@@ -68,32 +72,32 @@ public static class TestMeshDataFactory
             SampleAreaModifications.SAMPLE_AREAMOD_GROUND, true);
         RcBuilderConfig bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax());
         RcBuilder rcBuilder = new RcBuilder();
-        RcBuilderResult rcResult = rcBuilder.Build(geom, bcfg, false);
+        RcBuilderResult rcResult = rcBuilder.Build(geom, bcfg);
-        RcPolyMesh pmesh = rcResult.Mesh;
+        RcPolyMesh m_pmesh = rcResult.GetMesh();
-        for (int i = 0; i < pmesh.npolys; ++i)
+        for (int i = 0; i < m_pmesh.npolys; ++i)
         {
-            pmesh.flags[i] = 1;
+            m_pmesh.flags[i] = 1;
         }
 
-        RcPolyMeshDetail dmesh = rcResult.MeshDetail;
+        RcPolyMeshDetail m_dmesh = rcResult.GetMeshDetail();
         DtNavMeshCreateParams option = new DtNavMeshCreateParams();
-        option.verts = pmesh.verts;
+        option.verts = m_pmesh.verts;
-        option.vertCount = pmesh.nverts;
+        option.vertCount = m_pmesh.nverts;
-        option.polys = pmesh.polys;
+        option.polys = m_pmesh.polys;
-        option.polyAreas = pmesh.areas;
+        option.polyAreas = m_pmesh.areas;
-        option.polyFlags = pmesh.flags;
+        option.polyFlags = m_pmesh.flags;
-        option.polyCount = pmesh.npolys;
+        option.polyCount = m_pmesh.npolys;
-        option.nvp = pmesh.nvp;
+        option.nvp = m_pmesh.nvp;
-        option.detailMeshes = dmesh.meshes;
+        option.detailMeshes = m_dmesh.meshes;
-        option.detailVerts = dmesh.verts;
+        option.detailVerts = m_dmesh.verts;
-        option.detailVertsCount = dmesh.nverts;
+        option.detailVertsCount = m_dmesh.nverts;
-        option.detailTris = dmesh.tris;
+        option.detailTris = m_dmesh.tris;
-        option.detailTriCount = dmesh.ntris;
+        option.detailTriCount = m_dmesh.ntris;
         option.walkableHeight = agentHeight;
         option.walkableRadius = agentRadius;
         option.walkableClimb = agentMaxClimb;
-        option.bmin = pmesh.bmin;
+        option.bmin = m_pmesh.bmin;
-        option.bmax = pmesh.bmax;
+        option.bmax = m_pmesh.bmax;
         option.cs = cellSize;
         option.ch = cellHeight;
         option.buildBvTree = true;
@@ -116,8 +120,11 @@ public static class TestMeshDataFactory
         option.offMeshConUserID = new int[1];
         option.offMeshConUserID[0] = 0x4567;
         option.offMeshConCount = 1;
-        var meshData = DtNavMeshBuilder.CreateNavMeshData(option);
+        meshData = DtNavMeshBuilder.CreateNavMeshData(option);
+    }
 
+    public DtMeshData GetMeshData()
+    {
         return meshData;
     }
 }

test/DotRecast.Detour.Test/SampleAreaModifications.cs

@@ -1,6 +1,5 @@
 /*
 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

@@ -1,6 +1,5 @@
 /*
 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
@@ -28,8 +27,8 @@ public class TestDetourBuilder : DetourBuilder
         float agentMaxClimb, int x, int y, bool applyRecastDemoFlags)
     {
         RcBuilder rcBuilder = new RcBuilder();
-        RcBuilderResult rcResult = rcBuilder.Build(geom, rcConfig, false);
+        RcBuilderResult rcResult = rcBuilder.Build(geom, rcConfig);
-        RcPolyMesh pmesh = rcResult.Mesh;
+        RcPolyMesh pmesh = rcResult.GetMesh();
 
         if (applyRecastDemoFlags)
         {
@@ -59,7 +58,7 @@ public class TestDetourBuilder : DetourBuilder
             }
         }
 
-        RcPolyMeshDetail dmesh = rcResult.MeshDetail;
+        RcPolyMeshDetail dmesh = rcResult.GetMeshDetail();
         DtNavMeshCreateParams option = GetNavMeshCreateParams(rcConfig.cfg, pmesh, dmesh, agentHeight, agentRadius,
             agentMaxClimb);
         return Build(option, x, y);

test/DotRecast.Detour.Test/TestTiledNavMeshBuilder.cs

@@ -1,6 +1,5 @@
 /*
 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
@@ -18,6 +17,7 @@ freely, subject to the following restrictions:
 */
 
 using System.Collections.Generic;
+using DotRecast.Core.Numerics;
 using DotRecast.Recast;
 using DotRecast.Recast.Geom;
 
@@ -64,8 +64,7 @@ public class TestTiledNavMeshBuilder
         navMeshParams.tileHeight = tileSize * cellSize;
         navMeshParams.maxTiles = 128;
         navMeshParams.maxPolys = 32768;
-        navMesh = new DtNavMesh();
+        navMesh = new DtNavMesh(navMeshParams, 6);
-        navMesh.Init(navMeshParams, 6);
 
         // Build all tiles
         RcConfig cfg = new RcConfig(true, tileSize, tileSize, RcConfig.CalcBorder(agentRadius, cellSize),
@@ -79,13 +78,13 @@ public class TestTiledNavMeshBuilder
             true, true, true,
             SampleAreaModifications.SAMPLE_AREAMOD_GROUND, true);
         RcBuilder rcBuilder = new RcBuilder();
-        List<RcBuilderResult> rcResult = rcBuilder.BuildTiles(geom, cfg, false, true);
+        List<RcBuilderResult> rcResult = rcBuilder.BuildTiles(geom, cfg, null);
 
         // Add tiles to nav mesh
 
         foreach (RcBuilderResult result in rcResult)
         {
-            RcPolyMesh pmesh = result.Mesh;
+            RcPolyMesh pmesh = result.GetMesh();
             if (pmesh.npolys == 0)
             {
                 continue;
@@ -104,7 +103,7 @@ public class TestTiledNavMeshBuilder
             option.polyFlags = pmesh.flags;
             option.polyCount = pmesh.npolys;
             option.nvp = pmesh.nvp;
-            RcPolyMeshDetail dmesh = result.MeshDetail;
+            RcPolyMeshDetail dmesh = result.GetMeshDetail();
             option.detailMeshes = dmesh.meshes;
             option.detailVerts = dmesh.verts;
             option.detailVertsCount = dmesh.nverts;
@@ -117,10 +116,10 @@ public class TestTiledNavMeshBuilder
             option.bmax = pmesh.bmax;
             option.cs = cellSize;
             option.ch = cellHeight;
-            option.tileX = result.TileX;
+            option.tileX = result.tileX;
-            option.tileZ = result.TileZ;
+            option.tileZ = result.tileZ;
             option.buildBvTree = true;
-            navMesh.AddTile(Detour.DtNavMeshBuilder.CreateNavMeshData(option), 0, 0, out _);
+            navMesh.AddTile(DtNavMeshBuilder.CreateNavMeshData(option), 0, 0);
         }
     }
 

test/DotRecast.Detour.Test/TiledFindPathTest.cs

@@ -1,6 +1,5 @@
 /*
 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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -44,7 +44,7 @@ public class AbstractTileCacheTest
     public DtTileCache GetTileCache(IInputGeomProvider geom, RcByteOrder order, bool cCompatibility)
     {
         DtTileCacheParams option = new DtTileCacheParams();
-        RcRecast.CalcTileCount(geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), m_cellSize, m_tileSize, m_tileSize, out var tw, out var th);
+        RcCommons.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();
@@ -64,8 +64,7 @@ public class AbstractTileCacheTest
         navMeshParams.maxTiles = 256;
         navMeshParams.maxPolys = 16384;
 
-        var navMesh = new DtNavMesh();
+        var navMesh = new DtNavMesh(navMeshParams, 6);
-        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="17.11.1" />
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.9.0" />
-        <PackageReference Include="Moq" Version="4.20.72" />
+        <PackageReference Include="Moq" Version="4.20.70" />
-        <PackageReference Include="NUnit" Version="4.2.2" />
+        <PackageReference Include="NUnit" Version="4.0.1" />
-        <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
+        <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
-        <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
+        <PackageReference Include="NUnit.Analyzers" Version="4.0.1">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>
-        <PackageReference Include="coverlet.collector" Version="6.0.2">
+        <PackageReference Include="coverlet.collector" Version="6.0.1">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>
-        <PackageReference Include="K4os.Compression.LZ4" Version="1.3.8" />
+        <PackageReference Include="K4os.Compression.LZ4" Version="1.3.6" />
     </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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -35,7 +35,7 @@ public class TileCacheReaderTest
     [Test]
     public void TestNavmesh()
     {
-        using var ms = new MemoryStream(RcIO.ReadFileIfFound("all_tiles_tilecache.bin"));
+        using var ms = new MemoryStream(RcResources.Load("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(RcIO.ReadFileIfFound("dungeon_all_tiles_tilecache.bin"));
+        using var ms = new MemoryStream(RcResources.Load("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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -26,6 +26,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.TileCache.Test;
 
+
 public class TempObstaclesTest : AbstractTileCacheTest
 {
     [Test]
@@ -42,29 +43,21 @@ public class TempObstaclesTest : AbstractTileCacheTest
             tc.BuildNavMeshTile(refs);
         }
 
-        const int MAX_NEIS = 32;
+        List<DtMeshTile> tiles = tc.GetNavMesh().GetTilesAt(1, 4);
-        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));
@@ -84,32 +77,24 @@ public class TempObstaclesTest : AbstractTileCacheTest
             tc.BuildNavMeshTile(refs);
         }
 
-        const int MAX_NEIS = 32;
+        List<DtMeshTile> tiles = tc.GetNavMesh().GetTilesAt(1, 4);
-        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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -73,7 +73,7 @@ public class TestTileLayerBuilder : DtTileCacheLayerBuilder
 
         RcVec3f bmin = geom.GetMeshBoundsMin();
         RcVec3f bmax = geom.GetMeshBoundsMax();
-        RcRecast.CalcTileCount(bmin, bmax, CellSize, m_tileSize, m_tileSize, out tw, out th);
+        RcCommons.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) 2023-2024 Choi Ikpil ikpil@naver.com
+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
@@ -18,7 +18,6 @@ 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;
@@ -30,6 +29,7 @@ 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(RcIO.ReadFileIfFound("dungeon_all_tiles_tilecache.bin"));
+        using var msr = new MemoryStream(RcResources.Load("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);
-        const int maxStraightPath = 256;
+        int maxStraightPath = 256;
         int options = 0;
 
-        Span<DtStraightPath> pathStr = stackalloc DtStraightPath[maxStraightPath];
+        var pathStr = new List<DtStraightPath>();
-        query.FindStraightPath(startPos, endPos, path, path.Count, pathStr, out var npathStr, maxStraightPath, options);
+        query.FindStraightPath(startPos, endPos, path, ref pathStr, maxStraightPath, options);
-        Assert.That(npathStr, Is.EqualTo(8));
+        Assert.That(pathStr.Count, 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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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) 2023-2024 Choi Ikpil ikpil@naver.com
+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

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="17.11.1" />
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.9.0" />
-        <PackageReference Include="Moq" Version="4.20.72" />
+        <PackageReference Include="Moq" Version="4.20.70" />
-        <PackageReference Include="NUnit" Version="4.2.2" />
+        <PackageReference Include="NUnit" Version="4.0.1" />
-        <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
+        <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
-        <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
+        <PackageReference Include="NUnit.Analyzers" Version="4.0.1">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>
-        <PackageReference Include="coverlet.collector" Version="6.0.2">
+        <PackageReference Include="coverlet.collector" Version="6.0.1">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>

test/DotRecast.Recast.Test/RecastLayersTest.cs

@@ -1,6 +1,5 @@
 /*
 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
@@ -25,6 +24,9 @@ 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

@@ -1,6 +1,5 @@
 /*
 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
@@ -26,9 +25,10 @@ using NUnit.Framework;
 
 namespace DotRecast.Recast.Test;
 
-using static RcRecast;
+using static RcConstants;
 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 = RcRecast.MarkWalkableTriangles(m_ctx, cfg.WalkableSlopeAngle, verts, tris, ntris, cfg.WalkableAreaMod);
+            int[] m_triareas = RcCommons.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

@@ -1,6 +1,5 @@
 /*
 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
@@ -22,7 +21,8 @@ using DotRecast.Core;
 
 namespace DotRecast.Recast.Test;
 
-using static RcRecast;
+using static RcConstants;
+
 
 public class RecastTest
 {
@@ -39,18 +39,18 @@ public class RecastTest
         RcContext ctx = new RcContext();
         {
             int[] areas = { 42 };
-            RcRecast.ClearUnwalkableTriangles(ctx, walkableSlopeAngle, verts, nv, unwalkable_tri, nt, areas);
+            RcCommons.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 };
-            RcRecast.ClearUnwalkableTriangles(ctx, walkableSlopeAngle, verts, nv, walkable_tri, nt, areas);
+            RcCommons.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;
-            RcRecast.ClearUnwalkableTriangles(ctx, walkableSlopeAngle, verts, nv, walkable_tri, nt, areas);
+            RcCommons.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

@@ -1,6 +1,5 @@
 /*
 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
@@ -28,6 +27,7 @@ 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, false);
+        RcBuilderResult rcResult = builder.Build(geom, bcfg);
-        Assert.That(rcResult.Mesh.npolys, Is.EqualTo(1));
+        Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(1));
-        Assert.That(rcResult.Mesh.nverts, Is.EqualTo(5));
+        Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(5));
         bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), 6, 9);
-        rcResult = builder.Build(geom, bcfg, false);
+        rcResult = builder.Build(geom, bcfg);
-        Assert.That(rcResult.Mesh.npolys, Is.EqualTo(2));
+        Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(2));
-        Assert.That(rcResult.Mesh.nverts, Is.EqualTo(7));
+        Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(7));
         bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), 2, 9);
-        rcResult = builder.Build(geom, bcfg, false);
+        rcResult = builder.Build(geom, bcfg);
-        Assert.That(rcResult.Mesh.npolys, Is.EqualTo(2));
+        Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(2));
-        Assert.That(rcResult.Mesh.nverts, Is.EqualTo(9));
+        Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(9));
         bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), 4, 3);
-        rcResult = builder.Build(geom, bcfg, false);
+        rcResult = builder.Build(geom, bcfg);
-        Assert.That(rcResult.Mesh.npolys, Is.EqualTo(3));
+        Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(3));
-        Assert.That(rcResult.Mesh.nverts, Is.EqualTo(6));
+        Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(6));
         bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), 2, 8);
-        rcResult = builder.Build(geom, bcfg, false);
+        rcResult = builder.Build(geom, bcfg);
-        Assert.That(rcResult.Mesh.npolys, Is.EqualTo(5));
+        Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(5));
-        Assert.That(rcResult.Mesh.nverts, Is.EqualTo(17));
+        Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(17));
         bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), 0, 8);
-        rcResult = builder.Build(geom, bcfg, false);
+        rcResult = builder.Build(geom, bcfg);
-        Assert.That(rcResult.Mesh.npolys, Is.EqualTo(6));
+        Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(6));
-        Assert.That(rcResult.Mesh.nverts, Is.EqualTo(15));
+        Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(15));
     }
 
     [Test]
@@ -138,27 +138,28 @@ public class RecastTileMeshTest
     private void Build(IInputGeomProvider geom, RcBuilder builder, RcConfig cfg, int threads, bool validate)
     {
         CancellationTokenSource cts = new CancellationTokenSource();
-        List<RcBuilderResult> tiles = builder.BuildTiles(geom, cfg, false, true, threads, Task.Factory, cts.Token);
+        List<RcBuilderResult> tiles = new();
+        var task = builder.BuildTilesAsync(geom, cfg, threads, tiles, Task.Factory, cts.Token);
         if (validate)
         {
             RcBuilderResult rcResult = GetTile(tiles, 7, 8);
-            Assert.That(rcResult.Mesh.npolys, Is.EqualTo(1));
+            Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(1));
-            Assert.That(rcResult.Mesh.nverts, Is.EqualTo(5));
+            Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(5));
             rcResult = GetTile(tiles, 6, 9);
-            Assert.That(rcResult.Mesh.npolys, Is.EqualTo(2));
+            Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(2));
-            Assert.That(rcResult.Mesh.nverts, Is.EqualTo(7));
+            Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(7));
             rcResult = GetTile(tiles, 2, 9);
-            Assert.That(rcResult.Mesh.npolys, Is.EqualTo(2));
+            Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(2));
-            Assert.That(rcResult.Mesh.nverts, Is.EqualTo(9));
+            Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(9));
             rcResult = GetTile(tiles, 4, 3);
-            Assert.That(rcResult.Mesh.npolys, Is.EqualTo(3));
+            Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(3));
-            Assert.That(rcResult.Mesh.nverts, Is.EqualTo(6));
+            Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(6));
             rcResult = GetTile(tiles, 2, 8);
-            Assert.That(rcResult.Mesh.npolys, Is.EqualTo(5));
+            Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(5));
-            Assert.That(rcResult.Mesh.nverts, Is.EqualTo(17));
+            Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(17));
             rcResult = GetTile(tiles, 0, 8);
-            Assert.That(rcResult.Mesh.npolys, Is.EqualTo(6));
+            Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(6));
-            Assert.That(rcResult.Mesh.nverts, Is.EqualTo(15));
+            Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(15));
         }
 
         try
@@ -174,6 +175,6 @@ 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

@@ -1,6 +1,5 @@
 /*
 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

@@ -1,15 +0,0 @@
-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

@@ -1,9 +0,0 @@
-<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

@@ -1,169 +0,0 @@
-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);
-        }
-    }
-}