Rented array struct

(cherry picked from commit 2397f23fc3)

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/RcRentedArray.cs

@@ -1,15 +1,78 @@
 using System;
 using System.Buffers;
+using System.Collections.Generic;
 using System.Runtime.CompilerServices;
+using System.Threading;
 
 namespace DotRecast.Core.Buffers
 {
     public static class RcRentedArray
     {
+        private sealed class RentIdPool
+        {
+            private int[] _generations;
+            private readonly Queue<int> _freeIds;
+            private int _maxId;
+
+            public RentIdPool(int capacity)
+            {
+                _generations = new int[capacity];
+                _freeIds = new Queue<int>(capacity);
+            }
+
+            internal RentIdGen AcquireId()
+            {
+                if (!_freeIds.TryDequeue(out int id))
+                {
+                    id = _maxId++;
+                    if(_generations.Length <= id)
+                        Array.Resize(ref _generations, _generations.Length << 1);    
+                }
+
+                return new RentIdGen(id, _generations[id]);
+            }
+
+            internal void ReturnId(int id)
+            {
+                _generations[id]++;
+                _freeIds.Enqueue(id);
+            }
+
+            internal int GetGeneration(int id)
+            {
+                return _generations.Length <= id ? 0 : _generations[id];
+            }
+        }
+        
+        public const int START_RENT_ID_POOL_CAPACITY = 16;
+        private static readonly ThreadLocal<RentIdPool> _rentPool = new ThreadLocal<RentIdPool>(() => new RentIdPool(START_RENT_ID_POOL_CAPACITY));
+        
         public static RcRentedArray<T> Rent<T>(int minimumLength)
         {
             var array = ArrayPool<T>.Shared.Rent(minimumLength);
-            return new RcRentedArray<T>(ArrayPool<T>.Shared, array, minimumLength);
+            return new RcRentedArray<T>(ArrayPool<T>.Shared, _rentPool.Value.AcquireId(), array, minimumLength);
+        }
+
+        internal static bool IsDisposed(RentIdGen rentIdGen)
+        {
+            return _rentPool.Value.GetGeneration(rentIdGen.Id) != rentIdGen.Gen;
+        }
+
+        internal static void ReturnId(RentIdGen rentIdGen)
+        {
+            _rentPool.Value.ReturnId(rentIdGen.Id);
+        }
+    }
+
+    public readonly struct RentIdGen
+    {
+        public readonly int Id;
+        public readonly int Gen;
+
+        public RentIdGen(int id, int gen)
+        {
+            Id = id;
+            Gen = gen;
         }
     }
 
@@ -17,15 +80,17 @@ namespace DotRecast.Core.Buffers
     {
         private ArrayPool<T> _owner;
         private T[] _array;
+        private readonly RentIdGen _rentIdGen;
 
         public int Length { get; }
-        public bool IsDisposed => null == _owner || null == _array;
+        public bool IsDisposed => null == _owner || null == _array || RcRentedArray.IsDisposed(_rentIdGen);
 
-        internal RcRentedArray(ArrayPool<T> owner, T[] array, int length)
+        internal RcRentedArray(ArrayPool<T> owner, RentIdGen rentIdGen, T[] array, int length)
         {
             _owner = owner;
             _array = array;
             Length = length;
+            _rentIdGen = rentIdGen;
         }
 
         public ref T this[int index]
@@ -34,6 +99,8 @@ namespace DotRecast.Core.Buffers
             get
             {
                 RcThrowHelper.ThrowExceptionIfIndexOutOfRange(index, Length);
+                if (IsDisposed)
+                    throw new NullReferenceException();
                 return ref _array[index];
             }
         }
@@ -51,12 +118,14 @@ namespace DotRecast.Core.Buffers
 
         public void Dispose()
         {
-            if (null != _owner && null != _array)
+            if (null != _owner && null != _array && !RcRentedArray.IsDisposed(_rentIdGen))
             {
+                RcRentedArray.ReturnId(_rentIdGen);
                 _owner.Return(_array, true);
-                _owner = null;
-                _array = null;
             }
+            
+            _owner = null;
+            _array = null;
         }
     }
 }

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.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

@@ -22,7 +22,6 @@ using System;
 using System.Collections.Generic;
 using System.Diagnostics;
 using DotRecast.Core;
-using DotRecast.Core.Buffers;
 using DotRecast.Core.Collections;
 using DotRecast.Core.Numerics;
 
@@ -425,13 +424,11 @@ namespace DotRecast.Detour.Crowd
             // Optimize path topology.
             UpdateTopologyOptimization(agents, dt);
 
-            #region Disabled for performance issues
             // Register agents to proximity grid.
-            // BuildProximityGrid(agents);
+            BuildProximityGrid(agents);
 
             // Get nearby navmesh segments and agents to collide with.
-            // BuildNeighbours(agents);
+            BuildNeighbours(agents);
-            #endregion
 
             // Find next corner to steer to.
             FindCorners(agents, debug);
@@ -1059,7 +1056,7 @@ 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.
@@ -1208,9 +1205,6 @@ namespace DotRecast.Detour.Crowd
                     for (int j = 0; j < ag.nneis; ++j)
                     {
                         DtCrowdAgent nei = ag.neis[j].agent;
-                        if(!nei.option.contributeObstacleAvoidance || nei.option.obstacleAvoidanceWeight < ag.option.obstacleAvoidanceWeight)
-                            continue;
-                        
                         _obstacleQuery.AddCircle(nei.npos, nei.option.radius, nei.vel, nei.dvel);
                     }
 

src/DotRecast.Detour.Crowd/DtCrowdAgentParams.cs

@@ -45,9 +45,6 @@ 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/DtCrowdConfig.cs

@@ -25,7 +25,7 @@ namespace DotRecast.Detour.Crowd
 
         public int pathQueueSize = 32; // Max number of path requests in the queue
         public int maxFindPathIterations = 100; // Max number of sliced path finding iterations executed per update (used to handle longer paths and replans)
-        public int maxTargetFindPathIterations = 100; // Max number of sliced path finding iterations executed per agent to find the initial path to target
+        public int maxTargetFindPathIterations = 20; // Max number of sliced path finding iterations executed per agent to find the initial path to target
         public float topologyOptimizationTimeThreshold = 0.5f; // Min time between topology optimizations (in seconds)
         public int checkLookAhead = 10; // The number of polygons from the beginning of the corridor to check to ensure path validity
         public float targetReplanDelay = 1.0f; // Min time between target re-planning (in seconds)

src/DotRecast.Detour.Crowd/DtCrowdConst.cs

@@ -25,7 +25,7 @@ namespace DotRecast.Detour.Crowd
         /// @ingroup crowd
         /// @see dtQueryFilter, dtCrowd::GetFilter() dtCrowd::GetEditableFilter(),
         /// dtCrowdAgentParams::queryFilterType
-        public const int DT_CROWD_MAX_QUERY_FILTER_TYPE = 32;
+        public const int DT_CROWD_MAX_QUERY_FILTER_TYPE = 16;
         
         public const int MAX_ITERS_PER_UPDATE = 100;
         public const int MAX_PATHQUEUE_NODES = 4096;

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.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.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/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/DtMeshData.cs

@@ -18,11 +18,8 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-using System;
-
 namespace DotRecast.Detour
 {
-    [Serializable]
     public class DtMeshData
     {
         public DtMeshHeader header; //< The tile header.

src/DotRecast.Detour/DtMeshHeader.cs

@@ -18,13 +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/DtNavMeshParams.cs

@@ -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 DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour

src/DotRecast.Detour/DtNavMeshQuery.cs

@@ -1637,20 +1637,20 @@ namespace DotRecast.Detour
             DtStatus stat = DtStatus.DT_STATUS_NOTHING;
 
             // TODO: Should this be callers responsibility?
-            // var closestStartPosRes = ClosestPointOnPolyBoundary(path[0], startPos, out var closestStartPos);
+            var closestStartPosRes = ClosestPointOnPolyBoundary(path[0], startPos, out var closestStartPos);
-            // if (closestStartPosRes.Failed())
+            if (closestStartPosRes.Failed())
-            // {
+            {
-            //     return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
+                return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
-            // }
+            }
-            //
+
-            // var closestEndPosRes = ClosestPointOnPolyBoundary(path[pathSize - 1], endPos, out var closestEndPos);
+            var closestEndPosRes = ClosestPointOnPolyBoundary(path[pathSize - 1], endPos, out var closestEndPos);
-            // if (closestEndPosRes.Failed())
+            if (closestEndPosRes.Failed())
-            // {
+            {
-            //     return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
+                return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
-            // }
+            }
 
             // Add start point.
-            stat = AppendVertex(startPos, DtStraightPathFlags.DT_STRAIGHTPATH_START, path[0], straightPath, ref straightPathCount, maxStraightPath);
+            stat = AppendVertex(closestStartPos, DtStraightPathFlags.DT_STRAIGHTPATH_START, path[0], straightPath, ref straightPathCount, maxStraightPath);
             if (!stat.InProgress())
             {
                 return stat;
@@ -1658,7 +1658,7 @@ namespace DotRecast.Detour
 
             if (pathSize > 1)
             {
-                RcVec3f portalApex = startPos;
+                RcVec3f portalApex = closestStartPos;
                 RcVec3f portalLeft = portalApex;
                 RcVec3f portalRight = portalApex;
                 int apexIndex = 0;
@@ -1687,21 +1687,21 @@ namespace DotRecast.Detour
                         {
                             // Failed to get portal points, in practice this means that path[i+1] is invalid polygon.
                             // Clamp the end point to path[i], and return the path so far.
-                            // var cpStatus = ClosestPointOnPolyBoundary(path[i], endPos, out closestEndPos);
+                            var cpStatus = ClosestPointOnPolyBoundary(path[i], endPos, out closestEndPos);
-                            // if (cpStatus.Failed())
+                            if (cpStatus.Failed())
-                            // {
+                            {
-                            //     return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
+                                return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
-                            // }
+                            }
 
                             // Append portals along the current straight path segment.
                             if ((options & (DtStraightPathOptions.DT_STRAIGHTPATH_AREA_CROSSINGS | DtStraightPathOptions.DT_STRAIGHTPATH_ALL_CROSSINGS)) != 0)
                             {
                                 // Ignore status return value as we're just about to return anyway.
-                                AppendPortals(apexIndex, i, endPos, path, straightPath, ref straightPathCount, maxStraightPath, options);
+                                AppendPortals(apexIndex, i, closestEndPos, path, straightPath, ref straightPathCount, maxStraightPath, options);
                             }
 
                             // Ignore status return value as we're just about to return anyway.
-                            AppendVertex(endPos, 0, path[i], straightPath, ref straightPathCount, maxStraightPath);
+                            AppendVertex(closestEndPos, 0, path[i], straightPath, ref straightPathCount, maxStraightPath);
 
                             return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM | (straightPathCount >= maxStraightPath ? DtStatus.DT_BUFFER_TOO_SMALL : DtStatus.DT_STATUS_NOTHING);
                         }
@@ -1719,8 +1719,8 @@ namespace DotRecast.Detour
                     else
                     {
                         // End of the path.
-                        left = endPos;
+                        left = closestEndPos;
-                        right = endPos;
+                        right = closestEndPos;
                         toType = DtPolyTypes.DT_POLYTYPE_GROUND;
                     }
 
@@ -1840,7 +1840,7 @@ namespace DotRecast.Detour
                 // Append portals along the current straight path segment.
                 if ((options & (DtStraightPathOptions.DT_STRAIGHTPATH_AREA_CROSSINGS | DtStraightPathOptions.DT_STRAIGHTPATH_ALL_CROSSINGS)) != 0)
                 {
-                    stat = AppendPortals(apexIndex, pathSize - 1, endPos, path, straightPath, ref straightPathCount, maxStraightPath, options);
+                    stat = AppendPortals(apexIndex, pathSize - 1, closestEndPos, path, straightPath, ref straightPathCount, maxStraightPath, options);
                     if (!stat.InProgress())
                     {
                         return stat;
@@ -1849,7 +1849,7 @@ namespace DotRecast.Detour
             }
 
             // Ignore status return value as we're just about to return anyway.
-            AppendVertex(endPos, DtStraightPathFlags.DT_STRAIGHTPATH_END, 0, straightPath, ref straightPathCount, maxStraightPath);
+            AppendVertex(closestEndPos, DtStraightPathFlags.DT_STRAIGHTPATH_END, 0, straightPath, ref straightPathCount, maxStraightPath);
             return DtStatus.DT_SUCCESS | (straightPathCount >= maxStraightPath ? DtStatus.DT_BUFFER_TOO_SMALL : DtStatus.DT_STATUS_NOTHING);
         }
 
@@ -2077,11 +2077,19 @@ namespace DotRecast.Detour
             fromType = 0;
             toType = 0;
 
-            m_nav.GetTileAndPolyByRefUnsafe(from, out var fromTile, out var fromPoly);
+            var status = m_nav.GetTileAndPolyByRef(from, out var fromTile, out var fromPoly);
+            if (status.Failed())
+            {
+                return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
+            }
 
             fromType = fromPoly.GetPolyType();
 
-            m_nav.GetTileAndPolyByRefUnsafe(to, out var toTile, out var toPoly);
+            status = m_nav.GetTileAndPolyByRef(to, out var toTile, out var toPoly);
+            if (status.Failed())
+            {
+                return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
+            }
 
             toType = toPoly.GetPolyType();
 
@@ -2533,7 +2541,7 @@ namespace DotRecast.Detour
                     // int va = a * 3;
                     // int vb = b * 3;
                     float dx = verts[b].X - verts[a].X;
-                    float dz = verts[b].Z - verts[a].Z;
+                    float dz = verts[b].Z - verts[a].X;
                     hit.hitNormal = RcVec3f.Normalize(new RcVec3f(dz, 0, -dx));
                     return DtStatus.DT_SUCCESS;
                 }

src/DotRecast.Detour/DtNodePool.cs

@@ -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/DtOffMeshConnection.cs

@@ -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.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.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

@@ -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/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/Geom/RcOffMeshConnection.cs

@@ -33,7 +33,7 @@ namespace DotRecast.Recast.Geom
         public readonly int flags;
         public readonly int userId;
 
-        public RcOffMeshConnection(RcVec3f start, RcVec3f end, float radius, bool bidir, int area, int flags, 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/package.json

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

test/DotRecast.Core.Test/RcRentedArrayTest.cs

@@ -103,4 +103,19 @@ public class RcRentedArrayTest
         Assert.That(r1.IsDisposed, Is.EqualTo(true));
         Assert.That(r1.AsArray(), Is.Null);
     }
+
+    [Test]
+    public void TestIdPoolCapacity()
+    {
+        var buffer = new RcRentedArray<int>[RcRentedArray.START_RENT_ID_POOL_CAPACITY + 2];
+        for (int i = 0; i < buffer.Length; i++)
+        {
+            Assert.DoesNotThrow(() => buffer[i] = RcRentedArray.Rent<int>(4));
+        }
+        
+        for (int i = 0; i < buffer.Length; i++)
+        {
+            Assert.DoesNotThrow(() => buffer[i].Dispose());
+        }
+    }
 }