Merge branch 'risky_optimizations'

This reverts commit acd3f8d879.

.editorconfig

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

.github/FUNDING.yml

@@ -0,0 +1,3 @@
+# These are supported funding model platforms
+
+github: ikpil

.github/workflows/codeql.yml

@@ -0,0 +1,88 @@
+# For most projects, this workflow file will not need changing; you simply need
+# to commit it to your repository.
+#
+# You may wish to alter this file to override the set of languages analyzed,
+# or to provide custom queries or build logic.
+#
+# ******** NOTE ********
+# We have attempted to detect the languages in your repository. Please check
+# the `language` matrix defined below to confirm you have the correct set of
+# supported CodeQL languages.
+#
+name: "CodeQL"
+
+on:
+  push:
+    branches: [ "main" ]
+  pull_request:
+    # The branches below must be a subset of the branches above
+    branches: [ "main" ]
+  schedule:
+    - cron: '17 1 * * 1'
+
+jobs:
+  analyze:
+    name: Analyze
+    # Runner size impacts CodeQL analysis time. To learn more, please see:
+    #   - https://gh.io/recommended-hardware-resources-for-running-codeql
+    #   - https://gh.io/supported-runners-and-hardware-resources
+    #   - https://gh.io/using-larger-runners
+    # Consider using larger runners for possible analysis time improvements.
+    runs-on: ${{ (matrix.language == 'swift' && 'macos-latest') || 'ubuntu-latest' }}
+    timeout-minutes: ${{ (matrix.language == 'swift' && 120) || 360 }}
+    permissions:
+      actions: read
+      contents: read
+      security-events: write
+
+    strategy:
+      fail-fast: false
+      matrix:
+        language: [ 'csharp' ]
+        # CodeQL supports [ 'c-cpp', 'csharp', 'go', 'java-kotlin', 'javascript-typescript', 'python', 'ruby', 'swift' ]
+        # Use only 'java-kotlin' to analyze code written in Java, Kotlin or both
+        # Use only 'javascript-typescript' to analyze code written in JavaScript, TypeScript or both
+        # Learn more about CodeQL language support at https://aka.ms/codeql-docs/language-support
+
+    steps:
+      - name: Check out
+        uses: actions/checkout@v4
+
+      - name: Set up .NET 8.0
+        uses: actions/setup-dotnet@v4
+        with:
+          dotnet-version: 8.x
+      
+      # Initializes the CodeQL tools for scanning.
+      - name: Initialize CodeQL
+        uses: github/codeql-action/init@v2
+        with:
+          languages: ${{ matrix.language }}
+          queries: security-extended
+          # If you wish to specify custom queries, you can do so here or in a config file.
+          # By default, queries listed here will override any specified in a config file.
+          # Prefix the list here with "+" to use these queries and those in the config file.
+          
+          # For more details on CodeQL's query packs, refer to: https://docs.github.com/en/code-security/code-scanning/automatically-scanning-your-code-for-vulnerabilities-and-errors/configuring-code-scanning#using-queries-in-ql-packs
+          # queries: security-extended,security-and-quality
+      
+      
+      # Autobuild attempts to build any compiled languages (C/C++, C#, Go, Java, or Swift).
+      # If this step fails, then you should remove it and run the build manually (see below)
+      - name: Autobuild
+        uses: github/codeql-action/autobuild@v2
+      
+      # ℹ️ Command-line programs to run using the OS shell.
+      # 📚 See https://docs.github.com/en/actions/using-workflows/workflow-syntax-for-github-actions#jobsjob_idstepsrun
+      
+      #   If the Autobuild fails above, remove it and uncomment the following three lines.
+      #   modify them (or add more) to build your code if your project, please refer to the EXAMPLE below for guidance.
+      
+      # - run: |
+      #     echo "Run, Build Application using script"
+      #     ./location_of_script_within_repo/buildscript.sh
+
+      - name: Perform CodeQL Analysis
+        uses: github/codeql-action/analyze@v2
+        with:
+          category: "/language:${{matrix.language}}"

.github/workflows/dotnet.yml

@@ -5,12 +5,22 @@ name: .NET
 
 on:
   push:
-  pull_request:
-    branches: [ main ]
+    branches:
+      - 'main'
+      - 'pr/**'
     paths:
-      - '**/*.cs'
-      - '**/*.csproj'
-      - '**/*.sln'
+      - '**.cs'
+      - '**.csproj'
+      - '**.sln'
+      - '**.yml'
+  pull_request:
+    branches:
+      - 'pr/**'
+    paths:
+      - '**.cs'
+      - '**.csproj'
+      - '**.sln'
+      - '**.yml'
 
 jobs:
   build-and-test:
@@ -18,24 +28,27 @@ jobs:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        dotnet-version: [ '6.0.x', '7.0.x' ]
+        dotnet-version: [ '6', '7', '8' ]
         os: [ windows-latest, ubuntu-latest, macos-latest ]
 
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           fetch-depth: 0 # Get all history to allow automatic versioning using MinVer
 
       - name: Setup .NET
-        uses: actions/setup-dotnet@v3
+        uses: actions/setup-dotnet@v4
         with:
-          dotnet-version: ${{ matrix.dotnet-version }}
+          dotnet-version: |
+            6
+            7
+            8
             
       - name: Restore dependencies
         run: dotnet restore
 
       - name: Build
-        run: dotnet build -c Release --no-restore
+        run: dotnet build -c Release --no-restore --framework net${{ matrix.dotnet-version }}.0
 
       - name: Test
-        run: dotnet test -c Release --no-build --verbosity normal
+        run: dotnet test -c Release --no-build --verbosity normal --framework net${{ matrix.dotnet-version }}.0

.github/workflows/publish.yml

@@ -28,14 +28,14 @@ jobs:
         run: echo ok
 
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           fetch-depth: 0 # Get all history to allow automatic versioning using MinVer
 
       - name: Setup Dotnet
-        uses: actions/setup-dotnet@v3
+        uses: actions/setup-dotnet@v4
         with:
-          dotnet-version: '7.x'
+          dotnet-version: '8.x'
 
       - name: restore dependencies
         run: dotnet restore

.github/workflows/release.yml

@@ -10,14 +10,14 @@ jobs:
 
     steps:
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           fetch-depth: 0 # Get all history to allow automatic versioning using MinVer
 
       - name: Setup Dotnet
-        uses: actions/setup-dotnet@v3
+        uses: actions/setup-dotnet@v4
         with:
-          dotnet-version: '7.x'
+          dotnet-version: '8.x'
 
       - name: restore dependencies
         run: dotnet restore
@@ -26,7 +26,7 @@ jobs:
         run: dotnet build -c Release --no-restore
 
       - name: publish
-        run: dotnet publish src/DotRecast.Recast.Demo -c Release --framework net7.0 --no-restore --no-self-contained --output working-temp
+        run: dotnet publish src/DotRecast.Recast.Demo -c Release --framework net8.0 --no-restore --no-self-contained --output working-temp
 
       - name: version
         id: version

.vscode/launch.json

@@ -9,7 +9,7 @@
             "type": "coreclr",
             "request": "launch",
             "preLaunchTask": "build",
-            "program": "${workspaceFolder}/src/DotRecast.Recast.Demo/bin/Debug/net7.0/DotRecast.Recast.Demo.dll",
+            "program": "${workspaceFolder}/src/DotRecast.Recast.Demo/bin/Debug/net8.0/DotRecast.Recast.Demo.dll",
             "args": [],
             "cwd": "${workspaceFolder}/src/DotRecast.Recast.Demo",
             "console": "internalConsole",

BuildingAndIntegrating.md

@@ -0,0 +1,97 @@
+
+## 🔨 Build
+- Building requires only .NET 8 SDK.
+
+### 🔨 Building with Command Prompt
+
+```shell
+dotnet build -c Release
+```
+
+### 🔨 Building with an IDE
+
+1. Open IDE: Launch your C# IDE (e.g., Visual Studio).
+2. Open Solution: Go to the "File" menu and select "Open Solution."
+3. Build: In the IDE menu, select "Build" > "Build Solution" or click the "Build" icon on the toolbar.
+
+## ▶️ Run
+- To verify the run for all modules, run [DotRecast.Recast.Demo](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj)
+- on windows requirement : install to [Microsoft Visual C++ Redistributable Package](https://learn.microsoft.com/en-us/cpp/windows/latest-supported-vc-redist) 
+
+### ▶️ Running With Command Prompt
+
+```shell
+dotnet run --project src/DotRecast.Recast.Demo --framework net8.0 -c Release
+```
+
+### ▶️ Running With IDE (ex. Visual Studio 2022 or Rider ...)
+
+1. Open your C# IDE (like Visual Studio).
+2. Go to "File" in the menu.
+3. Choose "Open Project" or "Open Solution."
+4. Find and select [DotRecast.sln](DotRecast.sln), then click "Open."
+5. Run to [DotRecast.Recast.Demo](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Recast.Demo/DotRecast.Recast.Demo.csproj)
+
+## 🧪 Running Unit Test
+
+- [DotRecast.Core.Test](https://github.com/ikpil/DotRecast/tree/main/test/DotRecast.Core.Test) : ...
+- [DotRecast.Recast.Test](https://github.com/ikpil/DotRecast/tree/main/test/DotRecast.Recast.Test) : ...
+- [DotRecast.Detour.Test](https://github.com/ikpil/DotRecast/tree/main/test/DotRecast.Detour.Test) : ...
+- [DotRecast.Detour.TileCache.Test](https://github.com/ikpil/DotRecast/tree/main/test/DotRecast.Detour.TileCache.Test) : ...
+- [DotRecast.Detour.Crowd.Test](https://github.com/ikpil/DotRecast/tree/main/test/DotRecast.Detour.Crowd.Test) : ...
+- [DotRecast.Detour.Dynamic.Test](https://github.com/ikpil/DotRecast/tree/main/test/DotRecast.Detour.Dynamic.Test) : ...
+- [DotRecast.Detour.Extras.Test](https://github.com/ikpil/DotRecast/tree/main/test/DotRecast.Detour.Extras.Test) : ...
+
+### 🧪 Testing With Command Prompt
+
+```shell
+ dotnet test --framework net8.0 -c Release
+```
+
+### 🧪 Testing With IDE 
+
+- Refer to the manual for your IDE.
+
+## 🛠️ Integration
+
+There are a few ways to integrate [DotRecast.Recast](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Recast) and [DotRecast.Detour](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Detour) into your project. 
+Source integration is the most popular and most flexible, and is what the project was designed for from the beginning.
+
+### 🛠️ Source Integration
+
+It is recommended to add the source directories 
+[DotRecast.Core](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Core), 
+[DotRecast.Recast](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Recast),
+[DotRecast.Detour](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Detour),
+[DotRecast.Detour.Crowd](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Detour.Crowd),
+[DotRecast.Detour.TileCache](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Detour.TileCache) 
+and directly into your project depending on which parts of the project you need. 
+
+For example your level building tool could include
+[DotRecast.Core](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Core),
+[DotRecast.Recast](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Recast),
+[DotRecast.Detour](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Detour) 
+and your game runtime could just include
+[DotRecast.Detour](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Detour)
+
+- [DotRecast.Core](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Core) : Core Utils
+- [DotRecast.Recast](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Recast) : Core navmesh building system.
+- [DotRecast.Detour](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Detour) : Runtime navmesh interface and query system.
+- [DotRecast.Detour.TileCache](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Detour.TileCache) : Runtime movement, obstacle avoidance, and crowd simulation systems.
+- [DotRecast.Detour.Crowd](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Detour.Crowd) : Runtime navmesh dynamic obstacle and re-baking system.
+- [DotRecast.Detour.Dynamic](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Detour.Dynamic) : robust support for dynamic nav meshes combining pre-built voxels with dynamic objects which can be freely added and removed
+- [DotRecast.Detour.Extras](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Detour.Extras) : simple tool to import navmeshes created with [A* Pathfinding Project](https://arongranberg.com/astar/)
+
+
+### 🛠️ Installation through Nuget
+
+- Nuget link : [DotRecast.Core](https://www.nuget.org/packages/DotRecast.Core)
+- Nuget link : [DotRecast.Recast](https://www.nuget.org/packages/DotRecast.Recast)
+- Nuget link : [DotRecast.Detour](https://www.nuget.org/packages/DotRecast.Detour)
+- Nuget link : [DotRecast.Detour.TileCache](https://www.nuget.org/packages/DotRecast.Detour.TileCache)
+- Nuget link : [DotRecast.Detour.Crowd](https://www.nuget.org/packages/DotRecast.Detour.Crowd)
+- Nuget link : [DotRecast.Detour.Dynamic](https://www.nuget.org/packages/DotRecast.Detour.Dynamic)
+- Nuget link : [DotRecast.Detour.Extras](https://www.nuget.org/packages/DotRecast.Detour.Extras)
+- Nuget link : [DotRecast.Recast.Toolset](https://www.nuget.org/packages/DotRecast.Recast.Toolset)
+- Nuget link : [DotRecast.Recast.Demo](https://www.nuget.org/packages/DotRecast.Recast.Demo)
+

CHANGELOG.md

@@ -0,0 +1,192 @@
+# Changelog
+
+All notable changes to this project will be documented in this file.
+
+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)
+- Changed from List<T> to RcCyclicBuffer in DtCrowdTelemetry execution timing sampling [@wrenge](https://github.com/wrenge)
+- RcCyclicBuffer<T> optimizations [@wrenge](https://github.com/wrenge)
+
+### Removed
+
+### Special Thanks
+- [@Doprez](https://github.com/Doprez)
+- [@Arctium](https://github.com/Arctium)
+
+
+## [2024.1.3] - 2024-02-13
+
+### Added
+- Added DtNodeQueue UnitTest [@ikpil](https://github.com/ikpil)
+- Added RcSortedQueue UnitTest [@ikpil](https://github.com/ikpil)
+- Added IComparable interface to RcAtomicLong [@ikpil](https://github.com/ikpil)
+- Added Menu bar in Demo [@ikpil](https://github.com/ikpil)
+ 
+### Fixed
+
+### Changed
+- Update Microsoft.NET.Test.Sdk 17.8.0 to 17.9.0
+- Enhanced ToString method of DtNode to provide more detailed information.
+- Reuse DtNode in DtNodePool
+ 
+### Removed
+
+### Special Thanks
+- [@Doprez](https://github.com/Doprez)
+- [@Arctium](https://github.com/Arctium)
+ 
+## [2024.1.2] - 2024-02-04
+
+### Added
+- Added DtNodePool tests [@ikpil](https://github.com/ikpil)
+- Added WangHash() for DtNodePool [@ikpil](https://github.com/ikpil)
+- Added avg, min, max, sampling updated times in CrowdAgentProfilingTool [@ikpil](https://github.com/ikpil)
+ 
+### Fixed
+- Fixed SOH issue in DtNavMeshQuery.Raycast [@ikpil](https://github.com/ikpil)
+- Fixed SOH issue in DtProximityGrid.QueryItems [@ikpil](https://github.com/ikpil)
+
+### Changed
+- Upgrade NUnit.Analyzers 4.0.1
+
+### Removed
+
+### Special Thanks
+- [@Doprez](https://github.com/Doprez)
+- [@Arctium](https://github.com/Arctium)
+
+## [2024.1.1] - 2024-01-05
+
+### Fixed
+- Fix typo ([#25](https://github.com/ikpil/DotRecast/pull/25)) [@c0nd3v](https://github.com/c0nd3v)
+- Fix updated struct version ([#23](https://github.com/ikpil/DotRecast/pull/23)) [@c0nd3v](https://github.com/c0nd3v)
+- Allow Radius 0 in Demo ([#22](https://github.com/ikpil/DotRecast/pull/22)) [@c0nd3v](https://github.com/c0nd3v)
+
+### Changed
+- [Upstream] Cleanup filter code and improved documentation ([#30](https://github.com/ikpil/DotRecast/pull/30)) [@ikpil](https://github.com/ikpil)
+- [Upstream] Make detail mesh edge detection more robust ([#26](https://github.com/ikpil/DotRecast/pull/26)) [@ikpil](https://github.com/ikpil)
+- [Upstream] 248275e - Fix: typo error (#153) ([#21](https://github.com/ikpil/DotRecast/pull/21)) [@ikpil](https://github.com/ikpil)
+- Code cleanup and small optimizations in RecastFilter.cpp ([#29](https://github.com/ikpil/DotRecast/pull/29)) [@ikpil](https://github.com/ikpil)
+- Added UI scaling feature based on monitor resolution in Demo ([#28](https://github.com/ikpil/DotRecast/pull/28)) [@ikpil](https://github.com/ikpil)
+

DotRecast.sln

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

README.md

@@ -1,80 +1,88 @@
-[![License: Zlib](https://img.shields.io/badge/License-Zlib-lightgrey.svg)](https://opensource.org/licenses/Zlib)
-[![.NET](https://github.com/ikpil/DotRecast/actions/workflows/dotnet.yml/badge.svg)](https://github.com/ikpil/DotRecast/actions/workflows/dotnet.yml)
-[![CodeQL](https://github.com/ikpil/DotRecast/actions/workflows/github-code-scanning/codeql/badge.svg)](https://github.com/ikpil/DotRecast/actions/workflows/github-code-scanning/codeql)
-[![NuGet Version and Downloads count](https://buildstats.info/nuget/DotRecast.Detour)](https://www.nuget.org/packages/DotRecast.Detour)
-![Repo Size](https://img.shields.io/github/repo-size/ikpil/DotRecast.svg?colorB=lightgray)
-![Languages](https://img.shields.io/github/languages/top/ikpil/DotRecast)
+# DotRecast
 
-# Screenshot
-![screenshot](https://github.com/ikpil/DotRecast/assets/313821/8cf67832-1206-4b58-8c1f-7205210cbf22)
+*DotRecast is C# Recast & Detour, a port of [recastnavigation](https://github.com/recastnavigation/recastnavigation) and [recast4j](https://github.com/ppiastucki/recast4j) to the C# language.*  
+*If you'd like to support the project, we'd appreciate starring(⭐) our repos on Github for more visibility.*
 
-# Introduction
-1. DotRecast is a port of C++'s [recastnavigation](https://github.com/recastnavigation/recastnavigation) and Java's [recast4j](https://github.com/ppiastucki/recast4j) to the C# language.
-2. For game development, C# servers, C# project, and Unity3D are supported.
-3. DotRecast consists of Recast and Detour, Crowd, Dynamic, Extras, TileCache, DemoTool, Demo
+---
 
-https://user-images.githubusercontent.com/313821/266782992-32a72a43-8f02-4214-8f1e-86b06952c8b7.mp4
+![GitHub License](https://img.shields.io/github/license/ikpil/DotRecast?style=for-the-badge)
+![Languages](https://img.shields.io/github/languages/top/ikpil/DotRecast?style=for-the-badge)
+![GitHub repo size](https://img.shields.io/github/repo-size/ikpil/DotRecast?style=for-the-badge)
+[![GitHub Repo stars](https://img.shields.io/github/stars/ikpil/DotRecast?style=for-the-badge&logo=github)](https://github.com/ikpil/DotRecast)
+[![GitHub Actions Workflow Status](https://img.shields.io/github/actions/workflow/status/ikpil/DotRecast/dotnet.yml?style=for-the-badge&logo=github)](https://github.com/ikpil/DotRecast/actions/workflows/dotnet.yml)
+[![GitHub Actions Workflow Status](https://img.shields.io/github/actions/workflow/status/ikpil/DotRecast/codeql.yml?style=for-the-badge&logo=github&label=CODEQL)](https://github.com/ikpil/DotRecast/actions/workflows/codeql.yml)
+[![GitHub commit activity](https://img.shields.io/github/commit-activity/m/ikpil/DotRecast?style=for-the-badge&logo=github)](https://github.com/ikpil/DotRecast/commits)
+[![GitHub issues](https://img.shields.io/github/issues-raw/ikpil/DotRecast?style=for-the-badge&logo=github&color=44cc11)](https://github.com/ikpil/DotRecast/issues)
+[![GitHub closed issues](https://img.shields.io/github/issues-closed-raw/ikpil/DotRecast?style=for-the-badge&logo=github&color=a371f7)](https://github.com/ikpil/DotRecast/issues)
+[![NuGet Version](https://img.shields.io/nuget/vpre/DotRecast.Core?style=for-the-badge&logo=nuget)](https://www.nuget.org/packages/DotRecast.Core)
+[![NuGet Downloads](https://img.shields.io/nuget/dt/DotRecast.Core?style=for-the-badge&logo=nuget)](https://www.nuget.org/packages/DotRecast.Core)
+[![GitHub Sponsors](https://img.shields.io/github/sponsors/ikpil?style=for-the-badge&logo=GitHub-Sponsors&link=https%3A%2F%2Fgithub.com%2Fsponsors%2Fikpil)](https://github.com/sponsors/ikpil)
 
-## DotRecast.Recast
+---
 
-Recast is state of the art navigation mesh construction toolset for games.
+[![demo](https://user-images.githubusercontent.com/313821/266750582-8cf67832-1206-4b58-8c1f-7205210cbf22.gif)](https://youtu.be/zIFIgziKLhQ)
 
-Recast is...
-* 🤖 **Automatic** - throw any level geometry at it and you will get a robust navmesh out
-* 🏎️ **Fast** - swift turnaround times for level designers
-* 🧘 **Flexible** - easily customize the navmesh generation and runtime navigation systems to suit your specific game's needs.
 
-Recast constructs a navmesh through a multi-step rasterization process:
 
-1. First Recast voxelizes the input triangle mesh by rasterizing the triangles into a multi-layer heightfield.
-2. Voxels in areas where the character would not be able to move are removed by applying simple voxel data filters.
-3. The walkable areas described by the voxel grid are then divided into sets of 2D polygonal regions.
-4. The navigation polygons are generated by triangulating and stiching together the generated 2d polygonal regions.
+## 🚀 Features
  
-## DotRecast.Detour
+- 🤖 Automatic - Recast can generate a navmesh from any level geometry you throw at it
+- 🏎️ Fast - swift turnaround times for level designers
+- 🧘 Flexible - detailed customization options and modular design let you tailor functionality to your specific needs
+- 🚫 Dependency-Free - building Recast & Detour only requires a .NET compiler
+- 💪 Industry Standard - Recast powers AI navigation features in Unity, Unreal, Godot, O3DE and countless AAA and indie games and engines
 
-Recast is accompanied by Detour, a path-finding and spatial reasoning toolkit. You can use any navigation mesh with Detour, but of course the data generated with Recast fits perfectly.
+Recast Navigation is divided into multiple modules, each contained in its own folder:
 
-Detour offers a simple static navmesh data representation which is suitable for many simple cases.  It also provides a tiled navigation mesh representation, which allows you to stream of navigation data in and out as the player progresses through the world and regenerate sections of the navmesh data as the world changes.
+- [DotRecast.Core](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Core) : Core utils
+- [DotRecast.Recast](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Recast) : Navmesh generation
+- [DotRecast.Detour](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Detour) : Runtime loading of navmesh data, pathfinding, navmesh queries
+- [DotRecast.Detour.TileCache](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Detour.TileCache) : Navmesh streaming. Useful for large levels and open-world games
+- [DotRecast.Detour.Crowd](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Detour.Crowd) : Agent movement, collision avoidance, and crowd simulation
+- [DotRecast.Detour.Dynamic](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Detour.Dynamic) : robust support for dynamic nav meshes combining pre-built voxels with dynamic objects which can be freely added and removed
+- [DotRecast.Detour.Extras](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Detour.Extras) : simple tool to import navmeshes created with [A* Pathfinding Project](https://arongranberg.com/astar/)
+- [DotRecast.Recast.Toolset](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Recast.Toolset) : all modules
+- [DotRecast.Recast.Demo](https://github.com/ikpil/DotRecast/tree/main/src/DotRecast.Recast.Demo) : Standalone, comprehensive demo app showcasing all aspects of Recast & Detour's functionality
+- [Tests](https://github.com/ikpil/DotRecast/tree/main/test) : Unit tests
 
-## DotRecast.Recast.Demo
+## ⚡ Getting Started
  
-You can find a comprehensive demo project in the `DotRecast.Recast.Demo` folder. It's a kitchen sink demo showcasing all the functionality of the library. If you are new to Recast & Detour, check out [SoloNavMeshBuilder.cs](/src/DotRecast.Recast.Demo/Builder/SoloNavMeshBuilder.cs) to get started with building navmeshes and [TestNavmeshTool.cs](/src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs) to see how Detour can be used to find paths.
+- To build or integrate into your own project, please check out [BuildingAndIntegrating.md](https://github.com/ikpil/DotRecast/tree/main/BuildingAndIntegrating.md)
+- To create a NavMesh, please check out [RecastSoloMeshTest.cs](https://github.com/ikpil/DotRecast/tree/main/test/DotRecast.Recast.Test/RecastSoloMeshTest.cs)
+- To test pathfinding, please check out [FindPathTest.cs](https://github.com/ikpil/DotRecast/tree/main/test/DotRecast.Detour.Test/FindPathTest.cs)
+- To watch the demo play video, please check out [Demo Video](#-demo-video)
 
-### Building DotRecast.Recast.Demo
+## ⚙ How it Works
 
-1. `DotRecast.Recast.Demo` uses [dotnet 7](https://dotnet.microsoft.com/) to build platform specific projects. Download it and make sure it's available on your path, or specify the path to it.
-2. Open a command prompt, point it to a directory and clone DotRecast to it: `git clone https://github.com/ikpil/DotRecast.git`
-3. Open `<DotRecastDir>\DotRecast.sln` with Visual Studio 2022 and build `DotRecast.Recast.Demo`
-   - Optionally, you can run using the `dotnet run` command with `DotRecast.Recast.Demo.csproj`
+Recast constructs a navmesh through a multi-step mesh rasterization process.
 
-#### Windows
+1. First Recast rasterizes the input triangle meshes into voxels.
+2. Voxels in areas where agents would not be able to move are filtered and removed.
+3. The walkable areas described by the voxel grid are then divided into sets of polygonal regions.
+4. The navigation polygons are generated by re-triangulating the generated polygonal regions into a navmesh.
 
-- need to install [microsoft visual c++ redistributable package](https://learn.microsoft.com/en-us/cpp/windows/latest-supported-vc-redist)
+You can use Recast to build a single navmesh, or a tiled navmesh.
+Single meshes are suitable for many simple, static cases and are easy to work with.
+Tiled navmeshes are more complex to work with but better support larger, more dynamic environments.  Tiled meshes enable advance Detour features like re-baking, heirarchical path-planning, and navmesh data-streaming.
 
-#### Linux & macOS & Windows
+## 📚 Documentation & Links
 
-- Navigate to the `DotRecast.Recast.Demo` folder and run `dotnet run`
+- DotRecast Links
+  - [DotRecast/issues](https://github.com/ikpil/DotRecast/issues)
  
-### Running Unit tests
+- Official Links
+  - [recastnavigation/discussions](https://github.com/recastnavigation/recastnavigation/discussions)
+  - [recastnav.com](https://recastnav.com)
 
-#### With VS2022
+## 🅾 License
 
-- In Visual Studio 2022 go to the test menu and press `Run All Tests` 
+DotRecast is licensed under ZLib license, see [LICENSE.txt](https://github.com/ikpil/DotRecast/tree/main/LICENSE.txt) for more information.
 
-#### With CLI
+## 📹 Demo Video
 
-- in the DotRecast folder open a command prompt and run `dotnet test`
+[![demo](https://img.youtube.com/vi/zIFIgziKLhQ/0.jpg)](https://youtu.be/zIFIgziKLhQ)
 
-## Integrating with your game or engine
+[![demo](https://img.youtube.com/vi/CPvc19gNUEk/0.jpg)](https://youtu.be/CPvc19gNUEk)
 
-It is recommended to add the source directories `DotRecast.Core`, `DotRecast.Detour.Crowd`, `DotRecast.Detour.Dynamic`, `DotRecast.Detour.TitleCache`, `DotRecast.Detour.Extras` and `DotRecast.Recast` into your own project depending on which parts of the project you need. For example your level building tool could include `DotRecast.Core`, `DotRecast.Recast`, and `DotRecast.Detour`, and your game runtime could just include `DotRecast.Detour`.
+[![demo](https://img.youtube.com/vi/pe5jpGUNPRg/0.jpg)](https://youtu.be/pe5jpGUNPRg)
 
-## Discuss
-
-- Discuss Recast & Detour: http://groups.google.com/group/recastnavigation
-- Development blog: http://digestingduck.blogspot.com/
-
-## License
-
-Recast & Detour is licensed under ZLib license, see `LICENSE.txt` for more information.

composer.json

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

src/DotRecast.Core/Buffers/RcCyclicBuffer.cs

@@ -0,0 +1,274 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Net.Security;
+
+namespace DotRecast.Core.Buffers
+{
+    // https://github.com/joaoportela/CircularBuffer-CSharp/blob/master/CircularBuffer/CircularBuffer.cs
+    public class RcCyclicBuffer<T> : IEnumerable<T>
+    {
+        public struct Enumerator : IEnumerator<T>
+        {
+            private readonly RcCyclicBuffer<T> _cb;
+            private int _index;
+            private readonly int _size;
+
+            internal Enumerator(RcCyclicBuffer<T> cb)
+            {
+                _cb = cb;
+                _size = _cb._size;
+                _index = default;
+                Reset();
+            }
+            
+            public bool MoveNext()
+            {
+                return ++_index < _size;
+            }
+
+            public void Reset()
+            {
+                _index = -1;
+            }
+
+            public T Current => _cb[_index];
+
+            object IEnumerator.Current => Current;
+
+            public void Dispose()
+            {
+                // This could be used to unlock write access to collection
+            }
+        }
+        
+        private readonly T[] _buffer;
+
+        private int _start;
+        private int _end;
+        private int _size;
+
+        public RcCyclicBuffer(int capacity)
+            : this(capacity, new T[] { })
+        {
+        }
+
+        public RcCyclicBuffer(int capacity, T[] items)
+        {
+            if (capacity < 1)
+            {
+                throw new ArgumentException("RcCyclicBuffer cannot have negative or zero capacity.", nameof(capacity));
+            }
+
+            if (items == null)
+            {
+                throw new ArgumentNullException(nameof(items));
+            }
+
+            if (items.Length > capacity)
+            {
+                throw new ArgumentException("Too many items to fit RcCyclicBuffer", nameof(items));
+            }
+
+            _buffer = new T[capacity];
+
+            Array.Copy(items, _buffer, items.Length);
+            _size = items.Length;
+
+            _start = 0;
+            _end = _size == capacity ? 0 : _size;
+        }
+
+        public int Capacity => _buffer.Length;
+        public bool IsFull => Size == Capacity;
+        public bool IsEmpty => Size == 0;
+
+        public int Size => _size;
+
+        public T Front()
+        {
+            ThrowIfEmpty();
+            return _buffer[_start];
+        }
+
+        public T Back()
+        {
+            ThrowIfEmpty();
+            return _buffer[(_end != 0 ? _end : Capacity) - 1];
+        }
+
+        public T this[int index]
+        {
+            get
+            {
+                if (IsEmpty)
+                {
+                    throw new IndexOutOfRangeException($"Cannot access index {index}. Buffer is empty");
+                }
+
+                if (index >= _size)
+                {
+                    throw new IndexOutOfRangeException($"Cannot access index {index}. Buffer size is {_size}");
+                }
+
+                int actualIndex = InternalIndex(index);
+                return _buffer[actualIndex];
+            }
+            set
+            {
+                if (IsEmpty)
+                {
+                    throw new IndexOutOfRangeException($"Cannot access index {index}. Buffer is empty");
+                }
+
+                if (index >= _size)
+                {
+                    throw new IndexOutOfRangeException($"Cannot access index {index}. Buffer size is {_size}");
+                }
+
+                int actualIndex = InternalIndex(index);
+                _buffer[actualIndex] = value;
+            }
+        }
+
+        public void PushBack(T item)
+        {
+            if (IsFull)
+            {
+                _buffer[_end] = item;
+                Increment(ref _end);
+                _start = _end;
+            }
+            else
+            {
+                _buffer[_end] = item;
+                Increment(ref _end);
+                ++_size;
+            }
+        }
+
+        public void PushFront(T item)
+        {
+            if (IsFull)
+            {
+                Decrement(ref _start);
+                _end = _start;
+                _buffer[_start] = item;
+            }
+            else
+            {
+                Decrement(ref _start);
+                _buffer[_start] = item;
+                ++_size;
+            }
+        }
+
+        public void PopBack()
+        {
+            ThrowIfEmpty("Cannot take elements from an empty buffer.");
+            Decrement(ref _end);
+            _buffer[_end] = default(T);
+            --_size;
+        }
+
+        public void PopFront()
+        {
+            ThrowIfEmpty("Cannot take elements from an empty buffer.");
+            _buffer[_start] = default(T);
+            Increment(ref _start);
+            --_size;
+        }
+
+        public void Clear()
+        {
+            // to clear we just reset everything.
+            _start = 0;
+            _end = 0;
+            _size = 0;
+            Array.Clear(_buffer, 0, _buffer.Length);
+        }
+
+        public T[] ToArray()
+        {
+            T[] newArray = new T[Size];
+            CopyTo(newArray);
+            return newArray;
+        }
+
+        public void CopyTo(Span<T> destination)
+        {
+            var span1 = ArrayOne();
+            span1.CopyTo(destination);
+            ArrayTwo().CopyTo(destination[span1.Length..]);
+        }
+
+        private void ThrowIfEmpty(string message = "Cannot access an empty buffer.")
+        {
+            if (IsEmpty)
+            {
+                throw new InvalidOperationException(message);
+            }
+        }
+
+        private void Increment(ref int index)
+        {
+            if (++index == Capacity)
+            {
+                index = 0;
+            }
+        }
+
+        private void Decrement(ref int index)
+        {
+            if (index == 0)
+            {
+                index = Capacity;
+            }
+
+            index--;
+        }
+
+        private int InternalIndex(int index)
+        {
+            return _start + (index < (Capacity - _start)
+                ? index
+                : index - Capacity);
+        }
+
+        internal Span<T> ArrayOne()
+        {
+            if (IsEmpty)
+            {
+                return new Span<T>(Array.Empty<T>());
+            }
+
+            if (_start < _end)
+            {
+                return new Span<T>(_buffer, _start, _end - _start);
+            }
+
+            return new Span<T>(_buffer, _start, _buffer.Length - _start);
+        }
+
+        internal Span<T> ArrayTwo()
+        {
+            if (IsEmpty)
+            {
+                return new Span<T>(Array.Empty<T>());
+            }
+
+            if (_start < _end)
+            {
+                return new Span<T>(_buffer, _end, 0);
+            }
+
+            return new Span<T>(_buffer, 0, _end);
+        }
+
+        public Enumerator GetEnumerator() => new Enumerator(this);
+        
+        IEnumerator<T> IEnumerable<T>.GetEnumerator() => GetEnumerator();
+        
+        IEnumerator IEnumerable.GetEnumerator() => GetEnumerator();
+    }
+}

src/DotRecast.Core/Buffers/RcCyclicBuffers.cs

@@ -0,0 +1,119 @@
+using System;
+using System.Numerics;
+using System.Runtime.InteropServices;
+
+namespace DotRecast.Core.Buffers
+{
+    public static class RcCyclicBuffers
+    {
+        public static long Sum(this ReadOnlySpan<long> source)
+        {
+            var buffer = source;
+            var result = 0L;
+            if (Vector.IsHardwareAccelerated)
+            {
+                var vectors = MemoryMarshal.Cast<long, Vector<long>>(buffer);
+                var vecSum = Vector<long>.Zero;
+                foreach (var vec in vectors)
+                    vecSum += vec;
+
+                result = Vector.Dot(vecSum, Vector<long>.One);
+                var remainder = source.Length % Vector<long>.Count;
+                buffer = buffer[^remainder..];
+            }
+            
+            foreach (var val in buffer)
+                result += val;
+            
+            return result;
+        }
+
+        public static double Average(this ReadOnlySpan<long> source)
+        {
+            if (0 >= source.Length)
+                return 0;
+
+            return source.Sum() / (double)source.Length;
+        }
+        
+        private static long Min(this ReadOnlySpan<long> source)
+        {
+            var buffer = source;
+            var result = long.MaxValue;
+            
+            if (Vector.IsHardwareAccelerated)
+            {
+                var vectors = MemoryMarshal.Cast<long, Vector<long>>(buffer);
+                var vecMin = Vector<long>.One * result;
+                
+                foreach (var vec in vectors)
+                    vecMin = Vector.Min(vecMin, vec);
+
+                for (int i = 0; i < Vector<long>.Count; i++)
+                    result = Math.Min(result, vecMin[i]);
+                
+                var remainder = source.Length % Vector<long>.Count;
+                buffer = buffer[^remainder..];
+            }
+            
+            foreach (var val in buffer)
+                result = Math.Min(result, val);
+
+            return result;
+        }
+        
+        private static long Max(this ReadOnlySpan<long> source)
+        {
+            var buffer = source;
+            var result = long.MinValue;
+            
+            if (Vector.IsHardwareAccelerated)
+            {
+                var vectors = MemoryMarshal.Cast<long, Vector<long>>(buffer);
+                var vecMax = Vector<long>.One * result;
+                
+                foreach (var vec in vectors)
+                    vecMax = Vector.Max(vecMax, vec);
+
+                for (int i = 0; i < Vector<long>.Count; i++)
+                    result = Math.Max(result, vecMax[i]);
+                
+                var remainder = source.Length % Vector<long>.Count;
+                buffer = buffer[^remainder..];
+            }
+            
+            foreach (var val in buffer)
+                result = Math.Max(result, val);
+
+            return result;
+        }
+
+        public static long Sum(this RcCyclicBuffer<long> source)
+        {
+            return Sum(source.ArrayOne()) + Sum(source.ArrayTwo());
+        }
+
+        public static double Average(this RcCyclicBuffer<long> source)
+        {
+            return Sum(source) / (double)source.Size;
+        }
+
+        public static long Min(this RcCyclicBuffer<long> source)
+        {
+            var firstHalf = source.ArrayOne();
+            var secondHalf = source.ArrayTwo();
+            var a = firstHalf.Length > 0 ? Min(firstHalf) : long.MaxValue;
+            var b = secondHalf.Length > 0 ? Min(secondHalf) : long.MaxValue;
+            return Math.Min(a, b);
+        }
+
+        public static long Max(this RcCyclicBuffer<long> source)
+        {
+            var firstHalf = source.ArrayOne();
+            var secondHalf = source.ArrayTwo();
+            var a = firstHalf.Length > 0 ? Max(firstHalf) : long.MinValue;
+            var b = secondHalf.Length > 0 ? Max(secondHalf) : long.MinValue;
+            return Math.Max(a, b);
+        }
+    }
+}

src/DotRecast.Core/Buffers/RcObjectPool.cs

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

src/DotRecast.Core/Buffers/RcRentedArray.cs

@@ -0,0 +1,62 @@
+using System;
+using System.Buffers;
+using System.Runtime.CompilerServices;
+
+namespace DotRecast.Core.Buffers
+{
+    public static class RcRentedArray
+    {
+        public static RcRentedArray<T> Rent<T>(int minimumLength)
+        {
+            var array = ArrayPool<T>.Shared.Rent(minimumLength);
+            return new RcRentedArray<T>(ArrayPool<T>.Shared, array, minimumLength);
+        }
+    }
+
+    public struct RcRentedArray<T> : IDisposable
+    {
+        private ArrayPool<T> _owner;
+        private T[] _array;
+
+        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;
+        }
+
+        public ref T this[int index]
+        {
+            [MethodImpl(MethodImplOptions.AggressiveInlining)]
+            get
+            {
+                RcThrowHelper.ThrowExceptionIfIndexOutOfRange(index, Length);
+                return ref _array[index];
+            }
+        }
+
+        public T[] AsArray()
+        {
+            return _array;
+        }
+
+        public Span<T> AsSpan()
+        {
+            return new Span<T>(_array, 0, Length);
+        }
+
+
+        public void Dispose()
+        {
+            if (null != _owner && null != _array)
+            {
+                _owner.Return(_array, true);
+                _owner = null;
+                _array = null;
+            }
+        }
+    }
+}

src/DotRecast.Core/Collections/CollectionExtensions.cs

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

src/DotRecast.Core/Collections/RcBinaryMinHeap.cs

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

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

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

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

@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Collections.Generic;
 
 namespace DotRecast.Core.Collections
@@ -38,7 +38,7 @@ namespace DotRecast.Core.Collections
         public void CopyTo(T[] array, int arrayIndex)
         {
             var self = this;
-            Array.Copy(self._array!, 0, array, arrayIndex, self.Length);
+            RcArrays.Copy(self._array!, 0, array, arrayIndex, self.Length);
         }
 
         public void Add(T item)

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
 {
@@ -41,7 +41,7 @@ namespace DotRecast.Core.Collections
             }
 
             var tmp = new T[items.Length];
-            Array.Copy(items, tmp, items.Length);
+            RcArrays.Copy(items, tmp, items.Length);
             return new RcImmutableArray<T>(tmp);
         }
     }

src/DotRecast.Core/Collections/RcSortedQueue.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -29,10 +29,10 @@ namespace DotRecast.Core.Collections
         private readonly List<T> _items;
         private readonly Comparison<T> _comparison;
 
-        public RcSortedQueue(Comparison<T> comparison)
+        public RcSortedQueue(Comparison<T> comp)
         {
             _items = new List<T>();
-            _comparison = (x, y) => comparison.Invoke(x, y) * -1; // reverse
+            _comparison = (x, y) => comp(x, y) * -1;
         }
 
         public int Count()
@@ -40,9 +40,15 @@ namespace DotRecast.Core.Collections
             return _items.Count;
         }
 
+        public bool IsEmpty()
+        {
+            return 0 == _items.Count;
+        }
+
         public void Clear()
         {
             _items.Clear();
+            _dirty = false;
         }
 
         private void Balance()
@@ -57,35 +63,39 @@ namespace DotRecast.Core.Collections
         public T Peek()
         {
             Balance();
-            return _items[_items.Count - 1];
+            return _items[^1];
         }
 
         public T Dequeue()
         {
             var node = Peek();
-            _items.Remove(node);
+            _items.RemoveAt(_items.Count - 1);
             return node;
         }
 
         public void Enqueue(T item)
         {
+            if (null == item)
+                return;
+
             _items.Add(item);
             _dirty = true;
         }
 
-        public void Remove(T item)
+        public bool Remove(T item)
         {
-            int idx = _items.FindLastIndex(x => item.Equals(x));
+            if (null == item)
+                return false;
+
+            //int idx = _items.BinarySearch(item, _comparer); // don't use this! Because reference types can be reused externally.
+            int idx = _items.LastIndexOf(item);
             if (0 > idx)
-                return;
+                return false;
 
             _items.RemoveAt(idx);
+            return true;
         }
 
-        public bool IsEmpty()
-        {
-            return 0 == _items.Count;
-        }
 
         public List<T> ToList()
         {

src/DotRecast.Core/Collections/RcStackArray128.cs

@@ -0,0 +1,421 @@
+using System;
+using System.Runtime.CompilerServices;
+
+namespace DotRecast.Core.Collections
+{
+    public struct RcStackArray128<T>
+    {
+        public static RcStackArray128<T> Empty => new RcStackArray128<T>();
+
+        private const int Size = 128;
+        public int Length => Size;
+        
+        public T V0;
+        public T V1;
+        public T V2;
+        public T V3;
+        public T V4;
+        public T V5;
+        public T V6;
+        public T V7;
+        public T V8;
+        public T V9;
+        public T V10;
+        public T V11;
+        public T V12;
+        public T V13;
+        public T V14;
+        public T V15;
+        public T V16;
+        public T V17;
+        public T V18;
+        public T V19;
+        public T V20;
+        public T V21;
+        public T V22;
+        public T V23;
+        public T V24;
+        public T V25;
+        public T V26;
+        public T V27;
+        public T V28;
+        public T V29;
+        public T V30;
+        public T V31;
+        public T V32;
+        public T V33;
+        public T V34;
+        public T V35;
+        public T V36;
+        public T V37;
+        public T V38;
+        public T V39;
+        public T V40;
+        public T V41;
+        public T V42;
+        public T V43;
+        public T V44;
+        public T V45;
+        public T V46;
+        public T V47;
+        public T V48;
+        public T V49;
+        public T V50;
+        public T V51;
+        public T V52;
+        public T V53;
+        public T V54;
+        public T V55;
+        public T V56;
+        public T V57;
+        public T V58;
+        public T V59;
+        public T V60;
+        public T V61;
+        public T V62;
+        public T V63;
+        public T V64;
+        public T V65;
+        public T V66;
+        public T V67;
+        public T V68;
+        public T V69;
+        public T V70;
+        public T V71;
+        public T V72;
+        public T V73;
+        public T V74;
+        public T V75;
+        public T V76;
+        public T V77;
+        public T V78;
+        public T V79;
+        public T V80;
+        public T V81;
+        public T V82;
+        public T V83;
+        public T V84;
+        public T V85;
+        public T V86;
+        public T V87;
+        public T V88;
+        public T V89;
+        public T V90;
+        public T V91;
+        public T V92;
+        public T V93;
+        public T V94;
+        public T V95;
+        public T V96;
+        public T V97;
+        public T V98;
+        public T V99;
+        public T V100;
+        public T V101;
+        public T V102;
+        public T V103;
+        public T V104;
+        public T V105;
+        public T V106;
+        public T V107;
+        public T V108;
+        public T V109;
+        public T V110;
+        public T V111;
+        public T V112;
+        public T V113;
+        public T V114;
+        public T V115;
+        public T V116;
+        public T V117;
+        public T V118;
+        public T V119;
+        public T V120;
+        public T V121;
+        public T V122;
+        public T V123;
+        public T V124;
+        public T V125;
+        public T V126;
+        public T V127;
+
+        public T this[int index]
+        {
+            [MethodImpl(MethodImplOptions.AggressiveInlining)]
+            get
+            {
+                RcThrowHelper.ThrowExceptionIfIndexOutOfRange(index, Length);
+
+                return index switch
+                {
+                    0 => V0,
+                    1 => V1,
+                    2 => V2,
+                    3 => V3,
+                    4 => V4,
+                    5 => V5,
+                    6 => V6,
+                    7 => V7,
+                    8 => V8,
+                    9 => V9,
+                    10 => V10,
+                    11 => V11,
+                    12 => V12,
+                    13 => V13,
+                    14 => V14,
+                    15 => V15,
+                    16 => V16,
+                    17 => V17,
+                    18 => V18,
+                    19 => V19,
+                    20 => V20,
+                    21 => V21,
+                    22 => V22,
+                    23 => V23,
+                    24 => V24,
+                    25 => V25,
+                    26 => V26,
+                    27 => V27,
+                    28 => V28,
+                    29 => V29,
+                    30 => V30,
+                    31 => V31,
+                    32 => V32,
+                    33 => V33,
+                    34 => V34,
+                    35 => V35,
+                    36 => V36,
+                    37 => V37,
+                    38 => V38,
+                    39 => V39,
+                    40 => V40,
+                    41 => V41,
+                    42 => V42,
+                    43 => V43,
+                    44 => V44,
+                    45 => V45,
+                    46 => V46,
+                    47 => V47,
+                    48 => V48,
+                    49 => V49,
+                    50 => V50,
+                    51 => V51,
+                    52 => V52,
+                    53 => V53,
+                    54 => V54,
+                    55 => V55,
+                    56 => V56,
+                    57 => V57,
+                    58 => V58,
+                    59 => V59,
+                    60 => V60,
+                    61 => V61,
+                    62 => V62,
+                    63 => V63,
+                    64 => V64,
+                    65 => V65,
+                    66 => V66,
+                    67 => V67,
+                    68 => V68,
+                    69 => V69,
+                    70 => V70,
+                    71 => V71,
+                    72 => V72,
+                    73 => V73,
+                    74 => V74,
+                    75 => V75,
+                    76 => V76,
+                    77 => V77,
+                    78 => V78,
+                    79 => V79,
+                    80 => V80,
+                    81 => V81,
+                    82 => V82,
+                    83 => V83,
+                    84 => V84,
+                    85 => V85,
+                    86 => V86,
+                    87 => V87,
+                    88 => V88,
+                    89 => V89,
+                    90 => V90,
+                    91 => V91,
+                    92 => V92,
+                    93 => V93,
+                    94 => V94,
+                    95 => V95,
+                    96 => V96,
+                    97 => V97,
+                    98 => V98,
+                    99 => V99,
+                    100 => V100,
+                    101 => V101,
+                    102 => V102,
+                    103 => V103,
+                    104 => V104,
+                    105 => V105,
+                    106 => V106,
+                    107 => V107,
+                    108 => V108,
+                    109 => V109,
+                    110 => V110,
+                    111 => V111,
+                    112 => V112,
+                    113 => V113,
+                    114 => V114,
+                    115 => V115,
+                    116 => V116,
+                    117 => V117,
+                    118 => V118,
+                    119 => V119,
+                    120 => V120,
+                    121 => V121,
+                    122 => V122,
+                    123 => V123,
+                    124 => V124,
+                    125 => V125,
+                    126 => V126,
+                    127 => V127,
+                    _ => throw new ArgumentOutOfRangeException(nameof(index), index, null)
+                };
+            }
+
+            set
+            {
+                RcThrowHelper.ThrowExceptionIfIndexOutOfRange(index, Length);
+
+                switch (index)
+                {
+                    case 0: V0 = value; break;
+                    case 1: V1 = value; break;
+                    case 2: V2 = value; break;
+                    case 3: V3 = value; break;
+                    case 4: V4 = value; break;
+                    case 5: V5 = value; break;
+                    case 6: V6 = value; break;
+                    case 7: V7 = value; break;
+                    case 8: V8 = value; break;
+                    case 9: V9 = value; break;
+                    case 10: V10 = value; break;
+                    case 11: V11 = value; break;
+                    case 12: V12 = value; break;
+                    case 13: V13 = value; break;
+                    case 14: V14 = value; break;
+                    case 15: V15 = value; break;
+                    case 16: V16 = value; break;
+                    case 17: V17 = value; break;
+                    case 18: V18 = value; break;
+                    case 19: V19 = value; break;
+                    case 20: V20 = value; break;
+                    case 21: V21 = value; break;
+                    case 22: V22 = value; break;
+                    case 23: V23 = value; break;
+                    case 24: V24 = value; break;
+                    case 25: V25 = value; break;
+                    case 26: V26 = value; break;
+                    case 27: V27 = value; break;
+                    case 28: V28 = value; break;
+                    case 29: V29 = value; break;
+                    case 30: V30 = value; break;
+                    case 31: V31 = value; break;
+                    case 32 : V32 = value; break;
+                    case 33 : V33 = value; break;
+                    case 34 : V34 = value; break;
+                    case 35 : V35 = value; break;
+                    case 36 : V36 = value; break;
+                    case 37 : V37 = value; break;
+                    case 38 : V38 = value; break;
+                    case 39 : V39 = value; break;
+                    case 40 : V40 = value; break;
+                    case 41 : V41 = value; break;
+                    case 42 : V42 = value; break;
+                    case 43 : V43 = value; break;
+                    case 44 : V44 = value; break;
+                    case 45 : V45 = value; break;
+                    case 46 : V46 = value; break;
+                    case 47 : V47 = value; break;
+                    case 48 : V48 = value; break;
+                    case 49 : V49 = value; break;
+                    case 50 : V50 = value; break;
+                    case 51 : V51 = value; break;
+                    case 52 : V52 = value; break;
+                    case 53 : V53 = value; break;
+                    case 54 : V54 = value; break;
+                    case 55 : V55 = value; break;
+                    case 56 : V56 = value; break;
+                    case 57 : V57 = value; break;
+                    case 58 : V58 = value; break;
+                    case 59 : V59 = value; break;
+                    case 60 : V60 = value; break;
+                    case 61 : V61 = value; break;
+                    case 62 : V62 = value; break;
+                    case 63 : V63 = value; break;
+                    case 64 : V64 = value; break;
+                    case 65 : V65 = value; break;
+                    case 66 : V66 = value; break;
+                    case 67 : V67 = value; break;
+                    case 68 : V68 = value; break;
+                    case 69 : V69 = value; break;
+                    case 70 : V70 = value; break;
+                    case 71 : V71 = value; break;
+                    case 72 : V72 = value; break;
+                    case 73 : V73 = value; break;
+                    case 74 : V74 = value; break;
+                    case 75 : V75 = value; break;
+                    case 76 : V76 = value; break;
+                    case 77 : V77 = value; break;
+                    case 78 : V78 = value; break;
+                    case 79 : V79 = value; break;
+                    case 80 : V80 = value; break;
+                    case 81 : V81 = value; break;
+                    case 82 : V82 = value; break;
+                    case 83 : V83 = value; break;
+                    case 84 : V84 = value; break;
+                    case 85 : V85 = value; break;
+                    case 86 : V86 = value; break;
+                    case 87 : V87 = value; break;
+                    case 88 : V88 = value; break;
+                    case 89 : V89 = value; break;
+                    case 90 : V90 = value; break;
+                    case 91 : V91 = value; break;
+                    case 92 : V92 = value; break;
+                    case 93 : V93 = value; break;
+                    case 94 : V94 = value; break;
+                    case 95 : V95 = value; break;
+                    case 96 : V96 = value; break;
+                    case 97 : V97 = value; break;
+                    case 98 : V98 = value; break;
+                    case 99 : V99 = value; break;
+                    case 100 : V100 = value; break;
+                    case 101 : V101 = value; break;
+                    case 102 : V102 = value; break;
+                    case 103 : V103 = value; break;
+                    case 104 : V104 = value; break;
+                    case 105 : V105 = value; break;
+                    case 106 : V106 = value; break;
+                    case 107 : V107 = value; break;
+                    case 108 : V108 = value; break;
+                    case 109 : V109 = value; break;
+                    case 110 : V110 = value; break;
+                    case 111 : V111 = value; break;
+                    case 112 : V112 = value; break;
+                    case 113 : V113 = value; break;
+                    case 114 : V114 = value; break;
+                    case 115 : V115 = value; break;
+                    case 116 : V116 = value; break;
+                    case 117 : V117 = value; break;
+                    case 118 : V118 = value; break;
+                    case 119 : V119 = value; break;
+                    case 120 : V120 = value; break;
+                    case 121 : V121 = value; break;
+                    case 122 : V122 = value; break;
+                    case 123 : V123 = value; break;
+                    case 124 : V124 = value; break;
+                    case 125 : V125 = value; break;
+                    case 126 : V126 = value; break;
+                    case 127 : V127 = value; break;
+                }
+            }
+        }
+    }
+}

src/DotRecast.Core/Collections/RcStackArray16.cs

@@ -0,0 +1,85 @@
+using System;
+using System.Runtime.CompilerServices;
+
+namespace DotRecast.Core.Collections
+{
+    public struct RcStackArray16<T>
+    {
+        public static RcStackArray16<T> Empty => new RcStackArray16<T>();
+
+        private const int Size = 16;
+        public int Length => Size;
+        
+        public T V0;
+        public T V1;
+        public T V2;
+        public T V3;
+        public T V4;
+        public T V5;
+        public T V6;
+        public T V7;
+        public T V8;
+        public T V9;
+        public T V10;
+        public T V11;
+        public T V12;
+        public T V13;
+        public T V14;
+        public T V15;
+        
+        public T this[int index]
+        {
+            [MethodImpl(MethodImplOptions.AggressiveInlining)]
+            get
+            {
+                RcThrowHelper.ThrowExceptionIfIndexOutOfRange(index, Length);
+
+                return index switch
+                {
+                    0 => V0,
+                    1 => V1,
+                    2 => V2,
+                    3 => V3,
+                    4 => V4,
+                    5 => V5,
+                    6 => V6,
+                    7 => V7,
+                    8 => V8,
+                    9 => V9,
+                    10 => V10,
+                    11 => V11,
+                    12 => V12,
+                    13 => V13,
+                    14 => V14,
+                    15 => V15,
+                    _ => throw new IndexOutOfRangeException($"{index}")
+                };
+            }
+
+            set
+            {
+                RcThrowHelper.ThrowExceptionIfIndexOutOfRange(index, Length);
+
+                switch (index)
+                {
+                    case 0: V0 = value; break;
+                    case 1: V1 = value; break;
+                    case 2: V2 = value; break;
+                    case 3: V3 = value; break;
+                    case 4: V4 = value; break;
+                    case 5: V5 = value; break;
+                    case 6: V6 = value; break;
+                    case 7: V7 = value; break;
+                    case 8: V8 = value; break;
+                    case 9: V9 = value; break;
+                    case 10: V10 = value; break;
+                    case 11: V11 = value; break;
+                    case 12: V12 = value; break;
+                    case 13: V13 = value; break;
+                    case 14: V14 = value; break;
+                    case 15: V15 = value; break;
+                }
+            }
+        }
+    }
+}

src/DotRecast.Core/Collections/RcStackArray2.cs

@@ -0,0 +1,43 @@
+using System;
+using System.Runtime.CompilerServices;
+
+namespace DotRecast.Core.Collections
+{
+    public struct RcStackArray2<T>
+    {
+        public static RcStackArray2<T> Empty => new RcStackArray2<T>();
+
+        private const int Size = 2;
+        public int Length => Size;
+
+        public T V0;
+        public T V1;
+
+        public T this[int index]
+        {
+            [MethodImpl(MethodImplOptions.AggressiveInlining)]
+            get
+            {
+                RcThrowHelper.ThrowExceptionIfIndexOutOfRange(index, Length);
+
+                return index switch
+                {
+                    0 => V0,
+                    1 => V1,
+                    _ => throw new IndexOutOfRangeException($"{index}")
+                };
+            }
+
+            set
+            {
+                RcThrowHelper.ThrowExceptionIfIndexOutOfRange(index, Length);
+
+                switch (index)
+                {
+                    case 0: V0 = value; break;
+                    case 1: V1 = value; break;
+                }
+            }
+        }
+    }
+}

src/DotRecast.Core/Collections/RcStackArray256.cs

@@ -0,0 +1,805 @@
+using System;
+using System.Runtime.CompilerServices;
+
+namespace DotRecast.Core.Collections
+{
+    public struct RcStackArray256<T>
+    {
+        public static RcStackArray256<T> Empty => new RcStackArray256<T>();
+
+        private const int Size = 256;
+        public int Length => Size;
+        
+        public T V0;
+        public T V1;
+        public T V2;
+        public T V3;
+        public T V4;
+        public T V5;
+        public T V6;
+        public T V7;
+        public T V8;
+        public T V9;
+        public T V10;
+        public T V11;
+        public T V12;
+        public T V13;
+        public T V14;
+        public T V15;
+        public T V16;
+        public T V17;
+        public T V18;
+        public T V19;
+        public T V20;
+        public T V21;
+        public T V22;
+        public T V23;
+        public T V24;
+        public T V25;
+        public T V26;
+        public T V27;
+        public T V28;
+        public T V29;
+        public T V30;
+        public T V31;
+        public T V32;
+        public T V33;
+        public T V34;
+        public T V35;
+        public T V36;
+        public T V37;
+        public T V38;
+        public T V39;
+        public T V40;
+        public T V41;
+        public T V42;
+        public T V43;
+        public T V44;
+        public T V45;
+        public T V46;
+        public T V47;
+        public T V48;
+        public T V49;
+        public T V50;
+        public T V51;
+        public T V52;
+        public T V53;
+        public T V54;
+        public T V55;
+        public T V56;
+        public T V57;
+        public T V58;
+        public T V59;
+        public T V60;
+        public T V61;
+        public T V62;
+        public T V63;
+        public T V64;
+        public T V65;
+        public T V66;
+        public T V67;
+        public T V68;
+        public T V69;
+        public T V70;
+        public T V71;
+        public T V72;
+        public T V73;
+        public T V74;
+        public T V75;
+        public T V76;
+        public T V77;
+        public T V78;
+        public T V79;
+        public T V80;
+        public T V81;
+        public T V82;
+        public T V83;
+        public T V84;
+        public T V85;
+        public T V86;
+        public T V87;
+        public T V88;
+        public T V89;
+        public T V90;
+        public T V91;
+        public T V92;
+        public T V93;
+        public T V94;
+        public T V95;
+        public T V96;
+        public T V97;
+        public T V98;
+        public T V99;
+        public T V100;
+        public T V101;
+        public T V102;
+        public T V103;
+        public T V104;
+        public T V105;
+        public T V106;
+        public T V107;
+        public T V108;
+        public T V109;
+        public T V110;
+        public T V111;
+        public T V112;
+        public T V113;
+        public T V114;
+        public T V115;
+        public T V116;
+        public T V117;
+        public T V118;
+        public T V119;
+        public T V120;
+        public T V121;
+        public T V122;
+        public T V123;
+        public T V124;
+        public T V125;
+        public T V126;
+        public T V127;
+        public T V128;
+        public T V129;
+        public T V130;
+        public T V131;
+        public T V132;
+        public T V133;
+        public T V134;
+        public T V135;
+        public T V136;
+        public T V137;
+        public T V138;
+        public T V139;
+        public T V140;
+        public T V141;
+        public T V142;
+        public T V143;
+        public T V144;
+        public T V145;
+        public T V146;
+        public T V147;
+        public T V148;
+        public T V149;
+        public T V150;
+        public T V151;
+        public T V152;
+        public T V153;
+        public T V154;
+        public T V155;
+        public T V156;
+        public T V157;
+        public T V158;
+        public T V159;
+        public T V160;
+        public T V161;
+        public T V162;
+        public T V163;
+        public T V164;
+        public T V165;
+        public T V166;
+        public T V167;
+        public T V168;
+        public T V169;
+        public T V170;
+        public T V171;
+        public T V172;
+        public T V173;
+        public T V174;
+        public T V175;
+        public T V176;
+        public T V177;
+        public T V178;
+        public T V179;
+        public T V180;
+        public T V181;
+        public T V182;
+        public T V183;
+        public T V184;
+        public T V185;
+        public T V186;
+        public T V187;
+        public T V188;
+        public T V189;
+        public T V190;
+        public T V191;
+        public T V192;
+        public T V193;
+        public T V194;
+        public T V195;
+        public T V196;
+        public T V197;
+        public T V198;
+        public T V199;
+        public T V200;
+        public T V201;
+        public T V202;
+        public T V203;
+        public T V204;
+        public T V205;
+        public T V206;
+        public T V207;
+        public T V208;
+        public T V209;
+        public T V210;
+        public T V211;
+        public T V212;
+        public T V213;
+        public T V214;
+        public T V215;
+        public T V216;
+        public T V217;
+        public T V218;
+        public T V219;
+        public T V220;
+        public T V221;
+        public T V222;
+        public T V223;
+        public T V224;
+        public T V225;
+        public T V226;
+        public T V227;
+        public T V228;
+        public T V229;
+        public T V230;
+        public T V231;
+        public T V232;
+        public T V233;
+        public T V234;
+        public T V235;
+        public T V236;
+        public T V237;
+        public T V238;
+        public T V239;
+        public T V240;
+        public T V241;
+        public T V242;
+        public T V243;
+        public T V244;
+        public T V245;
+        public T V246;
+        public T V247;
+        public T V248;
+        public T V249;
+        public T V250;
+        public T V251;
+        public T V252;
+        public T V253;
+        public T V254;
+        public T V255;
+
+        public T this[int index]
+        {
+            [MethodImpl(MethodImplOptions.AggressiveInlining)]
+            get
+            {
+                RcThrowHelper.ThrowExceptionIfIndexOutOfRange(index, Length);
+
+                return index switch
+                {
+                    0 => V0,
+                    1 => V1,
+                    2 => V2,
+                    3 => V3,
+                    4 => V4,
+                    5 => V5,
+                    6 => V6,
+                    7 => V7,
+                    8 => V8,
+                    9 => V9,
+                    10 => V10,
+                    11 => V11,
+                    12 => V12,
+                    13 => V13,
+                    14 => V14,
+                    15 => V15,
+                    16 => V16,
+                    17 => V17,
+                    18 => V18,
+                    19 => V19,
+                    20 => V20,
+                    21 => V21,
+                    22 => V22,
+                    23 => V23,
+                    24 => V24,
+                    25 => V25,
+                    26 => V26,
+                    27 => V27,
+                    28 => V28,
+                    29 => V29,
+                    30 => V30,
+                    31 => V31,
+                    32 => V32,
+                    33 => V33,
+                    34 => V34,
+                    35 => V35,
+                    36 => V36,
+                    37 => V37,
+                    38 => V38,
+                    39 => V39,
+                    40 => V40,
+                    41 => V41,
+                    42 => V42,
+                    43 => V43,
+                    44 => V44,
+                    45 => V45,
+                    46 => V46,
+                    47 => V47,
+                    48 => V48,
+                    49 => V49,
+                    50 => V50,
+                    51 => V51,
+                    52 => V52,
+                    53 => V53,
+                    54 => V54,
+                    55 => V55,
+                    56 => V56,
+                    57 => V57,
+                    58 => V58,
+                    59 => V59,
+                    60 => V60,
+                    61 => V61,
+                    62 => V62,
+                    63 => V63,
+                    64 => V64,
+                    65 => V65,
+                    66 => V66,
+                    67 => V67,
+                    68 => V68,
+                    69 => V69,
+                    70 => V70,
+                    71 => V71,
+                    72 => V72,
+                    73 => V73,
+                    74 => V74,
+                    75 => V75,
+                    76 => V76,
+                    77 => V77,
+                    78 => V78,
+                    79 => V79,
+                    80 => V80,
+                    81 => V81,
+                    82 => V82,
+                    83 => V83,
+                    84 => V84,
+                    85 => V85,
+                    86 => V86,
+                    87 => V87,
+                    88 => V88,
+                    89 => V89,
+                    90 => V90,
+                    91 => V91,
+                    92 => V92,
+                    93 => V93,
+                    94 => V94,
+                    95 => V95,
+                    96 => V96,
+                    97 => V97,
+                    98 => V98,
+                    99 => V99,
+                    100 => V100,
+                    101 => V101,
+                    102 => V102,
+                    103 => V103,
+                    104 => V104,
+                    105 => V105,
+                    106 => V106,
+                    107 => V107,
+                    108 => V108,
+                    109 => V109,
+                    110 => V110,
+                    111 => V111,
+                    112 => V112,
+                    113 => V113,
+                    114 => V114,
+                    115 => V115,
+                    116 => V116,
+                    117 => V117,
+                    118 => V118,
+                    119 => V119,
+                    120 => V120,
+                    121 => V121,
+                    122 => V122,
+                    123 => V123,
+                    124 => V124,
+                    125 => V125,
+                    126 => V126,
+                    127 => V127,
+                    128 => V128,
+                    129 => V129,
+                    130 => V130,
+                    131 => V131,
+                    132 => V132,
+                    133 => V133,
+                    134 => V134,
+                    135 => V135,
+                    136 => V136,
+                    137 => V137,
+                    138 => V138,
+                    139 => V139,
+                    140 => V140,
+                    141 => V141,
+                    142 => V142,
+                    143 => V143,
+                    144 => V144,
+                    145 => V145,
+                    146 => V146,
+                    147 => V147,
+                    148 => V148,
+                    149 => V149,
+                    150 => V150,
+                    151 => V151,
+                    152 => V152,
+                    153 => V153,
+                    154 => V154,
+                    155 => V155,
+                    156 => V156,
+                    157 => V157,
+                    158 => V158,
+                    159 => V159,
+                    160 => V160,
+                    161 => V161,
+                    162 => V162,
+                    163 => V163,
+                    164 => V164,
+                    165 => V165,
+                    166 => V166,
+                    167 => V167,
+                    168 => V168,
+                    169 => V169,
+                    170 => V170,
+                    171 => V171,
+                    172 => V172,
+                    173 => V173,
+                    174 => V174,
+                    175 => V175,
+                    176 => V176,
+                    177 => V177,
+                    178 => V178,
+                    179 => V179,
+                    180 => V180,
+                    181 => V181,
+                    182 => V182,
+                    183 => V183,
+                    184 => V184,
+                    185 => V185,
+                    186 => V186,
+                    187 => V187,
+                    188 => V188,
+                    189 => V189,
+                    190 => V190,
+                    191 => V191,
+                    192 => V192,
+                    193 => V193,
+                    194 => V194,
+                    195 => V195,
+                    196 => V196,
+                    197 => V197,
+                    198 => V198,
+                    199 => V199,
+                    200 => V200,
+                    201 => V201,
+                    202 => V202,
+                    203 => V203,
+                    204 => V204,
+                    205 => V205,
+                    206 => V206,
+                    207 => V207,
+                    208 => V208,
+                    209 => V209,
+                    210 => V210,
+                    211 => V211,
+                    212 => V212,
+                    213 => V213,
+                    214 => V214,
+                    215 => V215,
+                    216 => V216,
+                    217 => V217,
+                    218 => V218,
+                    219 => V219,
+                    220 => V220,
+                    221 => V221,
+                    222 => V222,
+                    223 => V223,
+                    224 => V224,
+                    225 => V225,
+                    226 => V226,
+                    227 => V227,
+                    228 => V228,
+                    229 => V229,
+                    230 => V230,
+                    231 => V231,
+                    232 => V232,
+                    233 => V233,
+                    234 => V234,
+                    235 => V235,
+                    236 => V236,
+                    237 => V237,
+                    238 => V238,
+                    239 => V239,
+                    240 => V240,
+                    241 => V241,
+                    242 => V242,
+                    243 => V243,
+                    244 => V244,
+                    245 => V245,
+                    246 => V246,
+                    247 => V247,
+                    248 => V248,
+                    249 => V249,
+                    250 => V250,
+                    251 => V251,
+                    252 => V252,
+                    253 => V253,
+                    254 => V254,
+                    255 => V255,
+                    _ => throw new ArgumentOutOfRangeException(nameof(index), index, null)
+                };
+            }
+
+            set
+            {
+                RcThrowHelper.ThrowExceptionIfIndexOutOfRange(index, Length);
+
+                switch (index)
+                {
+                    case 0: V0 = value; break;
+                    case 1: V1 = value; break;
+                    case 2: V2 = value; break;
+                    case 3: V3 = value; break;
+                    case 4: V4 = value; break;
+                    case 5: V5 = value; break;
+                    case 6: V6 = value; break;
+                    case 7: V7 = value; break;
+                    case 8: V8 = value; break;
+                    case 9: V9 = value; break;
+                    case 10: V10 = value; break;
+                    case 11: V11 = value; break;
+                    case 12: V12 = value; break;
+                    case 13: V13 = value; break;
+                    case 14: V14 = value; break;
+                    case 15: V15 = value; break;
+                    case 16: V16 = value; break;
+                    case 17: V17 = value; break;
+                    case 18: V18 = value; break;
+                    case 19: V19 = value; break;
+                    case 20: V20 = value; break;
+                    case 21: V21 = value; break;
+                    case 22: V22 = value; break;
+                    case 23: V23 = value; break;
+                    case 24: V24 = value; break;
+                    case 25: V25 = value; break;
+                    case 26: V26 = value; break;
+                    case 27: V27 = value; break;
+                    case 28: V28 = value; break;
+                    case 29: V29 = value; break;
+                    case 30: V30 = value; break;
+                    case 31: V31 = value; break;
+                    case 32: V32 = value; break;
+                    case 33: V33 = value; break;
+                    case 34: V34 = value; break;
+                    case 35: V35 = value; break;
+                    case 36: V36 = value; break;
+                    case 37: V37 = value; break;
+                    case 38: V38 = value; break;
+                    case 39: V39 = value; break;
+                    case 40: V40 = value; break;
+                    case 41: V41 = value; break;
+                    case 42: V42 = value; break;
+                    case 43: V43 = value; break;
+                    case 44: V44 = value; break;
+                    case 45: V45 = value; break;
+                    case 46: V46 = value; break;
+                    case 47: V47 = value; break;
+                    case 48: V48 = value; break;
+                    case 49: V49 = value; break;
+                    case 50: V50 = value; break;
+                    case 51: V51 = value; break;
+                    case 52: V52 = value; break;
+                    case 53: V53 = value; break;
+                    case 54: V54 = value; break;
+                    case 55: V55 = value; break;
+                    case 56: V56 = value; break;
+                    case 57: V57 = value; break;
+                    case 58: V58 = value; break;
+                    case 59: V59 = value; break;
+                    case 60: V60 = value; break;
+                    case 61: V61 = value; break;
+                    case 62: V62 = value; break;
+                    case 63: V63 = value; break;
+                    case 64: V64 = value; break;
+                    case 65: V65 = value; break;
+                    case 66: V66 = value; break;
+                    case 67: V67 = value; break;
+                    case 68: V68 = value; break;
+                    case 69: V69 = value; break;
+                    case 70: V70 = value; break;
+                    case 71: V71 = value; break;
+                    case 72: V72 = value; break;
+                    case 73: V73 = value; break;
+                    case 74: V74 = value; break;
+                    case 75: V75 = value; break;
+                    case 76: V76 = value; break;
+                    case 77: V77 = value; break;
+                    case 78: V78 = value; break;
+                    case 79: V79 = value; break;
+                    case 80: V80 = value; break;
+                    case 81: V81 = value; break;
+                    case 82: V82 = value; break;
+                    case 83: V83 = value; break;
+                    case 84: V84 = value; break;
+                    case 85: V85 = value; break;
+                    case 86: V86 = value; break;
+                    case 87: V87 = value; break;
+                    case 88: V88 = value; break;
+                    case 89: V89 = value; break;
+                    case 90: V90 = value; break;
+                    case 91: V91 = value; break;
+                    case 92: V92 = value; break;
+                    case 93: V93 = value; break;
+                    case 94: V94 = value; break;
+                    case 95: V95 = value; break;
+                    case 96: V96 = value; break;
+                    case 97: V97 = value; break;
+                    case 98: V98 = value; break;
+                    case 99: V99 = value; break;
+                    case 100: V100 = value; break;
+                    case 101: V101 = value; break;
+                    case 102: V102 = value; break;
+                    case 103: V103 = value; break;
+                    case 104: V104 = value; break;
+                    case 105: V105 = value; break;
+                    case 106: V106 = value; break;
+                    case 107: V107 = value; break;
+                    case 108: V108 = value; break;
+                    case 109: V109 = value; break;
+                    case 110: V110 = value; break;
+                    case 111: V111 = value; break;
+                    case 112: V112 = value; break;
+                    case 113: V113 = value; break;
+                    case 114: V114 = value; break;
+                    case 115: V115 = value; break;
+                    case 116: V116 = value; break;
+                    case 117: V117 = value; break;
+                    case 118: V118 = value; break;
+                    case 119: V119 = value; break;
+                    case 120: V120 = value; break;
+                    case 121: V121 = value; break;
+                    case 122: V122 = value; break;
+                    case 123: V123 = value; break;
+                    case 124: V124 = value; break;
+                    case 125: V125 = value; break;
+                    case 126: V126 = value; break;
+                    case 127: V127 = value; break;
+                    case 128: V128 = value; break;
+                    case 129: V129 = value; break;
+                    case 130: V130 = value; break;
+                    case 131: V131 = value; break;
+                    case 132: V132 = value; break;
+                    case 133: V133 = value; break;
+                    case 134: V134 = value; break;
+                    case 135: V135 = value; break;
+                    case 136: V136 = value; break;
+                    case 137: V137 = value; break;
+                    case 138: V138 = value; break;
+                    case 139: V139 = value; break;
+                    case 140: V140 = value; break;
+                    case 141: V141 = value; break;
+                    case 142: V142 = value; break;
+                    case 143: V143 = value; break;
+                    case 144: V144 = value; break;
+                    case 145: V145 = value; break;
+                    case 146: V146 = value; break;
+                    case 147: V147 = value; break;
+                    case 148: V148 = value; break;
+                    case 149: V149 = value; break;
+                    case 150: V150 = value; break;
+                    case 151: V151 = value; break;
+                    case 152: V152 = value; break;
+                    case 153: V153 = value; break;
+                    case 154: V154 = value; break;
+                    case 155: V155 = value; break;
+                    case 156: V156 = value; break;
+                    case 157: V157 = value; break;
+                    case 158: V158 = value; break;
+                    case 159: V159 = value; break;
+                    case 160: V160 = value; break;
+                    case 161: V161 = value; break;
+                    case 162: V162 = value; break;
+                    case 163: V163 = value; break;
+                    case 164: V164 = value; break;
+                    case 165: V165 = value; break;
+                    case 166: V166 = value; break;
+                    case 167: V167 = value; break;
+                    case 168: V168 = value; break;
+                    case 169: V169 = value; break;
+                    case 170: V170 = value; break;
+                    case 171: V171 = value; break;
+                    case 172: V172 = value; break;
+                    case 173: V173 = value; break;
+                    case 174: V174 = value; break;
+                    case 175: V175 = value; break;
+                    case 176: V176 = value; break;
+                    case 177: V177 = value; break;
+                    case 178: V178 = value; break;
+                    case 179: V179 = value; break;
+                    case 180: V180 = value; break;
+                    case 181: V181 = value; break;
+                    case 182: V182 = value; break;
+                    case 183: V183 = value; break;
+                    case 184: V184 = value; break;
+                    case 185: V185 = value; break;
+                    case 186: V186 = value; break;
+                    case 187: V187 = value; break;
+                    case 188: V188 = value; break;
+                    case 189: V189 = value; break;
+                    case 190: V190 = value; break;
+                    case 191: V191 = value; break;
+                    case 192: V192 = value; break;
+                    case 193: V193 = value; break;
+                    case 194: V194 = value; break;
+                    case 195: V195 = value; break;
+                    case 196: V196 = value; break;
+                    case 197: V197 = value; break;
+                    case 198: V198 = value; break;
+                    case 199: V199 = value; break;
+                    case 200: V200 = value; break;
+                    case 201: V201 = value; break;
+                    case 202: V202 = value; break;
+                    case 203: V203 = value; break;
+                    case 204: V204 = value; break;
+                    case 205: V205 = value; break;
+                    case 206: V206 = value; break;
+                    case 207: V207 = value; break;
+                    case 208: V208 = value; break;
+                    case 209: V209 = value; break;
+                    case 210: V210 = value; break;
+                    case 211: V211 = value; break;
+                    case 212: V212 = value; break;
+                    case 213: V213 = value; break;
+                    case 214: V214 = value; break;
+                    case 215: V215 = value; break;
+                    case 216: V216 = value; break;
+                    case 217: V217 = value; break;
+                    case 218: V218 = value; break;
+                    case 219: V219 = value; break;
+                    case 220: V220 = value; break;
+                    case 221: V221 = value; break;
+                    case 222: V222 = value; break;
+                    case 223: V223 = value; break;
+                    case 224: V224 = value; break;
+                    case 225: V225 = value; break;
+                    case 226: V226 = value; break;
+                    case 227: V227 = value; break;
+                    case 228: V228 = value; break;
+                    case 229: V229 = value; break;
+                    case 230: V230 = value; break;
+                    case 231: V231 = value; break;
+                    case 232: V232 = value; break;
+                    case 233: V233 = value; break;
+                    case 234: V234 = value; break;
+                    case 235: V235 = value; break;
+                    case 236: V236 = value; break;
+                    case 237: V237 = value; break;
+                    case 238: V238 = value; break;
+                    case 239: V239 = value; break;
+                    case 240: V240 = value; break;
+                    case 241: V241 = value; break;
+                    case 242: V242 = value; break;
+                    case 243: V243 = value; break;
+                    case 244: V244 = value; break;
+                    case 245: V245 = value; break;
+                    case 246: V246 = value; break;
+                    case 247: V247 = value; break;
+                    case 248: V248 = value; break;
+                    case 249: V249 = value; break;
+                    case 250: V250 = value; break;
+                    case 251: V251 = value; break;
+                    case 252: V252 = value; break;
+                    case 253: V253 = value; break;
+                    case 254: V254 = value; break;
+                    case 255: V255 = value; break;
+                }
+            }
+        }
+    }
+}

src/DotRecast.Core/Collections/RcStackArray32.cs

@@ -0,0 +1,133 @@
+using System;
+using System.Runtime.CompilerServices;
+
+namespace DotRecast.Core.Collections
+{
+    public struct RcStackArray32<T>
+    {
+        public static RcStackArray32<T> Empty => new RcStackArray32<T>();
+
+        private const int Size = 32;
+        public int Length => Size;
+        
+        public T V0;
+        public T V1;
+        public T V2;
+        public T V3;
+        public T V4;
+        public T V5;
+        public T V6;
+        public T V7;
+        public T V8;
+        public T V9;
+        public T V10;
+        public T V11;
+        public T V12;
+        public T V13;
+        public T V14;
+        public T V15;
+        public T V16;
+        public T V17;
+        public T V18;
+        public T V19;
+        public T V20;
+        public T V21;
+        public T V22;
+        public T V23;
+        public T V24;
+        public T V25;
+        public T V26;
+        public T V27;
+        public T V28;
+        public T V29;
+        public T V30;
+        public T V31;
+
+        public T this[int index]
+        {
+            [MethodImpl(MethodImplOptions.AggressiveInlining)]
+            get
+            {
+                RcThrowHelper.ThrowExceptionIfIndexOutOfRange(index, Length);
+
+                return index switch
+                {
+                    0 => V0,
+                    1 => V1,
+                    2 => V2,
+                    3 => V3,
+                    4 => V4,
+                    5 => V5,
+                    6 => V6,
+                    7 => V7,
+                    8 => V8,
+                    9 => V9,
+                    10 => V10,
+                    11 => V11,
+                    12 => V12,
+                    13 => V13,
+                    14 => V14,
+                    15 => V15,
+                    16 => V16,
+                    17 => V17,
+                    18 => V18,
+                    19 => V19,
+                    20 => V20,
+                    21 => V21,
+                    22 => V22,
+                    23 => V23,
+                    24 => V24,
+                    25 => V25,
+                    26 => V26,
+                    27 => V27,
+                    28 => V28,
+                    29 => V29,
+                    30 => V30,
+                    31 => V31,
+                    _ => throw new IndexOutOfRangeException($"{index}")
+                };
+            }
+
+            set
+            {
+                RcThrowHelper.ThrowExceptionIfIndexOutOfRange(index, Length);
+
+                switch (index)
+                {
+                    case 0: V0 = value; break;
+                    case 1: V1 = value; break;
+                    case 2: V2 = value; break;
+                    case 3: V3 = value; break;
+                    case 4: V4 = value; break;
+                    case 5: V5 = value; break;
+                    case 6: V6 = value; break;
+                    case 7: V7 = value; break;
+                    case 8: V8 = value; break;
+                    case 9: V9 = value; break;
+                    case 10: V10 = value; break;
+                    case 11: V11 = value; break;
+                    case 12: V12 = value; break;
+                    case 13: V13 = value; break;
+                    case 14: V14 = value; break;
+                    case 15: V15 = value; break;
+                    case 16: V16 = value; break;
+                    case 17: V17 = value; break;
+                    case 18: V18 = value; break;
+                    case 19: V19 = value; break;
+                    case 20: V20 = value; break;
+                    case 21: V21 = value; break;
+                    case 22: V22 = value; break;
+                    case 23: V23 = value; break;
+                    case 24: V24 = value; break;
+                    case 25: V25 = value; break;
+                    case 26: V26 = value; break;
+                    case 27: V27 = value; break;
+                    case 28: V28 = value; break;
+                    case 29: V29 = value; break;
+                    case 30: V30 = value; break;
+                    case 31: V31 = value; break;
+                }
+            }
+        }
+    }
+}

src/DotRecast.Core/Collections/RcStackArray4.cs

@@ -0,0 +1,49 @@
+using System;
+using System.Runtime.CompilerServices;
+
+namespace DotRecast.Core.Collections
+{
+    public struct RcStackArray4<T>
+    {
+        public static RcStackArray4<T> Empty => new RcStackArray4<T>();
+
+        private const int Size = 4;
+        public int Length => Size;
+
+        public T V0;
+        public T V1;
+        public T V2;
+        public T V3;
+
+        public T this[int index]
+        {
+            [MethodImpl(MethodImplOptions.AggressiveInlining)]
+            get
+            {
+                RcThrowHelper.ThrowExceptionIfIndexOutOfRange(index, Length);
+
+                return index switch
+                {
+                    0 => V0,
+                    1 => V1,
+                    2 => V2,
+                    3 => V3,
+                    _ => throw new IndexOutOfRangeException($"{index}")
+                };
+            }
+
+            set
+            {
+                RcThrowHelper.ThrowExceptionIfIndexOutOfRange(index, Length);
+
+                switch (index)
+                {
+                    case 0: V0 = value; break;
+                    case 1: V1 = value; break;
+                    case 2: V2 = value; break;
+                    case 3: V3 = value; break;
+                }
+            }
+        }
+    }
+}

src/DotRecast.Core/Collections/RcStackArray64.cs

@@ -0,0 +1,229 @@
+using System;
+using System.Runtime.CompilerServices;
+
+namespace DotRecast.Core.Collections
+{
+    public struct RcStackArray64<T>
+    {
+        public static RcStackArray64<T> Empty => new RcStackArray64<T>();
+
+        private const int Size = 64;
+        public int Length => Size;
+        
+        public T V0;
+        public T V1;
+        public T V2;
+        public T V3;
+        public T V4;
+        public T V5;
+        public T V6;
+        public T V7;
+        public T V8;
+        public T V9;
+        public T V10;
+        public T V11;
+        public T V12;
+        public T V13;
+        public T V14;
+        public T V15;
+        public T V16;
+        public T V17;
+        public T V18;
+        public T V19;
+        public T V20;
+        public T V21;
+        public T V22;
+        public T V23;
+        public T V24;
+        public T V25;
+        public T V26;
+        public T V27;
+        public T V28;
+        public T V29;
+        public T V30;
+        public T V31;
+        public T V32;
+        public T V33;
+        public T V34;
+        public T V35;
+        public T V36;
+        public T V37;
+        public T V38;
+        public T V39;
+        public T V40;
+        public T V41;
+        public T V42;
+        public T V43;
+        public T V44;
+        public T V45;
+        public T V46;
+        public T V47;
+        public T V48;
+        public T V49;
+        public T V50;
+        public T V51;
+        public T V52;
+        public T V53;
+        public T V54;
+        public T V55;
+        public T V56;
+        public T V57;
+        public T V58;
+        public T V59;
+        public T V60;
+        public T V61;
+        public T V62;
+        public T V63;
+
+        public T this[int index]
+        {
+            [MethodImpl(MethodImplOptions.AggressiveInlining)]
+            get
+            {
+                RcThrowHelper.ThrowExceptionIfIndexOutOfRange(index, Length);
+
+                return index switch
+                {
+                    0 => V0,
+                    1 => V1,
+                    2 => V2,
+                    3 => V3,
+                    4 => V4,
+                    5 => V5,
+                    6 => V6,
+                    7 => V7,
+                    8 => V8,
+                    9 => V9,
+                    10 => V10,
+                    11 => V11,
+                    12 => V12,
+                    13 => V13,
+                    14 => V14,
+                    15 => V15,
+                    16 => V16,
+                    17 => V17,
+                    18 => V18,
+                    19 => V19,
+                    20 => V20,
+                    21 => V21,
+                    22 => V22,
+                    23 => V23,
+                    24 => V24,
+                    25 => V25,
+                    26 => V26,
+                    27 => V27,
+                    28 => V28,
+                    29 => V29,
+                    30 => V30,
+                    31 => V31,
+                    32 => V32,
+                    33 => V33,
+                    34 => V34,
+                    35 => V35,
+                    36 => V36,
+                    37 => V37,
+                    38 => V38,
+                    39 => V39,
+                    40 => V40,
+                    41 => V41,
+                    42 => V42,
+                    43 => V43,
+                    44 => V44,
+                    45 => V45,
+                    46 => V46,
+                    47 => V47,
+                    48 => V48,
+                    49 => V49,
+                    50 => V50,
+                    51 => V51,
+                    52 => V52,
+                    53 => V53,
+                    54 => V54,
+                    55 => V55,
+                    56 => V56,
+                    57 => V57,
+                    58 => V58,
+                    59 => V59,
+                    60 => V60,
+                    61 => V61,
+                    62 => V62,
+                    63 => V63,
+                    _ => throw new ArgumentOutOfRangeException(nameof(index), index, null)
+                };
+            }
+
+            set
+            {
+                RcThrowHelper.ThrowExceptionIfIndexOutOfRange(index, Length);
+
+                switch (index)
+                {
+                    case 0: V0 = value; break;
+                    case 1: V1 = value; break;
+                    case 2: V2 = value; break;
+                    case 3: V3 = value; break;
+                    case 4: V4 = value; break;
+                    case 5: V5 = value; break;
+                    case 6: V6 = value; break;
+                    case 7: V7 = value; break;
+                    case 8: V8 = value; break;
+                    case 9: V9 = value; break;
+                    case 10: V10 = value; break;
+                    case 11: V11 = value; break;
+                    case 12: V12 = value; break;
+                    case 13: V13 = value; break;
+                    case 14: V14 = value; break;
+                    case 15: V15 = value; break;
+                    case 16: V16 = value; break;
+                    case 17: V17 = value; break;
+                    case 18: V18 = value; break;
+                    case 19: V19 = value; break;
+                    case 20: V20 = value; break;
+                    case 21: V21 = value; break;
+                    case 22: V22 = value; break;
+                    case 23: V23 = value; break;
+                    case 24: V24 = value; break;
+                    case 25: V25 = value; break;
+                    case 26: V26 = value; break;
+                    case 27: V27 = value; break;
+                    case 28: V28 = value; break;
+                    case 29: V29 = value; break;
+                    case 30: V30 = value; break;
+                    case 31: V31 = value; break;
+                    case 32 : V32 = value; break;
+                    case 33 : V33 = value; break;
+                    case 34 : V34 = value; break;
+                    case 35 : V35 = value; break;
+                    case 36 : V36 = value; break;
+                    case 37 : V37 = value; break;
+                    case 38 : V38 = value; break;
+                    case 39 : V39 = value; break;
+                    case 40 : V40 = value; break;
+                    case 41 : V41 = value; break;
+                    case 42 : V42 = value; break;
+                    case 43 : V43 = value; break;
+                    case 44 : V44 = value; break;
+                    case 45 : V45 = value; break;
+                    case 46 : V46 = value; break;
+                    case 47 : V47 = value; break;
+                    case 48 : V48 = value; break;
+                    case 49 : V49 = value; break;
+                    case 50 : V50 = value; break;
+                    case 51 : V51 = value; break;
+                    case 52 : V52 = value; break;
+                    case 53 : V53 = value; break;
+                    case 54 : V54 = value; break;
+                    case 55 : V55 = value; break;
+                    case 56 : V56 = value; break;
+                    case 57 : V57 = value; break;
+                    case 58 : V58 = value; break;
+                    case 59 : V59 = value; break;
+                    case 60 : V60 = value; break;
+                    case 61 : V61 = value; break;
+                    case 62 : V62 = value; break;
+                    case 63 : V63 = value; break;
+                }
+            }
+        }
+    }
+}

src/DotRecast.Core/Collections/RcStackArray8.cs

@@ -0,0 +1,61 @@
+using System;
+using System.Runtime.CompilerServices;
+
+namespace DotRecast.Core.Collections
+{
+    public struct RcStackArray8<T>
+    {
+        public static RcStackArray8<T> Empty => new RcStackArray8<T>();
+
+        private const int Size = 8;
+        public int Length => Size;
+        
+        public T V0;
+        public T V1;
+        public T V2;
+        public T V3;
+        public T V4;
+        public T V5;
+        public T V6;
+        public T V7;
+
+        public T this[int index]
+        {
+            [MethodImpl(MethodImplOptions.AggressiveInlining)]
+            get
+            {
+                RcThrowHelper.ThrowExceptionIfIndexOutOfRange(index, Length);
+
+                return index switch
+                {
+                    0 => V0,
+                    1 => V1,
+                    2 => V2,
+                    3 => V3,
+                    4 => V4,
+                    5 => V5,
+                    6 => V6,
+                    7 => V7,
+                    _ => throw new IndexOutOfRangeException($"{index}")
+                };
+            }
+
+            set
+            {
+                RcThrowHelper.ThrowExceptionIfIndexOutOfRange(index, Length);
+
+                switch (index)
+                {
+                    case 0: V0 = value; break;
+                    case 1: V1 = value; break;
+                    case 2: V2 = value; break;
+                    case 3: V3 = value; break;
+                    case 4: V4 = value; break;
+                    case 5: V5 = value; break;
+                    case 6: V6 = value; break;
+                    case 7: V7 = value; break;
+                }
+            }
+        }
+    }
+}

src/DotRecast.Core/Compression/FastLZ.cs

@@ -356,7 +356,7 @@ namespace DotRecast.Core.Compression
                         return 0;
                     }
 
-                    Array.Copy(input, ip, output, op, ctrl);
+                    RcArrays.Copy(input, ip, output, op, ctrl);
                     ip += ctrl;
                     op += ctrl;
                 }
@@ -452,7 +452,7 @@ namespace DotRecast.Core.Compression
                         return 0;
                     }
 
-                    Array.Copy(input, ip, output, op, ctrl);
+                    RcArrays.Copy(input, ip, output, op, ctrl);
                     ip += ctrl;
                     op += ctrl;
                 }
@@ -498,16 +498,16 @@ namespace DotRecast.Core.Compression
             // if (count >= 4)
             // {
             //     count -= count % 4;
-            //     Array.Copy(src, srcOffset, dest, destOffset, count);
+            //     RcArrays.Copy(src, srcOffset, dest, destOffset, count);
             // }
-            Array.Copy(src, srcOffset, dest, destOffset, count);
+            RcArrays.Copy(src, srcOffset, dest, destOffset, count);
         }
 
         // special case of memcpy: exactly MAX_COPY bytes
         // flz_maxcopy
         static void MaxCopy(byte[] dest, long destOffset, byte[] src, long secOffset)
         {
-            Array.Copy(src, secOffset, dest, destOffset, MAX_COPY);
+            RcArrays.Copy(src, secOffset, dest, destOffset, MAX_COPY);
         }
 
         // flz_literals

src/DotRecast.Core/DotRecast.Core.asmdef

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

src/DotRecast.Core/DotRecast.Core.csproj

@@ -1,15 +1,16 @@
 <Project Sdk="Microsoft.NET.Sdk">
 
   <PropertyGroup>
-    <TargetFrameworks>netstandard2.1;net6.0;net7.0</TargetFrameworks>
+    <TargetFrameworks>netstandard2.1;net6.0;net7.0;net8.0</TargetFrameworks>
     <PackageId>DotRecast.Core</PackageId>
     <PackageReadmeFile>README.md</PackageReadmeFile>
     <Authors>ikpil</Authors>
-    <Description>DotRecast - a port of Recast Detour, navigation mesh toolset for games, Unity3D, servers, C#</Description>
+    <Description>DotRecast - a port of Recast Detour, Industry-standard navigation mesh toolset for .NET, C#, Unity3D, games, servers</Description>
     <RepositoryType>git</RepositoryType>
     <PackageProjectUrl>https://github.com/ikpil/DotRecast</PackageProjectUrl>
     <RepositoryUrl>https://github.com/ikpil/DotRecast</RepositoryUrl>
     <PackageTags>game gamedev ai csharp server unity navigation game-development unity3d pathfinding pathfinder recast detour navmesh crowd-simulation recastnavigation</PackageTags>
+    <PackageReleaseNotes>https://github.com/ikpil/DotRecast/blob/main/CHANGELOG.md</PackageReleaseNotes>
   </PropertyGroup>
   
   <ItemGroup>

src/DotRecast.Core/IRcCompressor.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

src/DotRecast.Core/IRcRand.cs

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

src/DotRecast.Core/Numerics/RcMatrix4x4f.cs

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

src/DotRecast.Core/Numerics/RcVec.cs

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

src/DotRecast.Core/Numerics/RcVec2f.cs

@@ -8,7 +8,7 @@ namespace DotRecast.Core.Numerics
         public float X;
         public float Y;
 
-        public static RcVec2f Zero { get; } = new RcVec2f { X = 0, Y = 0 };
+        public static readonly RcVec2f Zero = new RcVec2f { X = 0, Y = 0 };
 
         public RcVec2f(float x, float y)
         {

src/DotRecast.Core/Numerics/RcVec3f.cs

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -27,11 +28,11 @@ namespace DotRecast.Core.Numerics
         public float Y;
         public float Z;
 
-        public static RcVec3f Zero { get; } = new RcVec3f(0.0f, 0.0f, 0.0f);
-        public static RcVec3f One { get; } = new RcVec3f(1.0f);
-        public static RcVec3f UnitX { get; } = new RcVec3f(1.0f, 0.0f, 0.0f);
-        public static RcVec3f UnitY { get; } = new RcVec3f(0.0f, 1.0f, 0.0f);
-        public static RcVec3f UnitZ { get; } = new RcVec3f(0.0f, 0.0f, 1.0f);
+        public static readonly RcVec3f Zero = new RcVec3f(0.0f, 0.0f, 0.0f);
+        public static readonly RcVec3f One = new RcVec3f(1.0f);
+        public static readonly RcVec3f UnitX = new RcVec3f(1.0f, 0.0f, 0.0f);
+        public static readonly RcVec3f UnitY = new RcVec3f(0.0f, 1.0f, 0.0f);
+        public static readonly RcVec3f UnitZ = new RcVec3f(0.0f, 0.0f, 1.0f);
 
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public RcVec3f(float x, float y, float z)
@@ -49,6 +50,19 @@ namespace DotRecast.Core.Numerics
             Z = f;
         }
 
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public RcVec3f(ReadOnlySpan<float> values)
+        {
+            if (values.Length < 3)
+            {
+                RcThrowHelper.ThrowArgumentOutOfRangeException(nameof(values));
+            }
+
+            X = values[0];
+            Y = values[1];
+            Z = values[2];
+        }
+
 
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public readonly float Length()

src/DotRecast.Core/Numerics/RcVec3i.cs

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

src/DotRecast.Core/RcAnonymousDisposable.cs

@@ -1,20 +0,0 @@
-using System;
-
-namespace DotRecast.Core
-{
-    public struct RcAnonymousDisposable : IDisposable
-    {
-        private Action _dispose;
-
-        public RcAnonymousDisposable(Action dispose)
-        {
-            _dispose = dispose;
-        }
-
-        public void Dispose()
-        {
-            _dispose?.Invoke();
-            _dispose = null;
-        }
-    }
-}

src/DotRecast.Core/RcArrays.cs

@@ -1,9 +1,24 @@
-using System;
+using System;
+using System.Runtime.CompilerServices;
 
 namespace DotRecast.Core
 {
-    public static class RcArrayUtils
+    public static class RcArrays
     {
+        // Type Safe Copy
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static void Copy<T>(T[] sourceArray, long sourceIndex, T[] destinationArray, long destinationIndex, long length)
+        {
+            Array.Copy(sourceArray, sourceIndex, destinationArray, destinationIndex, length);
+        }
+
+        // Type Safe Copy
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static void Copy<T>(T[] sourceArray, T[] destinationArray, long length)
+        {
+            Array.Copy(sourceArray, destinationArray, length);
+        }
+
         public static T[] CopyOf<T>(T[] source, int startIdx, int length)
         {
             var deatArr = new T[length];

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

@@ -1,8 +1,9 @@
-using System.Threading;
+using System;
+using System.Threading;
 
 namespace DotRecast.Core
 {
-    public class RcAtomicLong
+    public class RcAtomicLong : IComparable<RcAtomicLong>
     {
         private long _location;
 
@@ -15,6 +16,11 @@ namespace DotRecast.Core
             _location = location;
         }
 
+        public int CompareTo(RcAtomicLong other)
+        {
+            return Read().CompareTo(other.Read());
+        }
+
         public long IncrementAndGet()
         {
             return Interlocked.Increment(ref _location);

src/DotRecast.Core/RcByteOrder.cs

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

src/DotRecast.Core/RcByteUtils.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

src/DotRecast.Core/RcContext.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -25,21 +25,33 @@ using System.Threading;
 
 namespace DotRecast.Core
 {
-    public class RcTelemetry
+    /// Provides an interface for optional logging and performance tracking of the Recast 
+    /// build process.
+    /// 
+    /// This class does not provide logging or timer functionality on its 
+    /// own.  Both must be provided by a concrete implementation 
+    /// by overriding the protected member functions.  Also, this class does not 
+    /// provide an interface for extracting log messages. (Only adding them.) 
+    /// So concrete implementations must provide one.
+    ///
+    /// If no logging or timers are required, just pass an instance of this 
+    /// class through the Recast build process.
+    /// 
+    /// @ingroup recast
+    public class RcContext
     {
         private readonly ThreadLocal<Dictionary<string, RcAtomicLong>> _timerStart;
         private readonly ConcurrentDictionary<string, RcAtomicLong> _timerAccum;
 
-        public RcTelemetry()
+        public RcContext()
         {
             _timerStart = new ThreadLocal<Dictionary<string, RcAtomicLong>>(() => new Dictionary<string, RcAtomicLong>());
             _timerAccum = new ConcurrentDictionary<string, RcAtomicLong>();
         }
 
-        public IDisposable ScopedTimer(RcTimerLabel label)
+        public RcScopedTimer ScopedTimer(RcTimerLabel label)
         {
-            StartTimer(label);
-            return new RcAnonymousDisposable(() => StopTimer(label));
+            return new RcScopedTimer(this, label);
         }
 
         public void StartTimer(RcTimerLabel label)

src/DotRecast.Core/RcConvexUtils.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

src/DotRecast.Core/RcDirectory.cs

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

src/DotRecast.Core/RcEdge.cs

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

src/DotRecast.Core/RcFrequency.cs

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

src/DotRecast.Core/RcHashCodes.cs

@@ -1,10 +1,26 @@
-namespace DotRecast.Core
+using System.Runtime.CompilerServices;
+
+namespace DotRecast.Core
 {
     public static class RcHashCodes
     {
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static int CombineHashCodes(int h1, int h2)
         {
             return (((h1 << 5) + h1) ^ h2);
         }
+
+        // From Thomas Wang, https://gist.github.com/badboy/6267743
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static uint WangHash(uint a)
+        {
+            a = (~a) + (a << 18); // a = (a << 18) - a - 1;
+            a = a ^ (a >> 31);
+            a = a * 21; // a = (a + (a << 2)) + (a << 4);
+            a = a ^ (a >> 11);
+            a = a + (a << 6);
+            a = a ^ (a >> 22);
+            return (uint)a;
+        }
     }
 }

src/DotRecast.Core/RcIO.cs

@@ -0,0 +1,165 @@
+/*
+Recast4J Copyright (c) 2015 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
+
+This software is provided 'as-is', without any express or implied
+warranty.  In no event will the authors be held liable for any damages
+arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it
+freely, subject to the following restrictions:
+1. The origin of this software must not be misrepresented; you must not
+ claim that you wrote the original software. If you use this software
+ in a product, an acknowledgment in the product documentation would be
+ appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be
+ misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+using System;
+using System.IO;
+
+namespace DotRecast.Core
+{
+    public static class RcIO
+    {
+        public static RcByteBuffer ToByteBuffer(BinaryReader br, bool direct)
+        {
+            byte[] data = ToByteArray(br);
+            if (direct)
+            {
+                Array.Reverse(data);
+            }
+
+            return new RcByteBuffer(data);
+        }
+
+        public static byte[] ToByteArray(BinaryReader br)
+        {
+            using var ms = new MemoryStream();
+            Span<byte> buffer = stackalloc byte[4096];
+            int l;
+            while ((l = br.Read(buffer)) > 0)
+            {
+                ms.Write(buffer.Slice(0, l));
+            }
+
+            return ms.ToArray();
+        }
+
+
+        public static RcByteBuffer ToByteBuffer(BinaryReader br)
+        {
+            var bytes = ToByteArray(br);
+            return new RcByteBuffer(bytes);
+        }
+
+        public static int SwapEndianness(int i)
+        {
+            var s = (((uint)i >> 24) & 0xFF) | (((uint)i >> 8) & 0xFF00) | (((uint)i << 8) & 0xFF0000) | ((i << 24) & 0xFF000000);
+            return (int)s;
+        }
+
+        public static byte[] ReadFileIfFound(string filename)
+        {
+            if (string.IsNullOrEmpty(filename))
+                return null;
+
+            string filePath = filename;
+
+            if (!File.Exists(filePath))
+            {
+                var searchFilePath = RcDirectory.SearchFile($"{filename}");
+                if (!File.Exists(searchFilePath))
+                {
+                    searchFilePath = RcDirectory.SearchFile($"resources/{filename}");
+                }
+
+                if (File.Exists(searchFilePath))
+                {
+                    filePath = searchFilePath;
+                }
+            }
+
+            using var fs = new FileStream(filePath, FileMode.Open, FileAccess.Read, FileShare.Read);
+            byte[] buffer = new byte[fs.Length];
+            var read = fs.Read(buffer, 0, buffer.Length);
+            if (read != buffer.Length)
+                return null;
+
+            return buffer;
+        }
+
+        public static void Write(BinaryWriter ws, float value, RcByteOrder order)
+        {
+            byte[] bytes = BitConverter.GetBytes(value);
+            int i = BitConverter.ToInt32(bytes, 0);
+            Write(ws, i, order);
+        }
+
+        public static void Write(BinaryWriter ws, short value, RcByteOrder order)
+        {
+            if (order == RcByteOrder.BIG_ENDIAN)
+            {
+                ws.Write((byte)((value >> 8) & 0xFF));
+                ws.Write((byte)(value & 0xFF));
+            }
+            else
+            {
+                ws.Write((byte)(value & 0xFF));
+                ws.Write((byte)((value >> 8) & 0xFF));
+            }
+        }
+
+        public static void Write(BinaryWriter ws, long value, RcByteOrder order)
+        {
+            if (order == RcByteOrder.BIG_ENDIAN)
+            {
+                Write(ws, (int)((ulong)value >> 32), order);
+                Write(ws, (int)(value & 0xFFFFFFFF), order);
+            }
+            else
+            {
+                Write(ws, (int)(value & 0xFFFFFFFF), order);
+                Write(ws, (int)((ulong)value >> 32), order);
+            }
+        }
+
+        public static void Write(BinaryWriter ws, int value, RcByteOrder order)
+        {
+            if (order == RcByteOrder.BIG_ENDIAN)
+            {
+                ws.Write((byte)((value >> 24) & 0xFF));
+                ws.Write((byte)((value >> 16) & 0xFF));
+                ws.Write((byte)((value >> 8) & 0xFF));
+                ws.Write((byte)(value & 0xFF));
+            }
+            else
+            {
+                ws.Write((byte)(value & 0xFF));
+                ws.Write((byte)((value >> 8) & 0xFF));
+                ws.Write((byte)((value >> 16) & 0xFF));
+                ws.Write((byte)((value >> 24) & 0xFF));
+            }
+        }
+
+        public static void Write(BinaryWriter ws, bool value)
+        {
+            Write(ws, (byte)(value ? 1 : 0));
+        }
+
+        public static void Write(BinaryWriter ws, byte value)
+        {
+            ws.Write(value);
+        }
+
+        public static void Write(BinaryWriter ws, MemoryStream ms)
+        {
+            ms.Position = 0;
+            byte[] buffer = new byte[ms.Length];
+            ms.Read(buffer, 0, buffer.Length);
+            ws.Write(buffer);
+        }
+    }
+}

src/DotRecast.Core/RcIntersections.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

src/DotRecast.Core/RcMath.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -29,5 +29,11 @@ namespace DotRecast.Core
         {
             return f * f;
         }
+        
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float Lerp(float value1, float value2, float amount)
+        {
+            return (value1 * (1.0f - amount)) + (value2 * amount);
+        }
     }
 }

src/DotRecast.Core/RcObjImporter.cs

@@ -1,6 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

src/DotRecast.Core/RcObjImporterContext.cs

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

src/DotRecast.Core/RcProcess.cs

@@ -0,0 +1,34 @@
+using System;
+using System.Diagnostics;
+using System.Runtime.InteropServices;
+
+namespace DotRecast.Core
+{
+    public static class RcProcess
+    {
+        public static void OpenUrl(string url)
+        {
+            try
+            {
+                // OS에 따라 다른 명령 실행
+                if (RuntimeInformation.IsOSPlatform(OSPlatform.Windows))
+                {
+                    var psi = new ProcessStartInfo("cmd", $"/c start {url}") { CreateNoWindow = true };
+                    Process.Start(psi);
+                }
+                else if (RuntimeInformation.IsOSPlatform(OSPlatform.OSX))
+                {
+                    Process.Start("open", url);
+                }
+                else if (RuntimeInformation.IsOSPlatform(OSPlatform.Linux))
+                {
+                    Process.Start("xdg-open", url);
+                }
+            }
+            catch (Exception ex)
+            {
+                Console.WriteLine($"Error opening web browser: {ex.Message}");
+            }
+        }
+    }
+}

src/DotRecast.Core/RcRand.cs

@@ -1,4 +1,4 @@
-using System;
+using System;
 
 namespace DotRecast.Core
 {
@@ -6,9 +6,13 @@ namespace DotRecast.Core
     {
         private readonly Random _r;
 
-        public RcRand()
+        public RcRand() : this(new Random())
         {
-            _r = new Random();
+        }
+
+        public RcRand(Random r)
+        {
+            _r = r;
         }
 
         public RcRand(long seed)
@@ -20,5 +24,15 @@ namespace DotRecast.Core
         {
             return (float)_r.NextDouble();
         }
+
+        public double NextDouble()
+        {
+            return _r.NextDouble();
+        }
+
+        public int NextInt32()
+        {
+            return _r.Next();
+        }
     }
 }

src/DotRecast.Core/RcResources.cs

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

src/DotRecast.Core/RcScopedTimer.cs

@@ -0,0 +1,23 @@
+using System;
+
+namespace DotRecast.Core
+{
+    public readonly struct RcScopedTimer : IDisposable
+    {
+        private readonly RcContext _context;
+        private readonly RcTimerLabel _label;
+
+        internal RcScopedTimer(RcContext context, RcTimerLabel label)
+        {
+            _context = context;
+            _label = label;
+            
+            _context.StartTimer(_label);
+        }
+
+        public void Dispose()
+        {
+            _context.StopTimer(_label);
+        }
+    }
+}

src/DotRecast.Core/RcSegmentVert.cs

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

src/DotRecast.Core/RcSpans.cs

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

src/DotRecast.Core/RcTelemetryTick.cs

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

src/DotRecast.Core/RcThrowHelper.cs

@@ -0,0 +1,48 @@
+using System;
+using System.Runtime.CompilerServices;
+using DotRecast.Core.Collections;
+
+namespace DotRecast.Core
+{
+    public static class RcThrowHelper
+    {
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static void ThrowExceptionIfIndexOutOfRange(int index, int size)
+        {
+            if (0 > index || index >= size)
+            {
+                throw new IndexOutOfRangeException($"Index {index} is out of range - size({size})");
+            }
+        }
+        
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static void ThrowArgumentOutOfRangeException(string argument)
+        {
+            throw new ArgumentOutOfRangeException(argument);
+        }
+        
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static void StackOverflow()
+        {
+            var array_128_512_1 = RcStackArray128<RcStackArray512<float>>.Empty; // 128 * 512 = 65536
+            var array_128_512_2 = RcStackArray128<RcStackArray512<float>>.Empty; // 128 * 512 = 65536
+
+            var array_32_512_1 = RcStackArray32<RcStackArray512<float>>.Empty; // 32 * 512 = 16384
+
+            var array_16_512_1 = RcStackArray16<RcStackArray512<float>>.Empty; // 16 * 512 = 8192
+
+            var array_8_512_1 = RcStackArray8<RcStackArray512<float>>.Empty; // 8 * 512 = 4196
+            var array_4_256_1 = RcStackArray4<RcStackArray256<float>>.Empty; // 4 * 256 = 1024
+            var array_4_64_1 = RcStackArray4<RcStackArray64<float>>.Empty; // 4 * 64 = 256
+        
+            //
+            var array_2_8_1 = RcStackArray2<RcStackArray8<float>>.Empty; // 2 * 8 = 16
+            var array_2_4_1 = RcStackArray2<RcStackArray2<float>>.Empty; // 2 * 2 = 4
+            
+            float f1 = 0.0f; // 1
+            //float f2 = 0.0f; // my system stack overflow!
+        }
+
+ 
+    }
+}

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

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

src/DotRecast.Detour.Crowd/DotRecast.Detour.Crowd.csproj

@@ -1,15 +1,16 @@
 <Project Sdk="Microsoft.NET.Sdk">
 
   <PropertyGroup>
-    <TargetFrameworks>netstandard2.1;net6.0;net7.0</TargetFrameworks>
+    <TargetFrameworks>netstandard2.1;net6.0;net7.0;net8.0</TargetFrameworks>
     <PackageId>DotRecast.Detour.Crowd</PackageId>
     <PackageReadmeFile>README.md</PackageReadmeFile>
     <Authors>ikpil</Authors>
-    <Description>DotRecast - a port of Recast Detour, navigation mesh toolset for games, Unity3D, servers, C#</Description>
+    <Description>DotRecast - a port of Recast Detour, Industry-standard navigation mesh toolset for .NET, C#, Unity3D, games, servers</Description>
     <RepositoryType>git</RepositoryType>
     <PackageProjectUrl>https://github.com/ikpil/DotRecast</PackageProjectUrl>
     <RepositoryUrl>https://github.com/ikpil/DotRecast</RepositoryUrl>
     <PackageTags>game gamedev ai csharp server unity navigation game-development unity3d pathfinding pathfinder recast detour navmesh crowd-simulation recastnavigation</PackageTags>
+    <PackageReleaseNotes>https://github.com/ikpil/DotRecast/blob/main/CHANGELOG.md</PackageReleaseNotes>
   </PropertyGroup>
 
   <ItemGroup>

src/DotRecast.Detour.Crowd/DtCrowd.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -20,165 +20,162 @@ freely, subject to the following restrictions:
 
 using System;
 using System.Collections.Generic;
+using System.Diagnostics;
 using DotRecast.Core;
+using DotRecast.Core.Buffers;
 using DotRecast.Core.Collections;
 using DotRecast.Core.Numerics;
 
-
 namespace DotRecast.Detour.Crowd
 {
+    ///////////////////////////////////////////////////////////////////////////
+
+// This section contains detailed documentation for members that don't have
+// a source file. It reduces clutter in the main section of the header.
+
     /**
- * Members in this module implement local steering and dynamic avoidance features.
- *
- * The crowd is the big beast of the navigation features. It not only handles a lot of the path management for you, but
- * also local steering and dynamic avoidance between members of the crowd. I.e. It can keep your agents from running
- * into each other.
- *
- * Main class: Crowd
- *
- * The #dtNavMeshQuery and #dtPathCorridor classes provide perfectly good, easy to use path planning features. But in
- * the end they only give you points that your navigation client should be moving toward. When it comes to deciding
- * things like agent velocity and steering to avoid other agents, that is up to you to implement. Unless, of course, you
- * decide to use Crowd.
- *
- * Basically, you add an agent to the crowd, providing various configuration settings such as maximum speed and
- * acceleration. You also provide a local target to move toward. The crowd manager then provides, with every update, the
- * new agent position and velocity for the frame. The movement will be constrained to the navigation mesh, and steering
- * will be applied to ensure agents managed by the crowd do not collide with each other.
- *
- * This is very powerful feature set. But it comes with limitations.
- *
- * The biggest limitation is that you must give control of the agent's position completely over to the crowd manager.
- * You can update things like maximum speed and acceleration. But in order for the crowd manager to do its thing, it
- * can't allow you to constantly be giving it overrides to position and velocity. So you give up direct control of the
- * agent's movement. It belongs to the crowd.
- *
- * The second biggest limitation revolves around the fact that the crowd manager deals with local planning. So the
- * agent's target should never be more than 256 polygons away from its current position. If it is, you risk your agent
- * failing to reach its target. So you may still need to do long distance planning and provide the crowd manager with
- * intermediate targets.
- *
- * Other significant limitations:
- *
- * - All agents using the crowd manager will use the same #dtQueryFilter. - Crowd management is relatively expensive.
- * The maximum agents under crowd management at any one time is between 20 and 30. A good place to start is a maximum of
- * 25 agents for 0.5ms per frame.
- *
- * @note This is a summary list of members. Use the index or search feature to find minor members.
- *
- * @struct dtCrowdAgentParams
- * @see CrowdAgent, Crowd::AddAgent(), Crowd::UpdateAgentParameters()
- *
- * @var dtCrowdAgentParams::obstacleAvoidanceType
- * @par
- *
- * 		#dtCrowd permits agents to use different avoidance configurations. This value is the index of the
- *      #dtObstacleAvoidanceParams within the crowd.
- *
- * @see dtObstacleAvoidanceParams, dtCrowd::SetObstacleAvoidanceParams(), dtCrowd::GetObstacleAvoidanceParams()
- *
- * @var dtCrowdAgentParams::collisionQueryRange
- * @par
- *
- * 		Collision elements include other agents and navigation mesh boundaries.
- *
- *      This value is often based on the agent radius and/or maximum speed. E.g. radius * 8
- *
- * @var dtCrowdAgentParams::pathOptimizationRange
- * @par
- *
- * 		Only applicable if #updateFlags includes the #DT_CROWD_OPTIMIZE_VIS flag.
- *
- *      This value is often based on the agent radius. E.g. radius * 30
- *
- * @see dtPathCorridor::OptimizePathVisibility()
- *
- * @var dtCrowdAgentParams::separationWeight
- * @par
- *
- * 		A higher value will result in agents trying to stay farther away from each other at the cost of more difficult
- *      steering in tight spaces.
- *
- */
-    /**
-     * This is the core class of the refs crowd module. See the refs crowd documentation for a summary of the crowd
-     * features. A common method for setting up the crowd is as follows: -# Allocate the crowd -# Set the avoidance
-     * configurations using #SetObstacleAvoidanceParams(). -# Add agents using #AddAgent() and make an initial movement
-     * request using #RequestMoveTarget(). A common process for managing the crowd is as follows: -# Call #Update() to allow
-     * the crowd to manage its agents. -# Retrieve agent information using #GetActiveAgents(). -# Make movement requests
-     * using #RequestMoveTarget() when movement goal changes. -# Repeat every frame. Some agent configuration settings can
-     * be updated using #UpdateAgentParameters(). But the crowd owns the agent position. So it is not possible to update an
-     * active agent's position. If agent position must be fed back into the crowd, the agent must be removed and re-added.
-     * Notes: - Path related information is available for newly added agents only after an #Update() has been performed. -
-     * Agent objects are kept in a pool and re-used. So it is important when using agent objects to check the value of
-     * #dtCrowdAgent::active to determine if the agent is actually in use or not. - This class is meant to provide 'local'
-     * movement. There is a limit of 256 polygons in the path corridor. So it is not meant to provide automatic pathfinding
-     * services over long distances.
-     *
-     * @see DtAllocCrowd(), DtFreeCrowd(), Init(), dtCrowdAgent
+
+    @defgroup crowd Crowd
+
+    Members in this module implement local steering and dynamic avoidance features.
+
+    The crowd is the big beast of the navigation features. It not only handles a
+    lot of the path management for you, but also local steering and dynamic
+    avoidance between members of the crowd. I.e. It can keep your agents from
+    running into each other.
+
+    Main class: #dtCrowd
+
+    The #dtNavMeshQuery and #dtPathCorridor classes provide perfectly good, easy
+    to use path planning features. But in the end they only give you points that
+    your navigation client should be moving toward. When it comes to deciding things
+    like agent velocity and steering to avoid other agents, that is up to you to
+    implement. Unless, of course, you decide to use #dtCrowd.
+
+    Basically, you add an agent to the crowd, providing various configuration
+    settings such as maximum speed and acceleration. You also provide a local
+    target to more toward. The crowd manager then provides, with every update, the
+    new agent position and velocity for the frame. The movement will be
+    constrained to the navigation mesh, and steering will be applied to ensure
+    agents managed by the crowd do not collide with each other.
+
+    This is very powerful feature set. But it comes with limitations.
+
+    The biggest limitation is that you must give control of the agent's position
+    completely over to the crowd manager. You can update things like maximum speed
+    and acceleration. But in order for the crowd manager to do its thing, it can't
+    allow you to constantly be giving it overrides to position and velocity. So
+    you give up direct control of the agent's movement. It belongs to the crowd.
+
+    The second biggest limitation revolves around the fact that the crowd manager
+    deals with local planning. So the agent's target should never be more than
+    256 polygons aways from its current position. If it is, you risk
+    your agent failing to reach its target. So you may still need to do long
+    distance planning and provide the crowd manager with intermediate targets.
+
+    Other significant limitations:
+
+    - All agents using the crowd manager will use the same #dtQueryFilter.
+    - Crowd management is relatively expensive. The maximum agents under crowd
+      management at any one time is between 20 and 30.  A good place to start
+      is a maximum of 25 agents for 0.5ms per frame.
+
+    @note This is a summary list of members.  Use the index or search
+    feature to find minor members.
+
+    @struct dtCrowdAgentParams
+    @see dtCrowdAgent, dtCrowd::addAgent(), dtCrowd::updateAgentParameters()
+
+    @var dtCrowdAgentParams::obstacleAvoidanceType
+    @par
+
+    #dtCrowd permits agents to use different avoidance configurations.  This value
+    is the index of the #dtObstacleAvoidanceParams within the crowd.
+
+    @see dtObstacleAvoidanceParams, dtCrowd::setObstacleAvoidanceParams(),
+         dtCrowd::getObstacleAvoidanceParams()
+
+    @var dtCrowdAgentParams::collisionQueryRange
+    @par
+
+    Collision elements include other agents and navigation mesh boundaries.
+
+    This value is often based on the agent radius and/or maximum speed. E.g. radius * 8
+
+    @var dtCrowdAgentParams::pathOptimizationRange
+    @par
+
+    Only applicable if #updateFlags includes the #DT_CROWD_OPTIMIZE_VIS flag.
+
+    This value is often based on the agent radius. E.g. radius * 30
+
+    @see dtPathCorridor::optimizePathVisibility()
+
+    @var dtCrowdAgentParams::separationWeight
+    @par
+
+    A higher value will result in agents trying to stay farther away from each other at
+    the cost of more difficult steering in tight spaces.
     */
+    /// Provides local steering behaviors for a group of agents. 
+    /// @ingroup crowd
     public class DtCrowd
     {
-        /// The maximum number of corners a crowd agent will look ahead in the path.
-        /// This value is used for sizing the crowd agent corner buffers.
-        /// Due to the behavior of the crowd manager, the actual number of useful
-        /// corners will be one less than this number.
-        /// @ingroup crowd
-        public const int DT_CROWDAGENT_MAX_CORNERS = 4;
+        private readonly RcAtomicInteger _agentIdx;
+        private readonly Dictionary<int, DtCrowdAgent> _agents;
+        private readonly List<DtCrowdAgent> _activeAgents;
 
-        /// The maximum number of crowd avoidance configurations supported by the
-        /// crowd manager.
-        /// @ingroup crowd
-        /// @see dtObstacleAvoidanceParams, dtCrowd::SetObstacleAvoidanceParams(), dtCrowd::GetObstacleAvoidanceParams(),
-        /// dtCrowdAgentParams::obstacleAvoidanceType
-        public const int DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS = 8;
-
-        /// The maximum number of query filter types supported by the crowd manager.
-        /// @ingroup crowd
-        /// @see dtQueryFilter, dtCrowd::GetFilter() dtCrowd::GetEditableFilter(),
-        /// dtCrowdAgentParams::queryFilterType
-        public const int DT_CROWD_MAX_QUERY_FILTER_TYPE = 16;
-
-        private readonly RcAtomicInteger _agentId = new RcAtomicInteger();
-        private readonly List<DtCrowdAgent> _agents;
         private readonly DtPathQueue _pathQ;
-        private readonly DtObstacleAvoidanceParams[] _obstacleQueryParams = new DtObstacleAvoidanceParams[DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS];
+
+        private readonly DtObstacleAvoidanceParams[] _obstacleQueryParams;
         private readonly DtObstacleAvoidanceQuery _obstacleQuery;
-        private DtProximityGrid _grid;
-        private readonly RcVec3f _ext = new RcVec3f();
-        private readonly IDtQueryFilter[] _filters = new IDtQueryFilter[DT_CROWD_MAX_QUERY_FILTER_TYPE];
-        private DtNavMeshQuery _navQuery;
-        private DtNavMesh _navMesh;
+
+        private readonly DtProximityGrid _grid;
+
+        private int _maxPathResult;
+        private readonly RcVec3f _agentPlacementHalfExtents;
+
+        private readonly IDtQueryFilter[] _filters;
+
         private readonly DtCrowdConfig _config;
-        private readonly DtCrowdTelemetry _telemetry = new DtCrowdTelemetry();
         private int _velocitySampleCount;
 
-        public DtCrowd(DtCrowdConfig config, DtNavMesh nav) :
-            this(config, nav, i => new DtQueryDefaultFilter())
+        private DtNavMeshQuery _navQuery;
+
+        private DtNavMesh _navMesh;
+        private readonly DtCrowdTelemetry _telemetry = new DtCrowdTelemetry();
+
+        public DtCrowd(DtCrowdConfig config, DtNavMesh nav) : this(config, nav, i => new DtQueryDefaultFilter())
         {
         }
 
         public DtCrowd(DtCrowdConfig config, DtNavMesh nav, Func<int, IDtQueryFilter> queryFilterFactory)
         {
             _config = config;
-            _ext = new RcVec3f(config.maxAgentRadius * 2.0f, config.maxAgentRadius * 1.5f, config.maxAgentRadius * 2.0f);
+            _agentPlacementHalfExtents = new RcVec3f(config.maxAgentRadius * 2.0f, config.maxAgentRadius * 1.5f, config.maxAgentRadius * 2.0f);
 
             _obstacleQuery = new DtObstacleAvoidanceQuery(config.maxObstacleAvoidanceCircles, config.maxObstacleAvoidanceSegments);
 
-            for (int i = 0; i < DT_CROWD_MAX_QUERY_FILTER_TYPE; i++)
+            _filters = new IDtQueryFilter[DtCrowdConst.DT_CROWD_MAX_QUERY_FILTER_TYPE];
+            for (int i = 0; i < DtCrowdConst.DT_CROWD_MAX_QUERY_FILTER_TYPE; i++)
             {
                 _filters[i] = queryFilterFactory.Invoke(i);
             }
 
             // Init obstacle query option.
-            for (int i = 0; i < DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS; ++i)
+            _obstacleQueryParams = new DtObstacleAvoidanceParams[DtCrowdConst.DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS];
+            for (int i = 0; i < DtCrowdConst.DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS; ++i)
             {
                 _obstacleQueryParams[i] = new DtObstacleAvoidanceParams();
             }
 
             // Allocate temp buffer for merging paths.
+            _maxPathResult = DtCrowdConst.MAX_PATH_RESULT;
             _pathQ = new DtPathQueue(config);
-            _agents = new List<DtCrowdAgent>();
+            _agentIdx = new RcAtomicInteger(0);
+            _agents = new Dictionary<int, DtCrowdAgent>();
+            _activeAgents = new List<DtCrowdAgent>();
+            _grid = new DtProximityGrid(_config.maxAgentRadius * 3);
 
             // The navQuery is mostly used for local searches, no need for large node pool.
             SetNavMesh(nav);
@@ -206,7 +203,7 @@ namespace DotRecast.Detour.Crowd
         /// @param[in] option The new configuration.
         public void SetObstacleAvoidanceParams(int idx, DtObstacleAvoidanceParams option)
         {
-            if (idx >= 0 && idx < DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS)
+            if (idx >= 0 && idx < DtCrowdConst.DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS)
             {
                 _obstacleQueryParams[idx] = new DtObstacleAvoidanceParams(option);
             }
@@ -218,7 +215,7 @@ namespace DotRecast.Detour.Crowd
         /// @return The requested configuration.
         public DtObstacleAvoidanceParams GetObstacleAvoidanceParams(int idx)
         {
-            if (idx >= 0 && idx < DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS)
+            if (idx >= 0 && idx < DtCrowdConst.DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS)
             {
                 return _obstacleQueryParams[idx];
             }
@@ -234,23 +231,23 @@ namespace DotRecast.Detour.Crowd
             agent.option = option;
         }
 
-        /**
-     * Adds a new agent to the crowd.
-     *
-     * @param pos
-     *            The requested position of the agent. [(x, y, z)]
-     * @param params
-     *            The configuration of the agent.
-     * @return The newly created agent object
-     */
+        /// @par
+        ///
+        /// The agent's position will be constrained to the surface of the navigation mesh.
+        /// Adds a new agent to the crowd.
+        ///  @param[in]		pos		The requested position of the agent. [(x, y, z)]
+        ///  @param[in]		params	The configuration of the agent.
+        /// @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)
         {
-            DtCrowdAgent ag = new DtCrowdAgent(_agentId.GetAndIncrement());
-            _agents.Add(ag);
+            int idx = _agentIdx.GetAndIncrement();
+            DtCrowdAgent ag = new DtCrowdAgent(idx);
+            ag.corridor.Init(_maxPathResult);
+            AddAgent(ag);
             UpdateAgentParameters(ag, option);
 
             // Find nearest position on navmesh and place the agent there.
-            var status = _navQuery.FindNearestPoly(pos, _ext, _filters[ag.option.queryFilterType], out var refs, out var nearestPt, out var _);
+            var status = _navQuery.FindNearestPoly(pos, _agentPlacementHalfExtents, _filters[ag.option.queryFilterType], out var refs, out var nearestPt, out var _);
             if (status.Failed())
             {
                 nearestPt = pos;
@@ -263,6 +260,7 @@ namespace DotRecast.Detour.Crowd
 
             ag.topologyOptTime = 0;
             ag.targetReplanTime = 0;
+            ag.nneis = 0;
 
             ag.dvel = RcVec3f.Zero;
             ag.nvel = RcVec3f.Zero;
@@ -285,15 +283,27 @@ namespace DotRecast.Detour.Crowd
             return ag;
         }
 
-        /**
-     * Removes the agent from the crowd.
-     *
-     * @param agent
-     *            Agent to be removed
-     */
+        public DtCrowdAgent GetAgent(int idx)
+        {
+            return _agents.GetValueOrDefault(idx);
+        }
+
+        // Add the agent from the crowd.
+        public void AddAgent(DtCrowdAgent agent)
+        {
+            if (_agents.TryAdd(agent.idx, agent))
+            {
+                _activeAgents.Add(agent);
+            }
+        }
+
+        // Removes the agent from the crowd.
         public void RemoveAgent(DtCrowdAgent agent)
         {
-            _agents.Remove(agent);
+            if (_agents.Remove(agent.idx))
+            {
+                _activeAgents.Remove(agent);
+            }
         }
 
         private bool RequestMoveTargetReplan(DtCrowdAgent ag, long refs, RcVec3f pos)
@@ -365,17 +375,17 @@ namespace DotRecast.Detour.Crowd
      */
         public IList<DtCrowdAgent> GetActiveAgents()
         {
-            return _agents;
+            return _activeAgents;
         }
 
         public RcVec3f GetQueryExtents()
         {
-            return _ext;
+            return _agentPlacementHalfExtents;
         }
 
         public IDtQueryFilter GetFilter(int i)
         {
-            return i >= 0 && i < DT_CROWD_MAX_QUERY_FILTER_TYPE ? _filters[i] : null;
+            return i >= 0 && i < DtCrowdConst.DT_CROWD_MAX_QUERY_FILTER_TYPE ? _filters[i] : null;
         }
 
         public DtProximityGrid GetGrid()
@@ -451,8 +461,9 @@ namespace DotRecast.Detour.Crowd
         {
             using var timer = _telemetry.ScopedTimer(DtCrowdTimerLabel.CheckPathValidity);
 
-            foreach (DtCrowdAgent ag in agents)
+            for (var i = 0; i < agents.Count; i++)
             {
+                var ag = agents[i];
                 if (ag.state != DtCrowdAgentState.DT_CROWDAGENT_STATE_WALKING)
                 {
                     continue;
@@ -470,7 +481,7 @@ namespace DotRecast.Detour.Crowd
                 {
                     // Current location is not valid, try to reposition.
                     // TODO: this can snap agents, how to handle that?
-                    _navQuery.FindNearestPoly(ag.npos, _ext, _filters[ag.option.queryFilterType], out agentRef, out var nearestPt, out var _);
+                    _navQuery.FindNearestPoly(ag.npos, _agentPlacementHalfExtents, _filters[ag.option.queryFilterType], out agentRef, out var nearestPt, out var _);
                     agentPos = nearestPt;
 
                     if (agentRef == 0)
@@ -510,7 +521,7 @@ namespace DotRecast.Detour.Crowd
                     if (!_navQuery.IsValidPolyRef(ag.targetRef, _filters[ag.option.queryFilterType]))
                     {
                         // Current target is not valid, try to reposition.
-                        _navQuery.FindNearestPoly(ag.targetPos, _ext, _filters[ag.option.queryFilterType], out ag.targetRef, out var nearestPt, out var _);
+                        _navQuery.FindNearestPoly(ag.targetPos, _agentPlacementHalfExtents, _filters[ag.option.queryFilterType], out ag.targetRef, out var nearestPt, out var _);
                         ag.targetPos = nearestPt;
                         replan = true;
                     }
@@ -534,8 +545,7 @@ namespace DotRecast.Detour.Crowd
                     replan = true;
                 }
 
-                // If the end of the path is near and it is not the requested
-                // location, replan.
+                // If the end of the path is near and it is not the requested location, replan.
                 if (ag.targetState == DtMoveRequestState.DT_CROWDAGENT_TARGET_VALID)
                 {
                     if (ag.targetReplanTime > _config.targetReplanDelay && ag.corridor.GetPathCount() < _config.checkLookAhead
@@ -556,16 +566,21 @@ namespace DotRecast.Detour.Crowd
             }
         }
 
+        private readonly RcSortedQueue<DtCrowdAgent> UpdateMoveRequest_queue = new RcSortedQueue<DtCrowdAgent>((a1, a2) => a2.targetReplanTime.CompareTo(a1.targetReplanTime));
+        private readonly List<long> UpdateMoveRequest_reqPath = new List<long>();
         private void UpdateMoveRequest(IList<DtCrowdAgent> agents, float dt)
         {
             using var timer = _telemetry.ScopedTimer(DtCrowdTimerLabel.UpdateMoveRequest);
 
-            RcSortedQueue<DtCrowdAgent> queue = new RcSortedQueue<DtCrowdAgent>((a1, a2) => a2.targetReplanTime.CompareTo(a1.targetReplanTime));
+            RcSortedQueue<DtCrowdAgent> queue = UpdateMoveRequest_queue;
+            queue.Clear();
 
             // Fire off new requests.
-            List<long> reqPath = new List<long>();
-            foreach (DtCrowdAgent ag in agents)
+            List<long> reqPath = UpdateMoveRequest_reqPath;
+            reqPath.Clear();
+            for (var i = 0; i < agents.Count; i++)
             {
+                var ag = agents[i];
                 if (ag.state == DtCrowdAgentState.DT_CROWDAGENT_STATE_INVALID)
                 {
                     continue;
@@ -595,7 +610,7 @@ namespace DotRecast.Detour.Crowd
                     if (ag.targetReplan) // && npath > 10)
                     {
                         // Try to use existing steady path during replan if possible.
-                        status = _navQuery.FinalizeSlicedFindPathPartial(path, ref reqPath);
+                        status = _navQuery.FinalizeSlicedFindPathPartial(path, path.Count, ref reqPath);
                     }
                     else
                     {
@@ -677,8 +692,9 @@ namespace DotRecast.Detour.Crowd
             }
 
             // Process path results.
-            foreach (DtCrowdAgent ag in agents)
+            for (var i = 0; i < agents.Count; i++)
             {
+                var ag = agents[i];
                 if (ag.targetState == DtMoveRequestState.DT_CROWDAGENT_TARGET_NONE
                     || ag.targetState == DtMoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY)
                 {
@@ -816,8 +832,9 @@ namespace DotRecast.Detour.Crowd
 
             RcSortedQueue<DtCrowdAgent> queue = new RcSortedQueue<DtCrowdAgent>((a1, a2) => a2.topologyOptTime.CompareTo(a1.topologyOptTime));
 
-            foreach (DtCrowdAgent ag in agents)
+            for (var i = 0; i < agents.Count; i++)
             {
+                var ag = agents[i];
                 if (ag.state != DtCrowdAgentState.DT_CROWDAGENT_STATE_WALKING)
                 {
                     continue;
@@ -853,10 +870,11 @@ namespace DotRecast.Detour.Crowd
         {
             using var timer = _telemetry.ScopedTimer(DtCrowdTimerLabel.BuildProximityGrid);
 
-            _grid = new DtProximityGrid(_config.maxAgentRadius * 3);
+            _grid.Clear();
 
-            foreach (DtCrowdAgent ag in agents)
+            for (var i = 0; i < agents.Count; i++)
             {
+                var ag = agents[i];
                 RcVec3f p = ag.npos;
                 float r = ag.option.radius;
                 _grid.AddItem(ag, p.X - r, p.Z - r, p.X + r, p.Z + r);
@@ -867,8 +885,9 @@ namespace DotRecast.Detour.Crowd
         {
             using var timer = _telemetry.ScopedTimer(DtCrowdTimerLabel.BuildNeighbours);
 
-            foreach (DtCrowdAgent ag in agents)
+            for (var i = 0; i < agents.Count; i++)
             {
+                var ag = agents[i];
                 if (ag.state != DtCrowdAgentState.DT_CROWDAGENT_STATE_WALKING)
                 {
                     continue;
@@ -877,7 +896,7 @@ namespace DotRecast.Detour.Crowd
                 // Update the collision boundary after certain distance has been passed or
                 // if it has become invalid.
                 float updateThr = ag.option.collisionQueryRange * 0.25f;
-                if (RcVecUtils.Dist2DSqr(ag.npos, ag.boundary.GetCenter()) > RcMath.Sqr(updateThr)
+                if (RcVec.Dist2DSqr(ag.npos, ag.boundary.GetCenter()) > RcMath.Sqr(updateThr)
                     || !ag.boundary.IsValid(_navQuery, _filters[ag.option.queryFilterType]))
                 {
                     ag.boundary.Update(ag.corridor.GetFirstPoly(), ag.npos, ag.option.collisionQueryRange, _navQuery,
@@ -885,19 +904,66 @@ namespace DotRecast.Detour.Crowd
                 }
 
                 // Query neighbour agents
-                GetNeighbours(ag.npos, ag.option.height, ag.option.collisionQueryRange, ag, ref ag.neis, _grid);
+                ag.nneis = GetNeighbours(ag.npos, ag.option.height, ag.option.collisionQueryRange, ag, ag.neis, DtCrowdConst.DT_CROWDAGENT_MAX_NEIGHBOURS, _grid);
             }
         }
 
-
-        private int GetNeighbours(RcVec3f pos, float height, float range, DtCrowdAgent skip, ref List<DtCrowdNeighbour> result, DtProximityGrid grid)
+        public static int AddNeighbour(DtCrowdAgent idx, float dist, Span<DtCrowdNeighbour> neis, int nneis, int maxNeis)
         {
-            result.Clear();
-
-            var proxAgents = new HashSet<DtCrowdAgent>();
-            int nids = grid.QueryItems(pos.X - range, pos.Z - range, pos.X + range, pos.Z + range, ref proxAgents);
-            foreach (DtCrowdAgent ag in proxAgents)
+            // Insert neighbour based on the distance.
+            int nei = 0;
+            if (0 == nneis)
             {
+                nei = nneis;
+            }
+            else if (dist >= neis[nneis - 1].dist)
+            {
+                if (nneis >= maxNeis)
+                    return nneis;
+                nei = nneis;
+            }
+            else
+            {
+                int i;
+                for (i = 0; i < nneis; ++i)
+                {
+                    if (dist <= neis[i].dist)
+                    {
+                        break;
+                    }
+                }
+
+                int tgt = i + 1;
+                int n = Math.Min(nneis - i, maxNeis - tgt);
+                
+                Debug.Assert(tgt + n <= maxNeis);
+
+                if (n > 0)
+                {
+                    RcSpans.Move(neis, i, tgt, n);
+                }
+
+                nei = i;
+            }
+
+            neis[nei] = new DtCrowdNeighbour(idx, dist);
+
+            return Math.Min(nneis + 1, maxNeis);
+        }
+
+        private int GetNeighbours(RcVec3f pos, float height, float range, DtCrowdAgent skip, DtCrowdNeighbour[] result, int maxResult, DtProximityGrid grid)
+        {
+            int n = 0;
+
+            const int MAX_NEIS = 32;
+            Span<int> ids = stackalloc int[MAX_NEIS];
+            int nids = grid.QueryItems(pos.X - range, pos.Z - range,
+                pos.X + range, pos.Z + range,
+                ids, ids.Length);
+
+            for (int i = 0; i < nids; ++i)
+            {
+                var ag = GetAgent(ids[i]);
                 if (ag == skip)
                 {
                     continue;
@@ -917,11 +983,10 @@ namespace DotRecast.Detour.Crowd
                     continue;
                 }
 
-                result.Add(new DtCrowdNeighbour(ag, distSqr));
+                n = AddNeighbour(ag, distSqr, result, n, maxResult);
             }
 
-            result.Sort((o1, o2) => o1.dist.CompareTo(o2.dist));
-            return result.Count;
+            return n;
         }
 
         private void FindCorners(IList<DtCrowdAgent> agents, DtCrowdAgentDebugInfo debug)
@@ -929,8 +994,9 @@ namespace DotRecast.Detour.Crowd
             using var timer = _telemetry.ScopedTimer(DtCrowdTimerLabel.FindCorners);
 
             DtCrowdAgent debugAgent = debug != null ? debug.agent : null;
-            foreach (DtCrowdAgent ag in agents)
+            for (var i = 0; i < agents.Count; i++)
             {
+                var ag = agents[i];
                 if (ag.state != DtCrowdAgentState.DT_CROWDAGENT_STATE_WALKING)
                 {
                     continue;
@@ -943,13 +1009,13 @@ namespace DotRecast.Detour.Crowd
                 }
 
                 // Find corners for steering
-                ag.corridor.FindCorners(ref ag.corners, DT_CROWDAGENT_MAX_CORNERS, _navQuery, _filters[ag.option.queryFilterType]);
+                ag.ncorners = ag.corridor.FindCorners(ag.corners, DtCrowdConst.DT_CROWDAGENT_MAX_CORNERS, _navQuery, _filters[ag.option.queryFilterType]);
 
                 // Check to see if the corner after the next corner is directly visible,
                 // and short cut to there.
-                if ((ag.option.updateFlags & DtCrowdAgentUpdateFlags.DT_CROWD_OPTIMIZE_VIS) != 0 && ag.corners.Count > 0)
+                if ((ag.option.updateFlags & DtCrowdAgentUpdateFlags.DT_CROWD_OPTIMIZE_VIS) != 0 && ag.ncorners > 0)
                 {
-                    RcVec3f target = ag.corners[Math.Min(1, ag.corners.Count - 1)].pos;
+                    RcVec3f target = ag.corners[Math.Min(1, ag.ncorners - 1)].pos;
                     ag.corridor.OptimizePathVisibility(target, ag.option.pathOptimizationRange, _navQuery,
                         _filters[ag.option.queryFilterType]);
 
@@ -976,8 +1042,9 @@ namespace DotRecast.Detour.Crowd
         {
             using var timer = _telemetry.ScopedTimer(DtCrowdTimerLabel.TriggerOffMeshConnections);
 
-            foreach (DtCrowdAgent ag in agents)
+            for (var i = 0; i < agents.Count; i++)
             {
+                var ag = agents[i];
                 if (ag.state != DtCrowdAgentState.DT_CROWDAGENT_STATE_WALKING)
                 {
                     continue;
@@ -990,7 +1057,7 @@ namespace DotRecast.Detour.Crowd
                 }
 
                 // Check
-                float triggerRadius = ag.option.radius * 2.25f;
+                float triggerRadius = ag.option.radius * 0.25f;//todo make parameterizable
                 if (ag.OverOffmeshConnection(triggerRadius))
                 {
                     // Prepare to off-mesh connection.
@@ -998,18 +1065,18 @@ namespace DotRecast.Detour.Crowd
 
                     // Adjust the path over the off-mesh connection.
                     long[] refs = new long[2];
-                    if (ag.corridor.MoveOverOffmeshConnection(ag.corners[ag.corners.Count - 1].refs, refs, ref anim.startPos,
+                    if (ag.corridor.MoveOverOffmeshConnection(ag.corners[ag.ncorners - 1].refs, refs, ref anim.startPos,
                             ref anim.endPos, _navQuery))
                     {
                         anim.initPos = ag.npos;
                         anim.polyRef = refs[1];
                         anim.active = true;
                         anim.t = 0.0f;
-                        anim.tmax = (RcVecUtils.Dist2D(anim.startPos, anim.endPos) / ag.option.maxSpeed) * 0.5f;
+                        anim.tmax = (RcVec.Dist2D(anim.startPos, anim.endPos) / ag.option.maxSpeed) * 0.5f;
 
                         ag.state = DtCrowdAgentState.DT_CROWDAGENT_STATE_OFFMESH;
-                        ag.corners.Clear();
-                        ag.neis.Clear();
+                        ag.ncorners = 0;
+                        ag.nneis = 0;
                         continue;
                     }
                     else
@@ -1024,8 +1091,9 @@ namespace DotRecast.Detour.Crowd
         {
             using var timer = _telemetry.ScopedTimer(DtCrowdTimerLabel.CalculateSteering);
 
-            foreach (DtCrowdAgent ag in agents)
+            for (var i = 0; i < agents.Count; i++)
             {
+                var ag = agents[i];
                 if (ag.state != DtCrowdAgentState.DT_CROWDAGENT_STATE_WALKING)
                 {
                     continue;
@@ -1060,7 +1128,7 @@ namespace DotRecast.Detour.Crowd
                     float speedScale = ag.GetDistanceToGoal(slowDownRadius) / slowDownRadius;
 
                     ag.desiredSpeed = ag.option.maxSpeed;
-                    dvel = dvel.Scale(ag.desiredSpeed * speedScale);
+                    dvel = dvel * (ag.desiredSpeed * speedScale);
                 }
 
                 // Separation
@@ -1073,7 +1141,7 @@ namespace DotRecast.Detour.Crowd
                     float w = 0;
                     RcVec3f disp = new RcVec3f();
 
-                    for (int j = 0; j < ag.neis.Count; ++j)
+                    for (int j = 0; j < ag.nneis; ++j)
                     {
                         DtCrowdAgent nei = ag.neis[j].agent;
 
@@ -1094,20 +1162,20 @@ namespace DotRecast.Detour.Crowd
                         float dist = MathF.Sqrt(distSqr);
                         float weight = separationWeight * (1.0f - RcMath.Sqr(dist * invSeparationDist));
 
-                        disp = RcVecUtils.Mad(disp, diff, weight / dist);
+                        disp = RcVec.Mad(disp, diff, weight / dist);
                         w += 1.0f;
                     }
 
                     if (w > 0.0001f)
                     {
                         // Adjust desired velocity.
-                        dvel = RcVecUtils.Mad(dvel, disp, 1.0f / w);
+                        dvel = RcVec.Mad(dvel, disp, 1.0f / w);
                         // Clamp desired velocity to desired speed.
                         float speedSqr = dvel.LengthSquared();
                         float desiredSqr = RcMath.Sqr(ag.desiredSpeed);
                         if (speedSqr > desiredSqr)
                         {
-                            dvel = dvel.Scale(desiredSqr / speedSqr);
+                            dvel = dvel * (desiredSqr / speedSqr);
                         }
                     }
                 }
@@ -1122,8 +1190,9 @@ namespace DotRecast.Detour.Crowd
             using var timer = _telemetry.ScopedTimer(DtCrowdTimerLabel.PlanVelocity);
 
             DtCrowdAgent debugAgent = debug != null ? debug.agent : null;
-            foreach (DtCrowdAgent ag in agents)
+            for (var i = 0; i < agents.Count; i++)
             {
+                var ag = agents[i];
                 if (ag.state != DtCrowdAgentState.DT_CROWDAGENT_STATE_WALKING)
                 {
                     continue;
@@ -1134,9 +1203,12 @@ namespace DotRecast.Detour.Crowd
                     _obstacleQuery.Reset();
 
                     // Add neighbours as obstacles.
-                    for (int j = 0; j < ag.neis.Count; ++j)
+                    for (int j = 0; j < ag.nneis; ++j)
                     {
                         DtCrowdAgent nei = ag.neis[j].agent;
+                        if(!nei.option.contributeObstacleAvoidance || nei.option.obstacleAvoidanceWeight < ag.option.obstacleAvoidanceWeight)
+                            continue;
+                        
                         _obstacleQuery.AddCircle(nei.npos, nei.option.radius, nei.vel, nei.dvel);
                     }
 
@@ -1145,7 +1217,7 @@ namespace DotRecast.Detour.Crowd
                     {
                         RcVec3f[] s = ag.boundary.GetSegment(j);
                         RcVec3f s3 = s[1];
-                        //Array.Copy(s, 3, s3, 0, 3);
+                        //RcArrays.Copy(s, 3, s3, 0, 3);
                         if (DtUtils.TriArea2D(ag.npos, s[0], s3) < 0.0f)
                         {
                             continue;
@@ -1191,8 +1263,9 @@ namespace DotRecast.Detour.Crowd
         {
             using var timer = _telemetry.ScopedTimer(DtCrowdTimerLabel.Integrate);
 
-            foreach (DtCrowdAgent ag in agents)
+            for (var i = 0; i < agents.Count; i++)
             {
+                var ag = agents[i];
                 if (ag.state != DtCrowdAgentState.DT_CROWDAGENT_STATE_WALKING)
                 {
                     continue;
@@ -1208,8 +1281,9 @@ namespace DotRecast.Detour.Crowd
 
             for (int iter = 0; iter < 4; ++iter)
             {
-                foreach (DtCrowdAgent ag in agents)
+                for (var i = 0; i < agents.Count; i++)
                 {
+                    var ag = agents[i];
                     long idx0 = ag.idx;
                     if (ag.state != DtCrowdAgentState.DT_CROWDAGENT_STATE_WALKING)
                     {
@@ -1220,7 +1294,7 @@ namespace DotRecast.Detour.Crowd
 
                     float w = 0;
 
-                    for (int j = 0; j < ag.neis.Count; ++j)
+                    for (int j = 0; j < ag.nneis; ++j)
                     {
                         DtCrowdAgent nei = ag.neis[j].agent;
                         long idx1 = nei.idx;
@@ -1254,7 +1328,7 @@ namespace DotRecast.Detour.Crowd
                             pen = (1.0f / dist) * (pen * 0.5f) * _config.collisionResolveFactor;
                         }
 
-                        ag.disp = RcVecUtils.Mad(ag.disp, diff, pen);
+                        ag.disp = RcVec.Mad(ag.disp, diff, pen);
 
                         w += 1.0f;
                     }
@@ -1262,12 +1336,13 @@ namespace DotRecast.Detour.Crowd
                     if (w > 0.0001f)
                     {
                         float iw = 1.0f / w;
-                        ag.disp = ag.disp.Scale(iw);
+                        ag.disp = ag.disp * iw;
                     }
                 }
 
-                foreach (DtCrowdAgent ag in agents)
+                for (var i = 0; i < agents.Count; i++)
                 {
+                    var ag = agents[i];
                     if (ag.state != DtCrowdAgentState.DT_CROWDAGENT_STATE_WALKING)
                     {
                         continue;
@@ -1282,8 +1357,9 @@ namespace DotRecast.Detour.Crowd
         {
             using var timer = _telemetry.ScopedTimer(DtCrowdTimerLabel.MoveAgents);
 
-            foreach (DtCrowdAgent ag in agents)
+            for (var i = 0; i < agents.Count; i++)
             {
+                var ag = agents[i];
                 if (ag.state != DtCrowdAgentState.DT_CROWDAGENT_STATE_WALKING)
                 {
                     continue;
@@ -1308,8 +1384,9 @@ namespace DotRecast.Detour.Crowd
         {
             using var timer = _telemetry.ScopedTimer(DtCrowdTimerLabel.UpdateOffMeshConnections);
 
-            foreach (DtCrowdAgent ag in agents)
+            for (var i = 0; i < agents.Count; i++)
             {
+                var ag = agents[i];
                 DtCrowdAgentAnimation anim = ag.animation;
                 if (!anim.active)
                 {

src/DotRecast.Detour.Crowd/DtCrowdAgent.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -28,75 +28,53 @@ namespace DotRecast.Detour.Crowd
     /// @ingroup crowd
     public class DtCrowdAgent
     {
-        public readonly long idx;
+        public readonly int idx;
 
         /// The type of mesh polygon the agent is traversing. (See: #CrowdAgentState)
         public DtCrowdAgentState state;
 
-        /// True if the agent has valid path (targetState == DT_CROWDAGENT_TARGET_VALID) and the path does not lead to the
-        /// requested position, else false.
+        /// True if the agent has valid path (targetState == DT_CROWDAGENT_TARGET_VALID) and the path does not lead to the requested position, else false.
         public bool partial;
 
         /// The path corridor the agent is using.
-        public DtPathCorridor corridor;
+        public readonly DtPathCorridor corridor;
 
         /// The local boundary data for the agent.
-        public DtLocalBoundary boundary;
+        public readonly DtLocalBoundary boundary;
 
         /// Time since the agent's path corridor was optimized.
         public float topologyOptTime;
 
         /// The known neighbors of the agent.
-        public List<DtCrowdNeighbour> neis = new List<DtCrowdNeighbour>();
+        public readonly DtCrowdNeighbour[] neis = new DtCrowdNeighbour[DtCrowdConst.DT_CROWDAGENT_MAX_NEIGHBOURS];
+        
+        /// The number of neighbors.
+        public int nneis;
 
         /// The desired speed.
         public float desiredSpeed;
 
-        public RcVec3f npos = new RcVec3f();
+        public RcVec3f npos = new RcVec3f(); // < The current agent position. [(x, y, z)]
+        public RcVec3f disp = new RcVec3f(); // < A temporary value used to accumulate agent displacement during iterative collision resolution. [(x, y, z)]
+        public RcVec3f dvel = new RcVec3f(); // < The desired velocity of the agent. Based on the current path, calculated from scratch each frame. [(x, y, z)]
+        public RcVec3f nvel = new RcVec3f(); // < The desired velocity adjusted by obstacle avoidance, calculated from scratch each frame. [(x, y, z)]
+        public RcVec3f vel = new RcVec3f(); // < The actual velocity of the agent. The change from nvel -> vel is constrained by max acceleration. [(x, y, z)]
 
-        /// < The current agent position. [(x, y, z)]
-        public RcVec3f disp = new RcVec3f();
-
-        /// < A temporary value used to accumulate agent displacement during iterative
-        /// collision resolution. [(x, y, z)]
-        public RcVec3f dvel = new RcVec3f();
-
-        /// < The desired velocity of the agent. Based on the current path, calculated
-        /// from
-        /// scratch each frame. [(x, y, z)]
-        public RcVec3f nvel = new RcVec3f();
-
-        /// < The desired velocity adjusted by obstacle avoidance, calculated from scratch each
-        /// frame. [(x, y, z)]
-        public RcVec3f vel = new RcVec3f();
-
-        /// < The actual velocity of the agent. The change from nvel -> vel is
-        /// constrained by max acceleration. [(x, y, z)]
         /// The agent's configuration parameters.
         public DtCrowdAgentParams option;
 
         /// The local path corridor corners for the agent.
-        public List<DtStraightPath> corners = new List<DtStraightPath>();
+        public DtStraightPath[] corners = new DtStraightPath[DtCrowdConst.DT_CROWDAGENT_MAX_CORNERS];
 
-        public DtMoveRequestState targetState;
+        /// The number of corners.
+        public int ncorners;
 
-        /// < State of the movement request.
-        public long targetRef;
-
-        /// < Target polyref of the movement request.
-        public RcVec3f targetPos = new RcVec3f();
-
-        /// < Target position of the movement request (or velocity in case of
-        /// DT_CROWDAGENT_TARGET_VELOCITY).
-        public DtPathQueryResult targetPathQueryResult;
-
-        /// < Path finder query
-        public bool targetReplan;
-
-        /// < Flag indicating that the current path is being replanned.
-        public float targetReplanTime;
-
-        /// <Time since the agent's target was replanned.
+        public DtMoveRequestState targetState; // < State of the movement request.
+        public long targetRef; // < Target polyref of the movement request.
+        public RcVec3f targetPos = new RcVec3f(); // < Target position of the movement request (or velocity in case of DT_CROWDAGENT_TARGET_VELOCITY).
+        public DtPathQueryResult targetPathQueryResult; // < Path finder query
+        public bool targetReplan; // < Flag indicating that the current path is being replanned.
+        public float targetReplanTime; // <Time since the agent's target was replanned.
         public float targetReplanWaitTime;
 
         public DtCrowdAgentAnimation animation;
@@ -116,28 +94,28 @@ namespace DotRecast.Detour.Crowd
             RcVec3f dv = RcVec3f.Subtract(nvel, vel);
             float ds = dv.Length();
             if (ds > maxDelta)
-                dv = dv.Scale(maxDelta / ds);
+                dv = dv * (maxDelta / ds);
             vel = RcVec3f.Add(vel, dv);
 
             // Integrate
             if (vel.Length() > 0.0001f)
-                npos = RcVecUtils.Mad(npos, vel, dt);
+                npos = RcVec.Mad(npos, vel, dt);
             else
                 vel = RcVec3f.Zero;
         }
 
         public bool OverOffmeshConnection(float radius)
         {
-            if (0 == corners.Count)
+            if (0 == ncorners)
                 return false;
 
-            bool offMeshConnection = ((corners[corners.Count - 1].flags
+            bool offMeshConnection = ((corners[ncorners - 1].flags
                                        & DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0)
                 ? true
                 : false;
             if (offMeshConnection)
             {
-                float distSq = RcVecUtils.Dist2DSqr(npos, corners[corners.Count - 1].pos);
+                float distSq = RcVec.Dist2DSqr(npos, corners[ncorners - 1].pos);
                 if (distSq < radius * radius)
                     return true;
             }
@@ -147,12 +125,12 @@ namespace DotRecast.Detour.Crowd
 
         public float GetDistanceToGoal(float range)
         {
-            if (0 == corners.Count)
+            if (0 == ncorners)
                 return range;
 
-            bool endOfPath = ((corners[corners.Count - 1].flags & DtStraightPathFlags.DT_STRAIGHTPATH_END) != 0) ? true : false;
+            bool endOfPath = ((corners[ncorners - 1].flags & DtStraightPathFlags.DT_STRAIGHTPATH_END) != 0) ? true : false;
             if (endOfPath)
-                return Math.Min(RcVecUtils.Dist2D(npos, corners[corners.Count - 1].pos), range);
+                return Math.Min(RcVec.Dist2D(npos, corners[ncorners - 1].pos), range);
 
             return range;
         }
@@ -160,10 +138,10 @@ namespace DotRecast.Detour.Crowd
         public RcVec3f CalcSmoothSteerDirection()
         {
             RcVec3f dir = new RcVec3f();
-            if (0 < corners.Count)
+            if (0 < ncorners)
             {
                 int ip0 = 0;
-                int ip1 = Math.Min(1, corners.Count - 1);
+                int ip1 = Math.Min(1, ncorners - 1);
                 var p0 = corners[ip0].pos;
                 var p1 = corners[ip1].pos;
 
@@ -175,7 +153,7 @@ namespace DotRecast.Detour.Crowd
                 float len0 = dir0.Length();
                 float len1 = dir1.Length();
                 if (len1 > 0.001f)
-                    dir1 = dir1.Scale(1.0f / len1);
+                    dir1 = dir1 * (1.0f / len1);
 
                 dir.X = dir0.X - dir1.X * len0 * 0.5f;
                 dir.Y = 0;
@@ -189,7 +167,7 @@ namespace DotRecast.Detour.Crowd
         public RcVec3f CalcStraightSteerDirection()
         {
             RcVec3f dir = new RcVec3f();
-            if (0 < corners.Count)
+            if (0 < ncorners)
             {
                 dir = RcVec3f.Subtract(corners[0].pos, npos);
                 dir.Y = 0;

src/DotRecast.Detour.Crowd/DtCrowdAgentAnimation.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

src/DotRecast.Detour.Crowd/DtCrowdAgentConfig.cs

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

src/DotRecast.Detour.Crowd/DtCrowdAgentDebugInfo.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

src/DotRecast.Detour.Crowd/DtCrowdAgentParams.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -24,23 +24,15 @@ namespace DotRecast.Detour.Crowd
     /// @ingroup crowd
     public class DtCrowdAgentParams
     {
-        /// < Agent radius. [Limit: >= 0]
-        public float radius;
-
-        /// < Agent height. [Limit: > 0]
-        public float height;
-
-        /// < Maximum allowed acceleration. [Limit: >= 0]
-        public float maxAcceleration;
-
-        /// < Maximum allowed speed. [Limit: >= 0]
-        public float maxSpeed;
+        public float radius; // < Agent radius. [Limit: >= 0]
+        public float height; // < Agent height. [Limit: > 0]
+        public float maxAcceleration; // < Maximum allowed acceleration. [Limit: >= 0]
+        public float maxSpeed; // < Maximum allowed speed. [Limit: >= 0]
 
         /// Defines how close a collision element must be before it is considered for steering behaviors. [Limits: > 0]
         public float collisionQueryRange;
 
-        /// < The path visibility optimization range. [Limit: > 0]
-        public float pathOptimizationRange;
+        public float pathOptimizationRange; // < The path visibility optimization range. [Limit: > 0]
 
         /// How aggresive the agent manager should be at avoiding collisions with this agent. [Limit: >= 0]
         public float separationWeight;
@@ -53,6 +45,9 @@ namespace DotRecast.Detour.Crowd
         /// [Limits: 0 <= value < #DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS]
         public int obstacleAvoidanceType;
 
+        public bool contributeObstacleAvoidance;
+        public float obstacleAvoidanceWeight;
+
         /// The index of the query filter used by this agent.
         public int queryFilterType;
 

src/DotRecast.Detour.Crowd/DtCrowdAgentState.cs

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

src/DotRecast.Detour.Crowd/DtCrowdAgentUpdateFlags.cs

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

src/DotRecast.Detour.Crowd/DtCrowdConfig.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -23,52 +23,16 @@ namespace DotRecast.Detour.Crowd
     {
         public readonly float maxAgentRadius;
 
-        /**
-     * Max number of path requests in the queue
-     */
-        public int pathQueueSize = 32;
-
-        /**
-     * Max number of sliced path finding iterations executed per update (used to handle longer paths and replans)
-     */
-        public int maxFindPathIterations = 100;
-
-        /**
-     * Max number of sliced path finding iterations executed per agent to find the initial path to target
-     */
-        public int maxTargetFindPathIterations = 20;
-
-        /**
-     * Min time between topology optimizations (in seconds)
-     */
-        public float topologyOptimizationTimeThreshold = 0.5f;
-
-        /**
-     * The number of polygons from the beginning of the corridor to check to ensure path validity
-     */
-        public int checkLookAhead = 10;
-
-        /**
-     * Min time between target re-planning (in seconds)
-     */
-        public float targetReplanDelay = 1.0f;
-
-        /**
-     * Max number of sliced path finding iterations executed per topology optimization per agent
-     */
-        public int maxTopologyOptimizationIterations = 32;
-
+        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 = 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)
+        public int maxTopologyOptimizationIterations = 32; // Max number of sliced path finding iterations executed per topology optimization per agent
         public float collisionResolveFactor = 0.7f;
-
-        /**
-     * Max number of neighbour agents to consider in obstacle avoidance processing
-     */
-        public int maxObstacleAvoidanceCircles = 6;
-
-        /**
-     * Max number of neighbour segments to consider in obstacle avoidance processing
-     */
-        public int maxObstacleAvoidanceSegments = 8;
+        public int maxObstacleAvoidanceCircles = 6; // Max number of neighbour agents to consider in obstacle avoidance processing
+        public int maxObstacleAvoidanceSegments = 8; // Max number of neighbour segments to consider in obstacle avoidance processing
 
         public DtCrowdConfig(float maxAgentRadius)
         {

src/DotRecast.Detour.Crowd/DtCrowdConst.cs

@@ -0,0 +1,35 @@
+namespace DotRecast.Detour.Crowd
+{
+    public static class DtCrowdConst
+    {
+        /// The maximum number of neighbors that a crowd agent can take into account
+        /// for steering decisions.
+        /// @ingroup crowd
+        public const int DT_CROWDAGENT_MAX_NEIGHBOURS = 6;
+        
+        /// The maximum number of corners a crowd agent will look ahead in the path.
+        /// This value is used for sizing the crowd agent corner buffers.
+        /// Due to the behavior of the crowd manager, the actual number of useful
+        /// corners will be one less than this number.
+        /// @ingroup crowd
+        public const int DT_CROWDAGENT_MAX_CORNERS = 4;
+
+        /// The maximum number of crowd avoidance configurations supported by the
+        /// crowd manager.
+        /// @ingroup crowd
+        /// @see dtObstacleAvoidanceParams, dtCrowd::SetObstacleAvoidanceParams(), dtCrowd::GetObstacleAvoidanceParams(),
+        /// dtCrowdAgentParams::obstacleAvoidanceType
+        public const int DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS = 8;
+
+        /// The maximum number of query filter types supported by the crowd manager.
+        /// @ingroup crowd
+        /// @see dtQueryFilter, dtCrowd::GetFilter() dtCrowd::GetEditableFilter(),
+        /// dtCrowdAgentParams::queryFilterType
+        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;
+        public const int MAX_COMMON_NODES = 512;
+        public const int MAX_PATH_RESULT = 256;
+    }
+}

src/DotRecast.Detour.Crowd/DtCrowdNeighbour.cs

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

src/DotRecast.Detour.Crowd/DtCrowdScopedTimer.cs

@@ -0,0 +1,23 @@
+using System;
+
+namespace DotRecast.Detour.Crowd
+{
+    internal readonly struct DtCrowdScopedTimer : IDisposable
+    {
+        private readonly DtCrowdTimerLabel _label;
+        private readonly DtCrowdTelemetry _telemetry;
+
+        internal DtCrowdScopedTimer(DtCrowdTelemetry telemetry, DtCrowdTimerLabel label)
+        {
+            _telemetry = telemetry;
+            _label = label;
+
+            _telemetry.Start(_label);
+        }
+
+        public void Dispose()
+        {
+            _telemetry.Stop(_label);
+        }
+    }
+}

src/DotRecast.Detour.Crowd/DtCrowdTelemetry.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -19,11 +19,9 @@ freely, subject to the following restrictions:
 
 using System;
 using System.Collections.Generic;
-using System.Diagnostics;
 using System.Linq;
-using System.Reflection.Emit;
 using DotRecast.Core;
-using DotRecast.Core.Numerics;
+using DotRecast.Core.Buffers;
 
 namespace DotRecast.Detour.Crowd
 {
@@ -34,7 +32,7 @@ namespace DotRecast.Detour.Crowd
         private float _maxTimeToFindPath;
 
         private readonly Dictionary<DtCrowdTimerLabel, long> _executionTimings = new Dictionary<DtCrowdTimerLabel, long>();
-        private readonly Dictionary<DtCrowdTimerLabel, List<long>> _executionTimingSamples = new Dictionary<DtCrowdTimerLabel, List<long>>();
+        private readonly Dictionary<DtCrowdTimerLabel, RcCyclicBuffer<long>> _executionTimingSamples = new Dictionary<DtCrowdTimerLabel, RcCyclicBuffer<long>>();
 
         public float MaxTimeToEnqueueRequest()
         {
@@ -71,33 +69,27 @@ namespace DotRecast.Detour.Crowd
             _maxTimeToFindPath = Math.Max(_maxTimeToFindPath, time);
         }
 
-        public IDisposable ScopedTimer(DtCrowdTimerLabel label)
+        internal DtCrowdScopedTimer ScopedTimer(DtCrowdTimerLabel label)
         {
-            Start(label);
-            return new RcAnonymousDisposable(() => Stop(label));
+            return new DtCrowdScopedTimer(this, label);
         }
 
-        private void Start(DtCrowdTimerLabel name)
+        internal void Start(DtCrowdTimerLabel name)
         {
             _executionTimings.Add(name, RcFrequency.Ticks);
         }
 
-        private void Stop(DtCrowdTimerLabel name)
+        internal void Stop(DtCrowdTimerLabel name)
         {
             long duration = RcFrequency.Ticks - _executionTimings[name];
-            if (!_executionTimingSamples.TryGetValue(name, out var s))
+            if (!_executionTimingSamples.TryGetValue(name, out var cb))
             {
-                s = new List<long>();
-                _executionTimingSamples.Add(name, s);
+                cb = new RcCyclicBuffer<long>(TIMING_SAMPLES);
+                _executionTimingSamples.Add(name, cb);
             }
 
-            if (s.Count == TIMING_SAMPLES)
-            {
-                s.RemoveAt(0);
-            }
-
-            s.Add(duration);
-            _executionTimings[name] = (long)s.Average();
+            cb.PushBack(duration);
+            _executionTimings[name] = (long)cb.Average();
         }
     }
 }

src/DotRecast.Detour.Crowd/DtCrowdTimerLabel.cs

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

src/DotRecast.Detour.Crowd/DtLocalBoundary.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -18,6 +18,7 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using System;
 using System.Collections.Generic;
 using DotRecast.Core;
 using DotRecast.Core.Numerics;
@@ -25,8 +26,6 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour.Crowd
 {
-    
-
     public class DtLocalBoundary
     {
         public const int MAX_LOCAL_SEGS = 8;
@@ -54,7 +53,7 @@ namespace DotRecast.Detour.Crowd
             DtSegment seg = new DtSegment();
             seg.s[0] = s.vmin;
             seg.s[1] = s.vmax;
-            //Array.Copy(s, seg.s, 6);
+            //RcArrays.Copy(s, seg.s, 6);
             seg.d = dist;
             if (0 == m_segs.Count)
             {
@@ -92,6 +91,8 @@ namespace DotRecast.Detour.Crowd
 
         public void Update(long startRef, RcVec3f pos, float collisionQueryRange, DtNavMeshQuery navquery, IDtQueryFilter filter)
         {
+            const int MAX_SEGS_PER_POLY = DtDetour.DT_VERTS_PER_POLYGON * 3;
+
             if (startRef == 0)
             {
                 Reset();
@@ -106,18 +107,17 @@ namespace DotRecast.Detour.Crowd
             {
                 // Secondly, store all polygon edges.
                 m_segs.Clear();
-
-                var segmentVerts = new List<RcSegmentVert>();
-                var segmentRefs = new List<long>();
+                Span<RcSegmentVert> segs = stackalloc RcSegmentVert[MAX_SEGS_PER_POLY];
+                int nsegs = 0;
 
                 for (int j = 0; j < m_polys.Count; ++j)
                 {
-                    var result = navquery.GetPolyWallSegments(m_polys[j], false, filter, ref segmentVerts, ref segmentRefs);
+                    var result = navquery.GetPolyWallSegments(m_polys[j], filter, segs, null, ref nsegs, MAX_SEGS_PER_POLY);
                     if (result.Succeeded())
                     {
-                        for (int k = 0; k < segmentRefs.Count; ++k)
+                        for (int k = 0; k < nsegs; ++k)
                         {
-                            RcSegmentVert s = segmentVerts[k];
+                            ref RcSegmentVert s = ref segs[k];
                             var s0 = s.vmin;
                             var s3 = s.vmax;
 

src/DotRecast.Detour.Crowd/DtMoveRequestState.cs

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

src/DotRecast.Detour.Crowd/DtObstacleAvoidanceDebugData.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

src/DotRecast.Detour.Crowd/DtObstacleAvoidanceParams.cs

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

src/DotRecast.Detour.Crowd/DtObstacleAvoidanceQuery.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -19,6 +19,7 @@ freely, subject to the following restrictions:
 */
 
 using System;
+using System.Runtime.CompilerServices;
 using DotRecast.Core;
 using DotRecast.Core.Numerics;
 
@@ -27,11 +28,9 @@ namespace DotRecast.Detour.Crowd
 {
     public class DtObstacleAvoidanceQuery
     {
-        public const int DT_MAX_PATTERN_DIVS = 32;
-
-        /// < Max numver of adaptive divs.
+        public const int DT_MAX_PATTERN_DIVS = 32; // < Max numver of adaptive divs.
         public const int DT_MAX_PATTERN_RINGS = 4;
-
+        public const float DT_PI = 3.14159265f;
 
         private DtObstacleAvoidanceParams m_params;
         private float m_invHorizTime;
@@ -187,16 +186,16 @@ namespace DotRecast.Detour.Crowd
         {
             RcVec3f v = RcVec3f.Subtract(bq, bp);
             RcVec3f w = RcVec3f.Subtract(ap, bp);
-            float d = RcVecUtils.Perp2D(u, v);
+            float d = RcVec.Perp2D(u, v);
             if (MathF.Abs(d) < 1e-6f)
                 return false;
 
             d = 1.0f / d;
-            t = RcVecUtils.Perp2D(v, w) * d;
+            t = RcVec.Perp2D(v, w) * d;
             if (t < 0 || t > 1)
                 return false;
 
-            float s = RcVecUtils.Perp2D(u, w) * d;
+            float s = RcVec.Perp2D(u, w) * d;
             if (s < 0 || s > 1)
                 return false;
 
@@ -217,8 +216,8 @@ namespace DotRecast.Detour.Crowd
             float minPenalty, DtObstacleAvoidanceDebugData debug)
         {
             // penalty for straying away from the desired and current velocities
-            float vpen = m_params.weightDesVel * (RcVecUtils.Dist2D(vcand, dvel) * m_invVmax);
-            float vcpen = m_params.weightCurVel * (RcVecUtils.Dist2D(vcand, vel) * m_invVmax);
+            float vpen = m_params.weightDesVel * (RcVec.Dist2D(vcand, dvel) * m_invVmax);
+            float vcpen = m_params.weightCurVel * (RcVec.Dist2D(vcand, vel) * m_invVmax);
 
             // find the threshold hit time to bail out based on the early out penalty
             // (see how the penalty is calculated below to understand)
@@ -237,7 +236,7 @@ namespace DotRecast.Detour.Crowd
                 DtObstacleCircle cir = m_circles[i];
 
                 // RVO
-                RcVec3f vab = vcand.Scale(2);
+                RcVec3f vab = vcand * 2;
                 vab = RcVec3f.Subtract(vab, vel);
                 vab = RcVec3f.Subtract(vab, cir.vel);
 
@@ -362,7 +361,8 @@ namespace DotRecast.Detour.Crowd
         }
 
         // vector normalization that ignores the y-component.
-        void DtNormalize2D(float[] v)
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        void DtNormalize2D(Span<float> v)
         {
             float d = MathF.Sqrt(v[0] * v[0] + v[2] * v[2]);
             if (d == 0)
@@ -373,7 +373,8 @@ namespace DotRecast.Detour.Crowd
         }
 
         // vector normalization that ignores the y-component.
-        RcVec3f DtRotate2D(float[] v, float ang)
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        RcVec3f DtRotate2D(Span<float> v, float ang)
         {
             RcVec3f dest = new RcVec3f();
             float c = MathF.Cos(ang);
@@ -384,7 +385,6 @@ namespace DotRecast.Detour.Crowd
             return dest;
         }
 
-        static readonly float DT_PI = 3.14159265f;
 
         public int SampleVelocityAdaptive(RcVec3f pos, float rad, float vmax, RcVec3f vel, RcVec3f dvel, out RcVec3f nvel,
             DtObstacleAvoidanceParams option,
@@ -402,7 +402,7 @@ namespace DotRecast.Detour.Crowd
                 debug.Reset();
 
             // Build sampling pattern aligned to desired velocity.
-            float[] pat = new float[(DT_MAX_PATTERN_DIVS * DT_MAX_PATTERN_RINGS + 1) * 2];
+            Span<float> pat = stackalloc float[(DT_MAX_PATTERN_DIVS * DT_MAX_PATTERN_RINGS + 1) * 2];
             int npat = 0;
 
             int ndivs = m_params.adaptiveDivs;
@@ -416,7 +416,7 @@ namespace DotRecast.Detour.Crowd
             float sa = MathF.Sin(da);
 
             // desired direction
-            float[] ddir = new float[6];
+            Span<float> ddir = stackalloc float[6];
             ddir[0] = dvel.X;
             ddir[1] = dvel.Y;
             ddir[2] = dvel.Z;

src/DotRecast.Detour.Crowd/DtObstacleCircle.cs

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

src/DotRecast.Detour.Crowd/DtObstacleSegment.cs

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

src/DotRecast.Detour.Crowd/DtPathCorridor.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -26,160 +26,179 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour.Crowd
 {
-    /**
-     * Represents a dynamic polygon corridor used to plan agent movement.
-     *
-     * The corridor is loaded with a path, usually obtained from a #NavMeshQuery::FindPath() query. The corridor is then
-     * used to plan local movement, with the corridor automatically updating as needed to deal with inaccurate agent
-     * locomotion.
-     *
-     * Example of a common use case:
-     *
-     * -# Construct the corridor object and call -# Obtain a path from a #dtNavMeshQuery object. -# Use #Reset() to set the
-     * agent's current position. (At the beginning of the path.) -# Use #SetCorridor() to load the path and target. -# Use
-     * #FindCorners() to plan movement. (This handles dynamic path straightening.) -# Use #MovePosition() to feed agent
-     * movement back into the corridor. (The corridor will automatically adjust as needed.) -# If the target is moving, use
-     * #MoveTargetPosition() to update the end of the corridor. (The corridor will automatically adjust as needed.) -#
-     * Repeat the previous 3 steps to continue to move the agent.
-     *
-     * The corridor position and target are always constrained to the navigation mesh.
-     *
-     * One of the difficulties in maintaining a path is that floating point errors, locomotion inaccuracies, and/or local
-     * steering can result in the agent crossing the boundary of the path corridor, temporarily invalidating the path. This
-     * class uses local mesh queries to detect and update the corridor as needed to handle these types of issues.
-     *
-     * The fact that local mesh queries are used to move the position and target locations results in two beahviors that
-     * need to be considered:
-     *
-     * Every time a move function is used there is a chance that the path will become non-optimial. Basically, the further
-     * the target is moved from its original location, and the further the position is moved outside the original corridor,
-     * the more likely the path will become non-optimal. This issue can be addressed by periodically running the
-     * #OptimizePathTopology() and #OptimizePathVisibility() methods.
-     *
-     * All local mesh queries have distance limitations. (Review the #dtNavMeshQuery methods for details.) So the most
-     * accurate use case is to move the position and target in small increments. If a large increment is used, then the
-     * corridor may not be able to accurately find the new location. Because of this limiation, if a position is moved in a
-     * large increment, then compare the desired and resulting polygon references. If the two do not match, then path
-     * replanning may be needed. E.g. If you move the target, check #GetLastPoly() to see if it is the expected polygon.
-     *
-     */
+    /// Represents a dynamic polygon corridor used to plan agent movement.
+    /// @ingroup crowd, detour
     public class DtPathCorridor
     {
-        private RcVec3f m_pos = new RcVec3f();
-        private RcVec3f m_target = new RcVec3f();
-        private List<long> m_path;
+        private RcVec3f m_pos;
+        private RcVec3f m_target;
 
+        private List<long> m_path = new List<long>();
+        private int m_npath;
+        private int m_maxPath;
 
         /**
-     * Allocates the corridor's path buffer.
+        @class dtPathCorridor
+        @par
+
+        The corridor is loaded with a path, usually obtained from a #dtNavMeshQuery::findPath() query. The corridor
+        is then used to plan local movement, with the corridor automatically updating as needed to deal with inaccurate
+        agent locomotion.
+
+        Example of a common use case:
+
+        -# Construct the corridor object and call #init() to allocate its path buffer.
+        -# Obtain a path from a #dtNavMeshQuery object.
+        -# Use #reset() to set the agent's current position. (At the beginning of the path.)
+        -# Use #setCorridor() to load the path and target.
+        -# Use #findCorners() to plan movement. (This handles dynamic path straightening.)
+        -# Use #movePosition() to feed agent movement back into the corridor. (The corridor will automatically adjust as needed.)
+        -# If the target is moving, use #moveTargetPosition() to update the end of the corridor.
+           (The corridor will automatically adjust as needed.)
+        -# Repeat the previous 3 steps to continue to move the agent.
+
+        The corridor position and target are always constrained to the navigation mesh.
+
+        One of the difficulties in maintaining a path is that floating point errors, locomotion inaccuracies, and/or local
+        steering can result in the agent crossing the boundary of the path corridor, temporarily invalidating the path.
+        This class uses local mesh queries to detect and update the corridor as needed to handle these types of issues.
+
+        The fact that local mesh queries are used to move the position and target locations results in two beahviors that
+        need to be considered:
+
+        Every time a move function is used there is a chance that the path will become non-optimial. Basically, the further
+        the target is moved from its original location, and the further the position is moved outside the original corridor,
+        the more likely the path will become non-optimal. This issue can be addressed by periodically running the
+        #optimizePathTopology() and #optimizePathVisibility() methods.
+
+        All local mesh queries have distance limitations. (Review the #dtNavMeshQuery methods for details.) So the most accurate
+        use case is to move the position and target in small increments. If a large increment is used, then the corridor
+        may not be able to accurately find the new location.  Because of this limiation, if a position is moved in a large
+        increment, then compare the desired and resulting polygon references. If the two do not match, then path replanning
+        may be needed.  E.g. If you move the target, check #getLastPoly() to see if it is the expected polygon.
         */
         public DtPathCorridor()
         {
-            m_path = new List<long>();
         }
 
-        /**
-     * Resets the path corridor to the specified position.
-     *
-     * @param ref
-     *            The polygon reference containing the position.
-     * @param pos
-     *            The new position in the corridor. [(x, y, z)]
-     */
+        /// @par
+        ///
+        /// @warning Cannot be called more than once.
+        /// Allocates the corridor's path buffer. 
+        ///  @param[in]		maxPath		The maximum path size the corridor can handle.
+        /// @return True if the initialization succeeded.
+        public bool Init(int maxPath)
+        {
+            if (m_path.Capacity < maxPath)
+                m_path.Capacity = maxPath;
+            m_npath = 0;
+            m_maxPath = maxPath;
+            return true;
+        }
+
+        /// @par
+        ///
+        /// Essentially, the corridor is set of one polygon in size with the target
+        /// equal to the position.
+        /// 
+        /// Resets the path corridor to the specified position.
+        ///  @param[in]		ref		The polygon reference containing the position.
+        ///  @param[in]		pos		The new position in the corridor. [(x, y, z)]
         public void Reset(long refs, RcVec3f pos)
         {
-            m_path.Clear();
-            m_path.Add(refs);
             m_pos = pos;
             m_target = pos;
+            m_path.Clear();
+            m_path.Add(refs);
+            m_npath = 1;
         }
 
-        private static readonly float MIN_TARGET_DIST = RcMath.Sqr(0.01f);
-
         /**
-     * Finds the corners in the corridor from the position toward the target. (The straightened path.)
-     *
-     * This is the function used to plan local movement within the corridor. One or more corners can be detected in
-     * order to plan movement. It performs essentially the same function as #dtNavMeshQuery::findStraightPath.
-     *
-     * Due to internal optimizations, the maximum number of corners returned will be (@p maxCorners - 1) For example: If
-     * the buffers are sized to hold 10 corners, the function will never return more than 9 corners. So if 10 corners
-     * are needed, the buffers should be sized for 11 corners.
-     *
-     * If the target is within range, it will be the last corner and have a polygon reference id of zero.
-     *
-     * @param filter
-     *
-     * @param[in] navquery The query object used to build the corridor.
-     * @return Corners
+        @par
+
+        This is the function used to plan local movement within the corridor. One or more corners can be
+        detected in order to plan movement. It performs essentially the same function as #dtNavMeshQuery::findStraightPath.
+
+        Due to internal optimizations, the maximum number of corners returned will be (@p maxCorners - 1)
+        For example: If the buffers are sized to hold 10 corners, the function will never return more than 9 corners.
+        So if 10 corners are needed, the buffers should be sized for 11 corners.
+
+        If the target is within range, it will be the last corner and have a polygon reference id of zero.
         */
-        public int FindCorners(ref List<DtStraightPath> corners, int maxCorners, DtNavMeshQuery navquery, IDtQueryFilter filter)
-        {
-            var result = navquery.FindStraightPath(m_pos, m_target, m_path, ref corners, maxCorners, 0);
-            if (result.Succeeded())
+        /// Finds the corners in the corridor from the position toward the target. (The straightened path.)
+        ///  @param[out]	cornerVerts		The corner vertices. [(x, y, z) * cornerCount] [Size: <= maxCorners]
+        ///  @param[out]	cornerFlags		The flag for each corner. [(flag) * cornerCount] [Size: <= maxCorners]
+        ///  @param[out]	cornerPolys		The polygon reference for each corner. [(polyRef) * cornerCount] 
+        ///  								[Size: <= @p maxCorners]
+        ///  @param[in]		maxCorners		The maximum number of corners the buffers can hold.
+        ///  @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)
         {
+            const float MIN_TARGET_DIST = 0.01f;
+
+            int ncorners = 0;
+            navquery.FindStraightPath(m_pos, m_target, m_path, m_npath, corners, out ncorners, maxCorners, 0);
+
             // Prune points in the beginning of the path which are too close.
-                int start = 0;
-                foreach (DtStraightPath spi in corners)
+            while (0 < ncorners)
             {
-                    if ((spi.flags & DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0
-                        || RcVecUtils.Dist2DSqr(spi.pos, m_pos) > MIN_TARGET_DIST)
+                if ((corners[0].flags & DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0 ||
+                    RcVec.Dist2DSqr(corners[0].pos, m_pos) > RcMath.Sqr(MIN_TARGET_DIST))
                 {
                     break;
                 }
 
-                    start++;
+                ncorners--;
+                if (0 < ncorners)
+                {
+                    RcSpans.Move(corners, 1, 0, 3);
+                }
             }
 
-                int end = corners.Count;
+
             // Prune points after an off-mesh connection.
-                for (int i = start; i < corners.Count; i++)
+            for (int i = 0; i < ncorners; ++i)
             {
-                    DtStraightPath spi = corners[i];
-                    if ((spi.flags & DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0)
+                if ((corners[i].flags & DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0)
                 {
-                        end = i + 1;
+                    ncorners = i + 1;
                     break;
                 }
             }
 
-                corners = corners.GetRange(start, end - start);
-            }
 
-            return corners.Count;
+            return ncorners;
         }
 
         /**
-     * Attempts to optimize the path if the specified point is visible from the current position.
-     *
-     * Inaccurate locomotion or dynamic obstacle avoidance can force the agent position significantly outside the
-     * original corridor. Over time this can result in the formation of a non-optimal corridor. Non-optimal paths can
-     * also form near the corners of tiles.
-     *
-     * This function uses an efficient local visibility search to try to optimize the corridor between the current
-     * position and @p next.
-     *
-     * The corridor will change only if @p next is visible from the current position and moving directly toward the
-     * point is better than following the existing path.
-     *
-     * The more inaccurate the agent movement, the more beneficial this function becomes. Simply adjust the frequency of
-     * the call to match the needs to the agent.
-     *
-     * This function is not suitable for long distance searches.
-     *
-     * @param next
-     *            The point to search toward. [(x, y, z])
-     * @param pathOptimizationRange
-     *            The maximum range to search. [Limit: > 0]
-     * @param navquery
-     *            The query object used to build the corridor.
-     * @param filter
-     *            The filter to apply to the operation.
+        @par
+
+        Inaccurate locomotion or dynamic obstacle avoidance can force the argent position significantly outside the
+        original corridor. Over time this can result in the formation of a non-optimal corridor. Non-optimal paths can
+        also form near the corners of tiles.
+
+        This function uses an efficient local visibility search to try to optimize the corridor
+        between the current position and @p next.
+
+        The corridor will change only if @p next is visible from the current position and moving directly toward the point
+        is better than following the existing path.
+
+        The more inaccurate the agent movement, the more beneficial this function becomes. Simply adjust the frequency
+        of the call to match the needs to the agent.
+
+        This function is not suitable for long distance searches.
         */
+        /// Attempts to optimize the path if the specified point is visible from the current position.
+        ///  @param[in]		next					The point to search toward. [(x, y, z])
+        ///  @param[in]		pathOptimizationRange	The maximum range to search. [Limit: > 0]
+        ///  @param[in]		navquery				The query object used to build the corridor.
+        ///  @param[in]		filter					The filter to apply to the operation.	
         public void OptimizePathVisibility(RcVec3f next, float pathOptimizationRange, DtNavMeshQuery navquery, IDtQueryFilter filter)
         {
             // Clamp the ray to max distance.
-            float dist = RcVecUtils.Dist2D(m_pos, next);
+            float dist = RcVec.Dist2D(m_pos, next);
 
             // If too close to the goal, do not try to optimize.
             if (dist < 0.01f)
@@ -187,55 +206,52 @@ namespace DotRecast.Detour.Crowd
                 return;
             }
 
-            // Overshoot a little. This helps to optimize open fields in tiled
-            // meshes.
+            // Overshoot a little. This helps to optimize open fields in tiled meshes.
             dist = Math.Min(dist + 0.01f, pathOptimizationRange);
 
             // Adjust ray length.
             var delta = RcVec3f.Subtract(next, m_pos);
-            RcVec3f goal = RcVecUtils.Mad(m_pos, delta, pathOptimizationRange / dist);
+            RcVec3f goal = RcVec.Mad(m_pos, delta, pathOptimizationRange / dist);
 
-            var status = navquery.Raycast(m_path[0], m_pos, goal, filter, 0, 0, out var rayHit);
+            var res = new List<long>();
+            var status = navquery.Raycast(m_path[0], m_pos, goal, filter, out var t, out var norm, ref res);
             if (status.Succeeded())
             {
-                if (rayHit.path.Count > 1 && rayHit.t > 0.99f)
+                if (res.Count > 1 && t > 0.99f)
                 {
-                    m_path = DtPathUtils.MergeCorridorStartShortcut(m_path, rayHit.path);
+                    m_npath = DtPathUtils.MergeCorridorStartShortcut(m_path, m_npath, m_maxPath, res, res.Count);
                 }
             }
         }
 
         /**
-     * Attempts to optimize the path using a local area search. (Partial replanning.)
-     *
-     * Inaccurate locomotion or dynamic obstacle avoidance can force the agent position significantly outside the
-     * original corridor. Over time this can result in the formation of a non-optimal corridor. This function will use a
-     * local area path search to try to re-optimize the corridor.
-     *
-     * The more inaccurate the agent movement, the more beneficial this function becomes. Simply adjust the frequency of
-     * the call to match the needs to the agent.
-     *
-     * @param navquery
-     *            The query object used to build the corridor.
-     * @param filter
-     *            The filter to apply to the operation.
-     *
+        @par
+
+        Inaccurate locomotion or dynamic obstacle avoidance can force the agent position significantly outside the
+        original corridor. Over time this can result in the formation of a non-optimal corridor. This function will use a
+        local area path search to try to re-optimize the corridor.
+
+        The more inaccurate the agent movement, the more beneficial this function becomes. Simply adjust the frequency of
+        the call to match the needs to the agent.
         */
+        /// Attempts to optimize the path using a local area search. (Partial replanning.) 
+        ///  @param[in]		navquery	The query object used to build the corridor.
+        ///  @param[in]		filter		The filter to apply to the operation.	
         public bool OptimizePathTopology(DtNavMeshQuery navquery, IDtQueryFilter filter, int maxIterations)
         {
-            if (m_path.Count < 3)
+            if (m_npath < 3)
             {
                 return false;
             }
 
             var res = new List<long>();
-            navquery.InitSlicedFindPath(m_path[0], m_path[m_path.Count - 1], m_pos, m_target, filter, 0);
+            navquery.InitSlicedFindPath(m_path[0], m_path[^1], m_pos, m_target, filter, 0);
             navquery.UpdateSlicedFindPath(maxIterations, out var _);
-            var status = navquery.FinalizeSlicedFindPathPartial(m_path, ref res);
+            var status = navquery.FinalizeSlicedFindPathPartial(m_path, m_npath, ref res);
 
             if (status.Succeeded() && res.Count > 0)
             {
-                m_path = DtPathUtils.MergeCorridorStartShortcut(m_path, res);
+                m_npath = DtPathUtils.MergeCorridorStartShortcut(m_path, m_npath, m_maxPath, res, res.Count);
                 return true;
             }
 
@@ -247,21 +263,23 @@ namespace DotRecast.Detour.Crowd
             // Advance the path up to and over the off-mesh connection.
             long prevRef = 0, polyRef = m_path[0];
             int npos = 0;
-            while (npos < m_path.Count && polyRef != offMeshConRef)
+            while (npos < m_npath && polyRef != offMeshConRef)
             {
                 prevRef = polyRef;
                 polyRef = m_path[npos];
                 npos++;
             }
 
-            if (npos == m_path.Count)
+            if (npos == m_npath)
             {
                 // Could not find offMeshConRef
                 return false;
             }
 
             // Prune path
-            m_path = m_path.GetRange(npos, m_path.Count - npos);
+            m_path.RemoveRange(0, npos);
+            m_npath -= npos;
+
             refs[0] = prevRef;
             refs[1] = polyRef;
 
@@ -277,36 +295,35 @@ namespace DotRecast.Detour.Crowd
         }
 
         /**
-     * Moves the position from the current location to the desired location, adjusting the corridor as needed to reflect
-     * the change.
-     *
-     * Behavior:
-     *
-     * - The movement is constrained to the surface of the navigation mesh. - The corridor is automatically adjusted
-     * (shorted or lengthened) in order to remain valid. - The new position will be located in the adjusted corridor's
-     * first polygon.
-     *
-     * The expected use case is that the desired position will be 'near' the current corridor. What is considered 'near'
-     * depends on local polygon density, query search extents, etc.
-     *
-     * The resulting position will differ from the desired position if the desired position is not on the navigation
-     * mesh, or it can't be reached using a local search.
-     *
-     * @param npos
-     *            The desired new position. [(x, y, z)]
-     * @param navquery
-     *            The query object used to build the corridor.
-     * @param filter
-     *            The filter to apply to the operation.
+        @par
+
+        Behavior:
+
+        - The movement is constrained to the surface of the navigation mesh.
+        - The corridor is automatically adjusted (shorted or lengthened) in order to remain valid.
+        - The new position will be located in the adjusted corridor's first polygon.
+
+        The expected use case is that the desired position will be 'near' the current corridor. What is considered 'near'
+        depends on local polygon density, query search half extents, etc.
+
+        The resulting position will differ from the desired position if the desired position is not on the navigation mesh,
+        or it can't be reached using a local search.
         */
+        /// Moves the position from the current location to the desired location, adjusting the corridor 
+        /// as needed to reflect the change.
+        ///  @param[in]		npos		The desired new position. [(x, y, z)]
+        ///  @param[in]		navquery	The query object used to build the corridor.
+        ///  @param[in]		filter		The filter to apply to the operation.
+        /// @return Returns true if move succeeded.
         public bool MovePosition(RcVec3f npos, DtNavMeshQuery navquery, IDtQueryFilter filter)
         {
             // Move along navmesh and update new position.
-            var visited = new List<long>();
-            var status = navquery.MoveAlongSurface(m_path[0], m_pos, npos, filter, out var result, ref visited);
+            const int MAX_VISITED = 16;
+            Span<long> visited = stackalloc long[MAX_VISITED];
+            var status = navquery.MoveAlongSurface(m_path[0], m_pos, npos, filter, out var result, visited, out var nvisited, MAX_VISITED);
             if (status.Succeeded())
             {
-                m_path = DtPathUtils.MergeCorridorStartMoved(m_path, visited);
+                m_npath = DtPathUtils.MergeCorridorStartMoved(m_path, m_npath, m_maxPath, visited, nvisited);
 
                 // Adjust the position to stay on top of the navmesh.
                 m_pos = result;
@@ -323,30 +340,35 @@ namespace DotRecast.Detour.Crowd
         }
 
         /**
-     * Moves the target from the curent location to the desired location, adjusting the corridor as needed to reflect
-     * the change. Behavior: - The movement is constrained to the surface of the navigation mesh. - The corridor is
-     * automatically adjusted (shorted or lengthened) in order to remain valid. - The new target will be located in the
-     * adjusted corridor's last polygon.
-     *
-     * The expected use case is that the desired target will be 'near' the current corridor. What is considered 'near'
-     * depends on local polygon density, query search extents, etc. The resulting target will differ from the desired
-     * target if the desired target is not on the navigation mesh, or it can't be reached using a local search.
-     *
-     * @param npos
-     *            The desired new target position. [(x, y, z)]
-     * @param navquery
-     *            The query object used to build the corridor.
-     * @param filter
-     *            The filter to apply to the operation.
+        @par
+
+        Behavior:
+
+        - The movement is constrained to the surface of the navigation mesh.
+        - The corridor is automatically adjusted (shorted or lengthened) in order to remain valid.
+        - The new target will be located in the adjusted corridor's last polygon.
+
+        The expected use case is that the desired target will be 'near' the current corridor. What is considered 'near' depends on local polygon density, query search half extents, etc.
+
+        The resulting target will differ from the desired target if the desired target is not on the navigation mesh, or it can't be reached using a local search.
         */
+        /// Moves the target from the curent location to the desired location, adjusting the corridor
+        /// as needed to reflect the change. 
+        ///  @param[in]		npos		The desired new target position. [(x, y, z)]
+        ///  @param[in]		navquery	The query object used to build the corridor.
+        ///  @param[in]		filter		The filter to apply to the operation.
+        /// @return Returns true if move succeeded.
         public bool MoveTargetPosition(RcVec3f npos, DtNavMeshQuery navquery, IDtQueryFilter filter)
         {
             // Move along navmesh and update new position.
-            var visited = new List<long>();
-            var status = navquery.MoveAlongSurface(m_path[m_path.Count - 1], m_target, npos, filter, out var result, ref visited);
+            const int MAX_VISITED = 16;
+            Span<long> visited = stackalloc long[MAX_VISITED];
+            int nvisited = 0;
+            var status = navquery.MoveAlongSurface(m_path[^1], m_target, npos, filter, out var result, visited, out nvisited, MAX_VISITED);
             if (status.Succeeded())
             {
-                m_path = DtPathUtils.MergeCorridorEndMoved(m_path, visited);
+                m_npath = DtPathUtils.MergeCorridorEndMoved(m_path, m_npath, m_maxPath, visited, nvisited);
+
                 // TODO: should we do that?
                 // Adjust the position to stay on top of the navmesh.
                 /*
@@ -360,38 +382,45 @@ namespace DotRecast.Detour.Crowd
             return false;
         }
 
-        /**
-     * Loads a new path and target into the corridor. The current corridor position is expected to be within the first
-     * polygon in the path. The target is expected to be in the last polygon.
-     *
-     * @warning The size of the path must not exceed the size of corridor's path buffer set during #Init().
-     * @param target
-     *            The target location within the last polygon of the path. [(x, y, z)]
-     * @param path
-     *            The path corridor.
-     */
+        /// @par
+        ///
+        /// The current corridor position is expected to be within the first polygon in the path. The target 
+        /// is expected to be in the last polygon. 
+        /// 
+        /// @warning The size of the path must not exceed the size of corridor's path buffer set during #init().
+        /// Loads a new path and target into the corridor.
+        ///  @param[in]		target		The target location within the last polygon of the path. [(x, y, z)]
+        ///  @param[in]		path		The path corridor. [(polyRef) * @p npolys]
+        ///  @param[in]		npath		The number of polygons in the path.
         public void SetCorridor(RcVec3f target, List<long> path)
         {
             m_target = target;
-            m_path = new List<long>(path);
+            if(path != m_path)
+            {
+                m_path.Clear();
+                m_path.AddRange(path);
+            }
+            m_npath = path.Count;
         }
 
         public void FixPathStart(long safeRef, RcVec3f safePos)
         {
             m_pos = safePos;
-            if (m_path.Count < 3 && m_path.Count > 0)
+            if (m_npath < 3 && m_npath > 0)
             {
-                long p = m_path[m_path.Count - 1];
+                long p = m_path[m_npath - 1];
                 m_path.Clear();
                 m_path.Add(safeRef);
                 m_path.Add(0L);
                 m_path.Add(p);
+                m_npath = 3;
             }
             else
             {
                 m_path.Clear();
                 m_path.Add(safeRef);
                 m_path.Add(0L);
+                m_npath = 2;
             }
         }
 
@@ -399,12 +428,12 @@ namespace DotRecast.Detour.Crowd
         {
             // Keep valid path as far as possible.
             int n = 0;
-            while (n < m_path.Count && navquery.IsValidPolyRef(m_path[n], filter))
+            while (n < m_npath && navquery.IsValidPolyRef(m_path[n], filter))
             {
                 n++;
             }
 
-            if (m_path.Count == n)
+            if (m_npath == n)
             {
                 // All valid, no need to fix.
                 return true;
@@ -412,38 +441,36 @@ namespace DotRecast.Detour.Crowd
             else if (n == 0)
             {
                 // The first polyref is bad, use current safe values.
-                m_pos = RcVecUtils.Create(safePos);
+                m_pos = new RcVec3f(safePos);
                 m_path.Clear();
                 m_path.Add(safeRef);
+                m_npath = 1;
             }
-            else if (n < m_path.Count)
+            else if (n < m_npath)
             {
                 // The path is partially usable.
-                m_path = m_path.GetRange(0, n);
+                m_path.RemoveRange(n, m_path.Count - n);
+                m_npath = n;
             }
 
             // Clamp target pos to last poly
-            navquery.ClosestPointOnPolyBoundary(m_path[m_path.Count - 1], m_target, out m_target);
+            navquery.ClosestPointOnPolyBoundary(m_path[m_npath - 1], m_target, out m_target);
             return true;
         }
 
-        /**
-     * Checks the current corridor path to see if its polygon references remain valid. The path can be invalidated if
-     * there are structural changes to the underlying navigation mesh, or the state of a polygon within the path changes
-     * resulting in it being filtered out. (E.g. An exclusion or inclusion flag changes.)
-     *
-     * @param maxLookAhead
-     *            The number of polygons from the beginning of the corridor to search.
-     * @param navquery
-     *            The query object used to build the corridor.
-     * @param filter
-     *            The filter to apply to the operation.
-     * @return
-     */
+        /// @par
+        ///
+        /// The path can be invalidated if there are structural changes to the underlying navigation mesh, or the state of 
+        /// a polygon within the path changes resulting in it being filtered out. (E.g. An exclusion or inclusion flag changes.)
+        /// Checks the current corridor path to see if its polygon references remain valid.
+        /// 
+        ///  @param[in]		maxLookAhead	The number of polygons from the beginning of the corridor to search.
+        ///  @param[in]		navquery		The query object used to build the corridor.
+        ///  @param[in]		filter			The filter to apply to the operation.	
         public bool IsValid(int maxLookAhead, DtNavMeshQuery navquery, IDtQueryFilter filter)
         {
             // Check that all polygons still pass query filter.
-            int n = Math.Min(m_path.Count, maxLookAhead);
+            int n = Math.Min(m_npath, maxLookAhead);
             for (int i = 0; i < n; ++i)
             {
                 if (!navquery.IsValidPolyRef(m_path[i], filter))
@@ -455,62 +482,46 @@ namespace DotRecast.Detour.Crowd
             return true;
         }
 
-        /**
-     * Gets the current position within the corridor. (In the first polygon.)
-     *
-     * @return The current position within the corridor.
-     */
+        /// Gets the current position within the corridor. (In the first polygon.)
+        /// @return The current position within the corridor.
         public RcVec3f GetPos()
         {
             return m_pos;
         }
 
-        /**
-     * Gets the current target within the corridor. (In the last polygon.)
-     *
-     * @return The current target within the corridor.
-     */
+        /// Gets the current target within the corridor. (In the last polygon.)
+        /// @return The current target within the corridor.
         public RcVec3f GetTarget()
         {
             return m_target;
         }
 
-        /**
-     * The polygon reference id of the first polygon in the corridor, the polygon containing the position.
-     *
-     * @return The polygon reference id of the first polygon in the corridor. (Or zero if there is no path.)
-     */
+        /// The polygon reference id of the first polygon in the corridor, the polygon containing the position.
+        /// @return The polygon reference id of the first polygon in the corridor. (Or zero if there is no path.)
         public long GetFirstPoly()
         {
-            return 0 == m_path.Count ? 0 : m_path[0];
+            return 0 == m_npath ? 0 : m_path[0];
         }
 
-        /**
-     * The polygon reference id of the last polygon in the corridor, the polygon containing the target.
-     *
-     * @return The polygon reference id of the last polygon in the corridor. (Or zero if there is no path.)
-     */
+        /// The polygon reference id of the last polygon in the corridor, the polygon containing the target.
+        /// @return The polygon reference id of the last polygon in the corridor. (Or zero if there is no path.)
         public long GetLastPoly()
         {
-            return 0 == m_path.Count ? 0 : m_path[m_path.Count - 1];
+            return 0 == m_npath ? 0 : m_path[m_npath - 1];
         }
 
-        /**
-     * The corridor's path.
-     */
+        /// The corridor's path.
+        /// @return The corridor's path. [(polyRef) * #getPathCount()]
         public List<long> GetPath()
         {
             return m_path;
         }
 
-        /**
-     * The number of polygons in the current corridor path.
-     *
-     * @return The number of polygons in the current corridor path.
-     */
+        /// The number of polygons in the current corridor path.
+        /// @return The number of polygons in the current corridor path.
         public int GetPathCount()
         {
-            return m_path.Count;
+            return m_npath;
         }
     }
 }

src/DotRecast.Detour.Crowd/DtPathQuery.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

src/DotRecast.Detour.Crowd/DtPathQueryResult.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

src/DotRecast.Detour.Crowd/DtPathQueue.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -26,28 +26,29 @@ namespace DotRecast.Detour.Crowd
 {
     public class DtPathQueue
     {
-        private readonly DtCrowdConfig config;
-        private readonly LinkedList<DtPathQuery> queue = new LinkedList<DtPathQuery>();
+        private readonly DtCrowdConfig m_config;
+        private readonly LinkedList<DtPathQuery> m_queue;
 
         public DtPathQueue(DtCrowdConfig config)
         {
-            this.config = config;
+            m_config = config;
+            m_queue = new LinkedList<DtPathQuery>();
         }
 
         public void Update(DtNavMesh navMesh)
         {
-            // Update path request until there is nothing to update or up to maxIters pathfinder iterations has been
-            // consumed.
-            int iterCount = config.maxFindPathIterations;
+            // Update path request until there is nothing to update
+            // or upto maxIters pathfinder iterations has been consumed.
+            int iterCount = m_config.maxFindPathIterations;
             while (iterCount > 0)
             {
-                DtPathQuery q = queue.First?.Value;
+                DtPathQuery q = m_queue.First?.Value;
                 if (q == null)
                 {
                     break;
                 }
 
-                queue.RemoveFirst();
+                m_queue.RemoveFirst();
 
                 // Handle query start.
                 if (q.result.status.IsEmpty())
@@ -70,14 +71,14 @@ namespace DotRecast.Detour.Crowd
 
                 if (!(q.result.status.Failed() || q.result.status.Succeeded()))
                 {
-                    queue.AddFirst(q);
+                    m_queue.AddFirst(q);
                 }
             }
         }
 
         public DtPathQueryResult Request(long startRef, long endRef, RcVec3f startPos, RcVec3f endPos, IDtQueryFilter filter)
         {
-            if (queue.Count >= config.pathQueueSize)
+            if (m_queue.Count >= m_config.pathQueueSize)
             {
                 return null;
             }
@@ -88,7 +89,7 @@ namespace DotRecast.Detour.Crowd
             q.endPos = endPos;
             q.endRef = endRef;
             q.filter = filter;
-            queue.AddLast(q);
+            m_queue.AddLast(q);
             return q.result;
         }
     }

src/DotRecast.Detour.Crowd/DtProximityGrid.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -22,6 +22,7 @@ using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Runtime.CompilerServices;
+using DotRecast.Core.Buffers;
 
 namespace DotRecast.Detour.Crowd
 {
@@ -30,12 +31,14 @@ namespace DotRecast.Detour.Crowd
         private readonly float _cellSize;
         private readonly float _invCellSize;
         private readonly Dictionary<long, List<DtCrowdAgent>> _items;
+        private readonly RcObjectPool<List<DtCrowdAgent>> _listPool;
 
         public DtProximityGrid(float cellSize)
         {
             _cellSize = cellSize;
             _invCellSize = 1.0f / cellSize;
             _items = new Dictionary<long, List<DtCrowdAgent>>();
+            _listPool = new RcObjectPool<List<DtCrowdAgent>>(() => new List<DtCrowdAgent>());
         }
 
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
@@ -57,6 +60,8 @@ namespace DotRecast.Detour.Crowd
 
         public void Clear()
         {
+            foreach (var pair in _items)
+                _listPool.Return(pair.Value);
             _items.Clear();
         }
 
@@ -74,7 +79,8 @@ namespace DotRecast.Detour.Crowd
                     long key = CombineKey(x, y);
                     if (!_items.TryGetValue(key, out var ids))
                     {
-                        ids = new List<DtCrowdAgent>();
+                        ids = _listPool.Get();
+                        ids.Clear();
                         _items.Add(key, ids);
                     }
 
@@ -83,30 +89,51 @@ namespace DotRecast.Detour.Crowd
             }
         }
 
-        // 해당 셀 사이즈의 크기로 x ~ y 영역을 찾아, 군집 에이전트를 가져오는 코드
-        public int QueryItems(float minx, float miny, float maxx, float maxy, ref HashSet<DtCrowdAgent> result)
+        public int QueryItems(float minx, float miny, float maxx, float maxy, Span<int> ids, int maxIds)
         {
             int iminx = (int)MathF.Floor(minx * _invCellSize);
             int iminy = (int)MathF.Floor(miny * _invCellSize);
             int imaxx = (int)MathF.Floor(maxx * _invCellSize);
             int imaxy = (int)MathF.Floor(maxy * _invCellSize);
 
+            int n = 0;
+
             for (int y = iminy; y <= imaxy; ++y)
             {
                 for (int x = iminx; x <= imaxx; ++x)
                 {
                     long key = CombineKey(x, y);
-                    if (_items.TryGetValue(key, out var ids))
+                    bool hasPool = _items.TryGetValue(key, out var pool);
+                    if (!hasPool)
                     {
-                        for (int i = 0; i < ids.Count; ++i)
+                        continue;
+                    }
+
+                    for (int idx = 0; idx < pool.Count; ++idx)
                     {
-                            result.Add(ids[i]);
+                        var item = pool[idx];
+
+                        // Check if the id exists already.
+                        int end = n;
+                        int i = 0;
+                        while (i != end && ids[i] != item.idx)
+                        {
+                            ++i;
+                        }
+
+                        // Item not found, add it.
+                        if (i == n)
+                        {
+                            ids[n++] = item.idx;
+
+                            if (n >= maxIds)
+                                return n;
                         }
                     }
                 }
             }
 
-            return result.Count;
+            return n;
         }
 
         public IEnumerable<(long, int)> GetItemCounts()

src/DotRecast.Detour.Crowd/DtSegment.cs

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

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

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -62,10 +62,10 @@ namespace DotRecast.Detour.Dynamic.Colliders
             return bounds;
         }
 
-        public override void Rasterize(RcHeightfield hf, RcTelemetry telemetry)
+        public override void Rasterize(RcHeightfield hf, RcContext context)
         {
             RcFilledVolumeRasterization.RasterizeBox(
-                hf, center, halfEdges, area, (int)MathF.Floor(flagMergeThreshold / hf.ch), telemetry);
+                hf, center, halfEdges, area, (int)MathF.Floor(flagMergeThreshold / hf.ch), context);
         }
 
         public static RcVec3f[] GetHalfEdges(RcVec3f up, RcVec3f forward, RcVec3f extent)

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

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -38,9 +38,9 @@ namespace DotRecast.Detour.Dynamic.Colliders
             this.radius = radius;
         }
 
-        public override void Rasterize(RcHeightfield hf, RcTelemetry telemetry)
+        public override void Rasterize(RcHeightfield hf, RcContext context)
         {
-            RcFilledVolumeRasterization.RasterizeCapsule(hf, start, end, radius, area, (int)MathF.Floor(flagMergeThreshold / hf.ch), telemetry);
+            RcFilledVolumeRasterization.RasterizeCapsule(hf, start, end, radius, area, (int)MathF.Floor(flagMergeThreshold / hf.ch), context);
         }
 
         private static float[] Bounds(RcVec3f start, RcVec3f end, float radius)

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

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -40,6 +40,6 @@ namespace DotRecast.Detour.Dynamic.Colliders
             return _bounds;
         }
 
-        public abstract void Rasterize(RcHeightfield hf, RcTelemetry telemetry);
+        public abstract void Rasterize(RcHeightfield hf, RcContext context);
     }
 }

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

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -68,10 +68,10 @@ namespace DotRecast.Detour.Dynamic.Colliders
             return bounds;
         }
 
-        public void Rasterize(RcHeightfield hf, RcTelemetry telemetry)
+        public void Rasterize(RcHeightfield hf, RcContext context)
         {
             foreach (var c in colliders)
-                c.Rasterize(hf, telemetry);
+                c.Rasterize(hf, context);
         }
     }
 }

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

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -42,10 +42,10 @@ namespace DotRecast.Detour.Dynamic.Colliders
             this.triangles = triangles;
         }
 
-        public override void Rasterize(RcHeightfield hf, RcTelemetry telemetry)
+        public override void Rasterize(RcHeightfield hf, RcContext context)
         {
             RcFilledVolumeRasterization.RasterizeConvex(hf, vertices, triangles, area,
-                (int)MathF.Floor(flagMergeThreshold / hf.ch), telemetry);
+                (int)MathF.Floor(flagMergeThreshold / hf.ch), context);
         }
     }
 }

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

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -38,10 +38,10 @@ namespace DotRecast.Detour.Dynamic.Colliders
             this.radius = radius;
         }
 
-        public override void Rasterize(RcHeightfield hf, RcTelemetry telemetry)
+        public override void Rasterize(RcHeightfield hf, RcContext context)
         {
             RcFilledVolumeRasterization.RasterizeCylinder(hf, start, end, radius, area, (int)MathF.Floor(flagMergeThreshold / hf.ch),
-                telemetry);
+                context);
         }
 
         private static float[] Bounds(RcVec3f start, RcVec3f end, float radius)

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

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -36,10 +36,10 @@ namespace DotRecast.Detour.Dynamic.Colliders
             this.radius = radius;
         }
 
-        public override void Rasterize(RcHeightfield hf, RcTelemetry telemetry)
+        public override void Rasterize(RcHeightfield hf, RcContext context)
         {
             RcFilledVolumeRasterization.RasterizeSphere(hf, center, radius, area, (int)MathF.Floor(flagMergeThreshold / hf.ch),
-                telemetry);
+                context);
         }
 
         private static float[] Bounds(RcVec3f center, float radius)

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

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -58,12 +58,12 @@ namespace DotRecast.Detour.Dynamic.Colliders
             return bounds;
         }
 
-        public override void Rasterize(RcHeightfield hf, RcTelemetry telemetry)
+        public override void Rasterize(RcHeightfield hf, RcContext context)
         {
             for (int i = 0; i < triangles.Length; i += 3)
             {
-                RcRasterizations.RasterizeTriangle(hf, vertices, triangles[i], triangles[i + 1], triangles[i + 2], area,
-                    (int)MathF.Floor(flagMergeThreshold / hf.ch), telemetry);
+                RcRasterizations.RasterizeTriangle(context, vertices, triangles[i], triangles[i + 1], triangles[i + 2], area,
+                    hf, (int)MathF.Floor(flagMergeThreshold / hf.ch));
             }
         }
     }

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

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -25,6 +25,6 @@ namespace DotRecast.Detour.Dynamic.Colliders
     public interface IDtCollider
     {
         float[] Bounds();
-        void Rasterize(RcHeightfield hf, RcTelemetry telemetry);
+        void Rasterize(RcHeightfield hf, RcContext context);
     }
 }

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

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

src/DotRecast.Detour.Dynamic/DotRecast.Detour.Dynamic.csproj

@@ -1,15 +1,16 @@
 <Project Sdk="Microsoft.NET.Sdk">
 
   <PropertyGroup>
-    <TargetFrameworks>netstandard2.1;net6.0;net7.0</TargetFrameworks>
+    <TargetFrameworks>netstandard2.1;net6.0;net7.0;net8.0</TargetFrameworks>
     <PackageId>DotRecast.Detour.Dynamic</PackageId>
     <PackageReadmeFile>README.md</PackageReadmeFile>
     <Authors>ikpil</Authors>
-    <Description>DotRecast - a port of Recast Detour, navigation mesh toolset for games, Unity3D, servers, C#</Description>
+    <Description>DotRecast - a port of Recast Detour, Industry-standard navigation mesh toolset for .NET, C#, Unity3D, games, servers</Description>
     <RepositoryType>git</RepositoryType>
     <PackageProjectUrl>https://github.com/ikpil/DotRecast</PackageProjectUrl>
     <RepositoryUrl>https://github.com/ikpil/DotRecast</RepositoryUrl>
     <PackageTags>game gamedev ai csharp server unity navigation game-development unity3d pathfinding pathfinder recast detour navmesh crowd-simulation recastnavigation</PackageTags>
+    <PackageReleaseNotes>https://github.com/ikpil/DotRecast/blob/main/CHANGELOG.md</PackageReleaseNotes>
   </PropertyGroup>
 
   <ItemGroup>

src/DotRecast.Detour.Dynamic/DtDynamicNavMesh.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -23,6 +23,7 @@ using System.Collections.Generic;
 using System.Linq;
 using System.Threading.Tasks;
 using DotRecast.Core;
+using DotRecast.Core.Collections;
 using DotRecast.Detour.Dynamic.Colliders;
 using DotRecast.Detour.Dynamic.Io;
 using DotRecast.Recast;
@@ -35,12 +36,12 @@ namespace DotRecast.Detour.Dynamic
         public readonly DtDynamicNavMeshConfig config;
         private readonly RcBuilder builder;
         private readonly Dictionary<long, DtDynamicTile> _tiles = new Dictionary<long, DtDynamicTile>();
-        private readonly RcTelemetry telemetry;
+        private readonly RcContext _context;
         private readonly DtNavMeshParams navMeshParams;
         private readonly BlockingCollection<IDtDaynmicTileJob> updateQueue = new BlockingCollection<IDtDaynmicTileJob>();
         private readonly RcAtomicLong currentColliderId = new RcAtomicLong(0);
         private DtNavMesh _navMesh;
-        private bool dirty = true;
+        private bool _dirty = true;
 
         public DtDynamicNavMesh(DtVoxelFile voxelFile)
         {
@@ -62,8 +63,8 @@ namespace DotRecast.Detour.Dynamic
             navMeshParams.orig.X = voxelFile.bounds[0];
             navMeshParams.orig.Y = voxelFile.bounds[1];
             navMeshParams.orig.Z = voxelFile.bounds[2];
-            navMeshParams.tileWidth = voxelFile.cellSize * voxelFile.tileSizeX;
-            navMeshParams.tileHeight = voxelFile.cellSize * voxelFile.tileSizeZ;
+            navMeshParams.tileWidth = voxelFile.useTiles ? voxelFile.cellSize * voxelFile.tileSizeX : voxelFile.bounds[3] - voxelFile.bounds[0];
+            navMeshParams.tileHeight = voxelFile.useTiles ? voxelFile.cellSize * voxelFile.tileSizeZ : voxelFile.bounds[5] - voxelFile.bounds[2];
             navMeshParams.maxTiles = voxelFile.tiles.Count;
             navMeshParams.maxPolys = 0x8000;
             foreach (var t in voxelFile.tiles)
@@ -72,7 +73,7 @@ namespace DotRecast.Detour.Dynamic
             }
 
             ;
-            telemetry = new RcTelemetry();
+            _context = new RcContext();
         }
 
         public DtNavMesh NavMesh()
@@ -105,29 +106,6 @@ namespace DotRecast.Detour.Dynamic
             updateQueue.Add(new DtDynamicTileColliderRemovalJob(colliderId, GetTilesByCollider(colliderId)));
         }
 
-        /**
-     * Perform full build of the nav mesh
-     */
-        public void Build()
-        {
-            ProcessQueue();
-            Rebuild(_tiles.Values);
-        }
-
-        /**
-     * Perform incremental update of the nav mesh
-     */
-        public bool Update()
-        {
-            return Rebuild(ProcessQueue());
-        }
-
-        private bool Rebuild(ICollection<DtDynamicTile> stream)
-        {
-            foreach (var dynamicTile in stream)
-                Rebuild(dynamicTile);
-            return UpdateNavMesh();
-        }
 
         private HashSet<DtDynamicTile> ProcessQueue()
         {
@@ -159,27 +137,49 @@ namespace DotRecast.Detour.Dynamic
             }
         }
 
-        /**
-     * Perform full build concurrently using the given {@link ExecutorService}
-     */
-        public Task<bool> Build(TaskFactory executor)
+        // Perform full build of the navmesh
+        public void Build()
+        {
+            ProcessQueue();
+            Rebuild(_tiles.Values);
+        }
+
+        // Perform full build concurrently using the given {@link ExecutorService}
+        public bool Build(TaskFactory executor)
         {
             ProcessQueue();
             return Rebuild(_tiles.Values, executor);
         }
 
-        /**
-     * Perform incremental update concurrently using the given {@link ExecutorService}
-     */
-        public Task<bool> Update(TaskFactory executor)
+
+        // Perform incremental update of the navmesh
+        public bool Update()
+        {
+            return Rebuild(ProcessQueue());
+        }
+
+        // Perform incremental update concurrently using the given {@link ExecutorService}
+        public bool Update(TaskFactory executor)
         {
             return Rebuild(ProcessQueue(), executor);
         }
 
-        private Task<bool> Rebuild(ICollection<DtDynamicTile> tiles, TaskFactory executor)
+        private bool Rebuild(ICollection<DtDynamicTile> tiles)
         {
-            var tasks = tiles.Select(tile => executor.StartNew(() => Rebuild(tile))).ToArray();
-            return Task.WhenAll(tasks).ContinueWith(k => UpdateNavMesh());
+            foreach (var tile in tiles)
+                Rebuild(tile);
+
+            return UpdateNavMesh();
+        }
+
+        private bool Rebuild(ICollection<DtDynamicTile> tiles, TaskFactory executor)
+        {
+            var tasks = tiles
+                .Select(tile => executor.StartNew(() => Rebuild(tile)))
+                .ToArray();
+
+            Task.WaitAll(tasks);
+            return UpdateNavMesh();
         }
 
         private ICollection<DtDynamicTile> GetTiles(float[] bounds)
@@ -189,17 +189,17 @@ namespace DotRecast.Detour.Dynamic
                 return _tiles.Values;
             }
 
-            int minx = (int)MathF.Floor((bounds[0] - navMeshParams.orig.X) / navMeshParams.tileWidth);
-            int minz = (int)MathF.Floor((bounds[2] - navMeshParams.orig.Z) / navMeshParams.tileHeight);
-            int maxx = (int)MathF.Floor((bounds[3] - navMeshParams.orig.X) / navMeshParams.tileWidth);
-            int maxz = (int)MathF.Floor((bounds[5] - navMeshParams.orig.Z) / navMeshParams.tileHeight);
+            int minx = (int)MathF.Floor((bounds[0] - navMeshParams.orig.X) / navMeshParams.tileWidth) - 1;
+            int minz = (int)MathF.Floor((bounds[2] - navMeshParams.orig.Z) / navMeshParams.tileHeight) - 1;
+            int maxx = (int)MathF.Floor((bounds[3] - navMeshParams.orig.X) / navMeshParams.tileWidth) + 1;
+            int maxz = (int)MathF.Floor((bounds[5] - navMeshParams.orig.Z) / navMeshParams.tileHeight) + 1;
             List<DtDynamicTile> tiles = new List<DtDynamicTile>();
             for (int z = minz; z <= maxz; ++z)
             {
                 for (int x = minx; x <= maxx; ++x)
                 {
                     DtDynamicTile tile = GetTileAt(x, z);
-                    if (tile != null)
+                    if (tile != null && IntersectsXZ(tile, bounds))
                     {
                         tiles.Add(tile);
                     }
@@ -209,6 +209,12 @@ namespace DotRecast.Detour.Dynamic
             return tiles;
         }
 
+        private bool IntersectsXZ(DtDynamicTile tile, float[] bounds)
+        {
+            return tile.voxelTile.boundsMin.X <= bounds[3] && tile.voxelTile.boundsMax.X >= bounds[0] &&
+                   tile.voxelTile.boundsMin.Z <= bounds[5] && tile.voxelTile.boundsMax.Z >= bounds[2];
+        }
+
         private List<DtDynamicTile> GetTilesByCollider(long cid)
         {
             return _tiles.Values.Where(t => t.ContainsCollider(cid)).ToList();
@@ -218,19 +224,24 @@ namespace DotRecast.Detour.Dynamic
         {
             DtNavMeshCreateParams option = new DtNavMeshCreateParams();
             option.walkableHeight = config.walkableHeight;
-            dirty = dirty | tile.Build(builder, config, telemetry);
+            _dirty = _dirty | tile.Build(builder, config, _context);
         }
 
         private bool UpdateNavMesh()
         {
-            if (dirty)
+            if (_dirty)
             {
-                DtNavMesh navMesh = new DtNavMesh(navMeshParams, MAX_VERTS_PER_POLY);
-                foreach (var t in _tiles.Values)
-                    t.AddTo(navMesh);
+                _dirty = false;
 
-                this._navMesh = navMesh;
-                dirty = false;
+                DtNavMesh navMesh = new DtNavMesh();
+                navMesh.Init(navMeshParams, MAX_VERTS_PER_POLY);
+
+                foreach (var t in _tiles.Values)
+                {
+                    t.AddTo(navMesh);
+                }
+
+                _navMesh = navMesh;
                 return true;
             }
 
@@ -258,5 +269,21 @@ namespace DotRecast.Detour.Dynamic
         {
             return _tiles.Values.Select(t => t.recastResult).ToList();
         }
+
+        public void NavMesh(DtNavMesh mesh)
+        {
+            _tiles.Values.ForEach(t =>
+            {
+                const int MAX_NEIS = 32;
+                DtMeshTile[] tiles = new DtMeshTile[MAX_NEIS];
+                int nneis = mesh.GetTilesAt(t.voxelTile.tileX, t.voxelTile.tileZ, tiles, MAX_NEIS);
+                if (0 < nneis)
+                {
+                    t.SetMeshData(tiles[0].data);
+                }
+            });
+            _navMesh = mesh;
+            _dirty = false;
+        }
     }
 }

src/DotRecast.Detour.Dynamic/DtDynamicNavMeshConfig.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

src/DotRecast.Detour.Dynamic/DtDynamicTile.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -44,12 +44,12 @@ namespace DotRecast.Detour.Dynamic
             this.voxelTile = voxelTile;
         }
 
-        public bool Build(RcBuilder builder, DtDynamicNavMeshConfig config, RcTelemetry telemetry)
+        public bool Build(RcBuilder builder, DtDynamicNavMeshConfig config, RcContext context)
         {
             if (dirty)
             {
-                RcHeightfield heightfield = BuildHeightfield(config, telemetry);
-                RcBuilderResult r = BuildRecast(builder, config, voxelTile, heightfield, telemetry);
+                RcHeightfield heightfield = BuildHeightfield(config, context);
+                RcBuilderResult r = BuildRecast(builder, config, voxelTile, heightfield, context);
                 DtNavMeshCreateParams option = NavMeshCreateParams(voxelTile.tileX, voxelTile.tileZ, voxelTile.cellSize,
                     voxelTile.cellHeight, config, r);
                 meshData = DtNavMeshBuilder.CreateNavMeshData(option);
@@ -59,7 +59,7 @@ namespace DotRecast.Detour.Dynamic
             return false;
         }
 
-        private RcHeightfield BuildHeightfield(DtDynamicNavMeshConfig config, RcTelemetry telemetry)
+        private RcHeightfield BuildHeightfield(DtDynamicNavMeshConfig config, RcContext context)
         {
             ICollection<long> rasterizedColliders = checkpoint != null
                 ? checkpoint.colliders as ICollection<long>
@@ -74,7 +74,7 @@ namespace DotRecast.Detour.Dynamic
                 if (!rasterizedColliders.Contains(cid))
                 {
                     heightfield.bmax.Y = Math.Max(heightfield.bmax.Y, c.Bounds()[4] + heightfield.ch * 2);
-                    c.Rasterize(heightfield, telemetry);
+                    c.Rasterize(heightfield, context);
                 }
             }
 
@@ -87,7 +87,7 @@ namespace DotRecast.Detour.Dynamic
         }
 
         private RcBuilderResult BuildRecast(RcBuilder builder, DtDynamicNavMeshConfig config, DtVoxelTile vt,
-            RcHeightfield heightfield, RcTelemetry telemetry)
+            RcHeightfield heightfield, RcContext context)
         {
             RcConfig rcConfig = new RcConfig(
                 config.useTiles, config.tileSizeX, config.tileSizeZ,
@@ -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(vt.tileX, vt.tileZ, null, rcConfig, heightfield, telemetry);
+            RcBuilderResult r = builder.Build(context, vt.tileX, vt.tileZ, null, rcConfig, heightfield, false);
             if (config.keepIntermediateResults)
             {
                 recastResult = r;
@@ -132,8 +132,8 @@ namespace DotRecast.Detour.Dynamic
         private DtNavMeshCreateParams NavMeshCreateParams(int tilex, int tileZ, float cellSize, float cellHeight,
             DtDynamicNavMeshConfig config, RcBuilderResult rcResult)
         {
-            RcPolyMesh m_pmesh = rcResult.GetMesh();
-            RcPolyMeshDetail m_dmesh = rcResult.GetMeshDetail();
+            RcPolyMesh m_pmesh = rcResult.Mesh;
+            RcPolyMeshDetail m_dmesh = rcResult.MeshDetail;
             DtNavMeshCreateParams option = new DtNavMeshCreateParams();
             for (int i = 0; i < m_pmesh.npolys; ++i)
             {
@@ -168,12 +168,12 @@ namespace DotRecast.Detour.Dynamic
             option.buildBvTree = true;
 
             option.offMeshConCount = 0;
-            option.offMeshConVerts = new float[0];
-            option.offMeshConRad = new float[0];
-            option.offMeshConDir = new int[0];
-            option.offMeshConAreas = new int[0];
-            option.offMeshConFlags = new int[0];
-            option.offMeshConUserID = new int[0];
+            option.offMeshConVerts = Array.Empty<float>();
+            option.offMeshConRad = Array.Empty<float>();
+            option.offMeshConDir = Array.Empty<int>();
+            option.offMeshConAreas = Array.Empty<int>();
+            option.offMeshConFlags = Array.Empty<int>();
+            option.offMeshConUserID = Array.Empty<int>();
             return option;
         }
 
@@ -181,7 +181,7 @@ namespace DotRecast.Detour.Dynamic
         {
             if (meshData != null)
             {
-                id = navMesh.AddTile(meshData, 0, 0);
+                navMesh.AddTile(meshData, 0, 0, out var id);
             }
             else
             {
@@ -189,5 +189,10 @@ namespace DotRecast.Detour.Dynamic
                 id = 0;
             }
         }
+
+        public void SetMeshData(DtMeshData data)
+        {
+            this.meshData = data;
+        }
     }
 }

src/DotRecast.Detour.Dynamic/DtDynamicTileCheckpoint.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

src/DotRecast.Detour.Dynamic/DtDynamicTileColliderAdditionJob.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

src/DotRecast.Detour.Dynamic/DtDynamicTileColliderRemovalJob.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

src/DotRecast.Detour.Dynamic/DtVoxelQuery.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

src/DotRecast.Detour.Dynamic/IDtDaynmicTileJob.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

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

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -78,7 +78,7 @@ namespace DotRecast.Detour.Dynamic.Io
                 walkbableAreaMod, buildMeshDetail);
         }
 
-        public static DtVoxelFile From(RcConfig config, List<RcBuilderResult> results)
+        public static DtVoxelFile From(RcConfig config, IList<RcBuilderResult> results)
         {
             DtVoxelFile f = new DtVoxelFile();
             f.version = 1;
@@ -109,13 +109,14 @@ namespace DotRecast.Detour.Dynamic.Io
             };
             foreach (RcBuilderResult r in results)
             {
-                f.tiles.Add(new DtVoxelTile(r.tileX, r.tileZ, r.GetSolidHeightfield()));
-                f.bounds[0] = Math.Min(f.bounds[0], r.GetSolidHeightfield().bmin.X);
-                f.bounds[1] = Math.Min(f.bounds[1], r.GetSolidHeightfield().bmin.Y);
-                f.bounds[2] = Math.Min(f.bounds[2], r.GetSolidHeightfield().bmin.Z);
-                f.bounds[3] = Math.Max(f.bounds[3], r.GetSolidHeightfield().bmax.X);
-                f.bounds[4] = Math.Max(f.bounds[4], r.GetSolidHeightfield().bmax.Y);
-                f.bounds[5] = Math.Max(f.bounds[5], r.GetSolidHeightfield().bmax.Z);
+                float pad = r.SolidHeightfiled.borderSize * r.SolidHeightfiled.cs;
+                f.tiles.Add(new DtVoxelTile(r.TileX, r.TileZ, r.SolidHeightfiled));
+                f.bounds[0] = Math.Min(f.bounds[0], r.SolidHeightfiled.bmin.X + pad);
+                f.bounds[1] = Math.Min(f.bounds[1], r.SolidHeightfiled.bmin.Y);
+                f.bounds[2] = Math.Min(f.bounds[2], r.SolidHeightfiled.bmin.Z + pad);
+                f.bounds[3] = Math.Max(f.bounds[3], r.SolidHeightfiled.bmax.X - pad);
+                f.bounds[4] = Math.Max(f.bounds[4], r.SolidHeightfiled.bmax.Y);
+                f.bounds[5] = Math.Max(f.bounds[5], r.SolidHeightfiled.bmax.Z - pad);
             }
 
             return f;
@@ -155,12 +156,13 @@ namespace DotRecast.Detour.Dynamic.Io
             {
                 RcHeightfield heightfield = vt.Heightfield();
                 f.tiles.Add(new DtVoxelTile(vt.tileX, vt.tileZ, heightfield));
-                f.bounds[0] = Math.Min(f.bounds[0], vt.boundsMin.X);
+                float pad = vt.borderSize * vt.cellSize;
+                f.bounds[0] = Math.Min(f.bounds[0], vt.boundsMin.X + pad);
                 f.bounds[1] = Math.Min(f.bounds[1], vt.boundsMin.Y);
-                f.bounds[2] = Math.Min(f.bounds[2], vt.boundsMin.Z);
-                f.bounds[3] = Math.Max(f.bounds[3], vt.boundsMax.X);
+                f.bounds[2] = Math.Min(f.bounds[2], vt.boundsMin.Z + pad);
+                f.bounds[3] = Math.Max(f.bounds[3], vt.boundsMax.X - pad);
                 f.bounds[4] = Math.Max(f.bounds[4], vt.boundsMax.Y);
-                f.bounds[5] = Math.Max(f.bounds[5], vt.boundsMax.Z);
+                f.bounds[5] = Math.Max(f.bounds[5], vt.boundsMax.Z - pad);
             }
 
             return f;

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

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -35,12 +35,12 @@ namespace DotRecast.Detour.Dynamic.Io
 
         public DtVoxelFile Read(BinaryReader stream)
         {
-            RcByteBuffer buf = IOUtils.ToByteBuffer(stream);
+            RcByteBuffer buf = RcIO.ToByteBuffer(stream);
             DtVoxelFile file = new DtVoxelFile();
             int magic = buf.GetInt();
             if (magic != DtVoxelFile.MAGIC)
             {
-                magic = IOUtils.SwapEndianness(magic);
+                magic = RcIO.SwapEndianness(magic);
                 if (magic != DtVoxelFile.MAGIC)
                 {
                     throw new IOException("Invalid magic");

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

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -19,12 +19,11 @@ freely, subject to the following restrictions:
 
 using System.IO;
 using DotRecast.Core;
-using DotRecast.Core.Numerics;
 using DotRecast.Detour.Io;
 
 namespace DotRecast.Detour.Dynamic.Io
 {
-    public class DtVoxelFileWriter : DtWriter
+    public class DtVoxelFileWriter
     {
         private readonly IRcCompressor _compressor;
 
@@ -40,34 +39,34 @@ namespace DotRecast.Detour.Dynamic.Io
 
         public void Write(BinaryWriter stream, DtVoxelFile f, RcByteOrder byteOrder, bool compression)
         {
-            Write(stream, DtVoxelFile.MAGIC, byteOrder);
-            Write(stream, DtVoxelFile.VERSION_EXPORTER_RECAST4J | (compression ? DtVoxelFile.VERSION_COMPRESSION_LZ4 : 0), byteOrder);
-            Write(stream, f.walkableRadius, byteOrder);
-            Write(stream, f.walkableHeight, byteOrder);
-            Write(stream, f.walkableClimb, byteOrder);
-            Write(stream, f.walkableSlopeAngle, byteOrder);
-            Write(stream, f.cellSize, byteOrder);
-            Write(stream, f.maxSimplificationError, byteOrder);
-            Write(stream, f.maxEdgeLen, byteOrder);
-            Write(stream, f.minRegionArea, byteOrder);
-            Write(stream, f.regionMergeArea, byteOrder);
-            Write(stream, f.vertsPerPoly, byteOrder);
-            Write(stream, f.buildMeshDetail);
-            Write(stream, f.detailSampleDistance, byteOrder);
-            Write(stream, f.detailSampleMaxError, byteOrder);
-            Write(stream, f.useTiles);
-            Write(stream, f.tileSizeX, byteOrder);
-            Write(stream, f.tileSizeZ, byteOrder);
-            Write(stream, f.rotation.X, byteOrder);
-            Write(stream, f.rotation.Y, byteOrder);
-            Write(stream, f.rotation.Z, byteOrder);
-            Write(stream, f.bounds[0], byteOrder);
-            Write(stream, f.bounds[1], byteOrder);
-            Write(stream, f.bounds[2], byteOrder);
-            Write(stream, f.bounds[3], byteOrder);
-            Write(stream, f.bounds[4], byteOrder);
-            Write(stream, f.bounds[5], byteOrder);
-            Write(stream, f.tiles.Count, byteOrder);
+            RcIO.Write(stream, DtVoxelFile.MAGIC, byteOrder);
+            RcIO.Write(stream, DtVoxelFile.VERSION_EXPORTER_RECAST4J | (compression ? DtVoxelFile.VERSION_COMPRESSION_LZ4 : 0), byteOrder);
+            RcIO.Write(stream, f.walkableRadius, byteOrder);
+            RcIO.Write(stream, f.walkableHeight, byteOrder);
+            RcIO.Write(stream, f.walkableClimb, byteOrder);
+            RcIO.Write(stream, f.walkableSlopeAngle, byteOrder);
+            RcIO.Write(stream, f.cellSize, byteOrder);
+            RcIO.Write(stream, f.maxSimplificationError, byteOrder);
+            RcIO.Write(stream, f.maxEdgeLen, byteOrder);
+            RcIO.Write(stream, f.minRegionArea, byteOrder);
+            RcIO.Write(stream, f.regionMergeArea, byteOrder);
+            RcIO.Write(stream, f.vertsPerPoly, byteOrder);
+            RcIO.Write(stream, f.buildMeshDetail);
+            RcIO.Write(stream, f.detailSampleDistance, byteOrder);
+            RcIO.Write(stream, f.detailSampleMaxError, byteOrder);
+            RcIO.Write(stream, f.useTiles);
+            RcIO.Write(stream, f.tileSizeX, byteOrder);
+            RcIO.Write(stream, f.tileSizeZ, byteOrder);
+            RcIO.Write(stream, f.rotation.X, byteOrder);
+            RcIO.Write(stream, f.rotation.Y, byteOrder);
+            RcIO.Write(stream, f.rotation.Z, byteOrder);
+            RcIO.Write(stream, f.bounds[0], byteOrder);
+            RcIO.Write(stream, f.bounds[1], byteOrder);
+            RcIO.Write(stream, f.bounds[2], byteOrder);
+            RcIO.Write(stream, f.bounds[3], byteOrder);
+            RcIO.Write(stream, f.bounds[4], byteOrder);
+            RcIO.Write(stream, f.bounds[5], byteOrder);
+            RcIO.Write(stream, f.tiles.Count, byteOrder);
             foreach (DtVoxelTile t in f.tiles)
             {
                 WriteTile(stream, t, byteOrder, compression);
@@ -76,26 +75,26 @@ namespace DotRecast.Detour.Dynamic.Io
 
         public void WriteTile(BinaryWriter stream, DtVoxelTile tile, RcByteOrder byteOrder, bool compression)
         {
-            Write(stream, tile.tileX, byteOrder);
-            Write(stream, tile.tileZ, byteOrder);
-            Write(stream, tile.width, byteOrder);
-            Write(stream, tile.depth, byteOrder);
-            Write(stream, tile.borderSize, byteOrder);
-            Write(stream, tile.boundsMin.X, byteOrder);
-            Write(stream, tile.boundsMin.Y, byteOrder);
-            Write(stream, tile.boundsMin.Z, byteOrder);
-            Write(stream, tile.boundsMax.X, byteOrder);
-            Write(stream, tile.boundsMax.Y, byteOrder);
-            Write(stream, tile.boundsMax.Z, byteOrder);
-            Write(stream, tile.cellSize, byteOrder);
-            Write(stream, tile.cellHeight, byteOrder);
+            RcIO.Write(stream, tile.tileX, byteOrder);
+            RcIO.Write(stream, tile.tileZ, byteOrder);
+            RcIO.Write(stream, tile.width, byteOrder);
+            RcIO.Write(stream, tile.depth, byteOrder);
+            RcIO.Write(stream, tile.borderSize, byteOrder);
+            RcIO.Write(stream, tile.boundsMin.X, byteOrder);
+            RcIO.Write(stream, tile.boundsMin.Y, byteOrder);
+            RcIO.Write(stream, tile.boundsMin.Z, byteOrder);
+            RcIO.Write(stream, tile.boundsMax.X, byteOrder);
+            RcIO.Write(stream, tile.boundsMax.Y, byteOrder);
+            RcIO.Write(stream, tile.boundsMax.Z, byteOrder);
+            RcIO.Write(stream, tile.cellSize, byteOrder);
+            RcIO.Write(stream, tile.cellHeight, byteOrder);
             byte[] bytes = tile.spanData;
             if (compression)
             {
                 bytes = _compressor.Compress(bytes);
             }
 
-            Write(stream, bytes.Length, byteOrder);
+            RcIO.Write(stream, bytes.Length, byteOrder);
             stream.Write(bytes);
         }
     }

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

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

src/DotRecast.Detour.Extras/BVTreeBuilder.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -40,20 +40,20 @@ namespace DotRecast.Detour.Extras
                 BVItem it = new BVItem();
                 items[i] = it;
                 it.i = i;
-                RcVec3f bmin = RcVecUtils.Create(data.verts, data.polys[i].verts[0] * 3);
-                RcVec3f bmax = RcVecUtils.Create(data.verts, data.polys[i].verts[0] * 3);
+                RcVec3f bmin = RcVec.Create(data.verts, data.polys[i].verts[0] * 3);
+                RcVec3f bmax = RcVec.Create(data.verts, data.polys[i].verts[0] * 3);
                 for (int j = 1; j < data.polys[i].vertCount; j++)
                 {
-                    bmin = RcVecUtils.Min(bmin, data.verts, data.polys[i].verts[j] * 3);
-                    bmax = RcVecUtils.Max(bmax, data.verts, data.polys[i].verts[j] * 3);
+                    bmin = RcVec3f.Min(bmin, RcVec.Create(data.verts, data.polys[i].verts[j] * 3));
+                    bmax = RcVec3f.Max(bmax, RcVec.Create(data.verts, data.polys[i].verts[j] * 3));
                 }
 
-                it.bmin[0] = Math.Clamp((int)((bmin.X - data.header.bmin.X) * quantFactor), 0, 0x7fffffff);
-                it.bmin[1] = Math.Clamp((int)((bmin.Y - data.header.bmin.Y) * quantFactor), 0, 0x7fffffff);
-                it.bmin[2] = Math.Clamp((int)((bmin.Z - data.header.bmin.Z) * quantFactor), 0, 0x7fffffff);
-                it.bmax[0] = Math.Clamp((int)((bmax.X - data.header.bmin.X) * quantFactor), 0, 0x7fffffff);
-                it.bmax[1] = Math.Clamp((int)((bmax.Y - data.header.bmin.Y) * quantFactor), 0, 0x7fffffff);
-                it.bmax[2] = Math.Clamp((int)((bmax.Z - data.header.bmin.Z) * quantFactor), 0, 0x7fffffff);
+                it.bmin.X = Math.Clamp((int)((bmin.X - data.header.bmin.X) * quantFactor), 0, 0x7fffffff);
+                it.bmin.Y = Math.Clamp((int)((bmin.Y - data.header.bmin.Y) * quantFactor), 0, 0x7fffffff);
+                it.bmin.Z = Math.Clamp((int)((bmin.Z - data.header.bmin.Z) * quantFactor), 0, 0x7fffffff);
+                it.bmax.X = Math.Clamp((int)((bmax.X - data.header.bmin.X) * quantFactor), 0, 0x7fffffff);
+                it.bmax.Y = Math.Clamp((int)((bmax.Y - data.header.bmin.Y) * quantFactor), 0, 0x7fffffff);
+                it.bmax.Z = Math.Clamp((int)((bmax.Z - data.header.bmin.Z) * quantFactor), 0, 0x7fffffff);
             }
 
             return DtNavMeshBuilder.Subdivide(items, data.header.polyCount, 0, data.header.polyCount, 0, nodes);

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

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

src/DotRecast.Detour.Extras/DotRecast.Detour.Extras.csproj

@@ -1,15 +1,16 @@
 <Project Sdk="Microsoft.NET.Sdk">
 
   <PropertyGroup>
-    <TargetFrameworks>netstandard2.1;net6.0;net7.0</TargetFrameworks>
+    <TargetFrameworks>netstandard2.1;net6.0;net7.0;net8.0</TargetFrameworks>
     <PackageId>DotRecast.Detour.Extras</PackageId>
     <PackageReadmeFile>README.md</PackageReadmeFile>
     <Authors>ikpil</Authors>
-    <Description>DotRecast - a port of Recast Detour, navigation mesh toolset for games, Unity3D, servers, C#</Description>
+    <Description>DotRecast - a port of Recast Detour, Industry-standard navigation mesh toolset for .NET, C#, Unity3D, games, servers</Description>
     <RepositoryType>git</RepositoryType>
     <PackageProjectUrl>https://github.com/ikpil/DotRecast</PackageProjectUrl>
     <RepositoryUrl>https://github.com/ikpil/DotRecast</RepositoryUrl>
     <PackageTags>game gamedev ai csharp server unity navigation game-development unity3d pathfinding pathfinder recast detour navmesh crowd-simulation recastnavigation</PackageTags>
+    <PackageReleaseNotes>https://github.com/ikpil/DotRecast/blob/main/CHANGELOG.md</PackageReleaseNotes>
   </PropertyGroup>
 
   <ItemGroup>

src/DotRecast.Detour.Extras/DtPolyUtils.cs

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

@@ -21,7 +21,7 @@ namespace DotRecast.Detour.Extras.Jumplink
         public JumpLinkBuilder(IList<RcBuilderResult> results)
         {
             this.results = results;
-            edges = results.Select(r => edgeExtractor.ExtractEdges(r.GetMesh())).ToList();
+            edges = results.Select(r => edgeExtractor.ExtractEdges(r.Mesh)).ToList();
         }
 
         public List<JumpLink> Build(JumpLinkBuilderConfig acfg, JumpLinkType type)
@@ -43,7 +43,7 @@ namespace DotRecast.Detour.Extras.Jumplink
         {
             EdgeSampler es = edgeSamplerFactory.Get(acfg, type, edge);
             groundSampler.Sample(acfg, result, es);
-            trajectorySampler.Sample(acfg, result.GetSolidHeightfield(), es);
+            trajectorySampler.Sample(acfg, result.SolidHeightfiled, es);
             JumpSegment[] jumpSegments = jumpSegmentBuilder.Build(acfg, es);
             return BuildJumpLinks(acfg, es, jumpSegments);
         }
@@ -59,13 +59,13 @@ namespace DotRecast.Detour.Extras.Jumplink
                 GroundSegment end = es.end[js.groundSegment];
                 RcVec3f ep = end.gsamples[js.startSample].p;
                 RcVec3f eq = end.gsamples[js.startSample + js.samples - 1].p;
-                float d = Math.Min(RcVecUtils.Dist2DSqr(sp, sq), RcVecUtils.Dist2DSqr(ep, eq));
+                float d = Math.Min(RcVec.Dist2DSqr(sp, sq), RcVec.Dist2DSqr(ep, eq));
                 if (d >= 4 * acfg.agentRadius * acfg.agentRadius)
                 {
                     JumpLink link = new JumpLink();
                     links.Add(link);
-                    link.startSamples = RcArrayUtils.CopyOf(es.start.gsamples, js.startSample, js.samples);
-                    link.endSamples = RcArrayUtils.CopyOf(end.gsamples, js.startSample, js.samples);
+                    link.startSamples = RcArrays.CopyOf(es.start.gsamples, js.startSample, js.samples);
+                    link.endSamples = RcArrays.CopyOf(end.gsamples, js.startSample, js.samples);
                     link.start = es.start;
                     link.end = end;
                     link.trajectory = es.trajectory;

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

@@ -10,7 +10,7 @@ namespace DotRecast.Detour.Extras.Jumplink
         public static readonly JumpLinkType EDGE_CLIMB_DOWN = new JumpLinkType(EDGE_CLIMB_DOWN_BIT);
         public static readonly JumpLinkType EDGE_JUMP_OVER = new JumpLinkType(EDGE_JUMP_OVER_BIT);
 
-        public int Bit { get; }
+        public readonly int Bit;
 
         private JumpLinkType(int bit)
         {

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

@@ -4,12 +4,12 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.Extras.Jumplink
 {
-    class JumpSegmentBuilder
+    public class JumpSegmentBuilder
     {
         public JumpSegment[] Build(JumpLinkBuilderConfig acfg, EdgeSampler es)
         {
             int n = es.end[0].gsamples.Length;
-            int[][] sampleGrid = RcArrayUtils.Of<int>(n, es.end.Count);
+            int[][] sampleGrid = RcArrays.Of<int>(n, es.end.Count);
             for (int j = 0; j < es.end.Count; j++)
             {
                 for (int i = 0; i < n; i++)

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

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

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

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

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

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

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

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

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

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

src/DotRecast.Detour.Extras/ObjExporter.cs

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -34,8 +35,7 @@ namespace DotRecast.Detour.Extras
                 {
                     for (int v = 0; v < tile.data.header.vertCount; v++)
                     {
-                        fw.Write("v " + tile.data.verts[v * 3] + " " + tile.data.verts[v * 3 + 1] + " "
-                                 + tile.data.verts[v * 3 + 2] + "\n");
+                        fw.Write("v " + tile.data.verts[v * 3] + " " + tile.data.verts[v * 3 + 1] + " " + tile.data.verts[v * 3 + 2] + "\n");
                     }
                 }
             }

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

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

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

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

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

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

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

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

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

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -22,6 +23,8 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.Extras.Unity.Astar
 {
+    using static DtDetour;
+
     public class GraphMeshDataReader : ZipBinaryReader
     {
         public const float INT_PRECISION_FACTOR = 1000f;
@@ -76,7 +79,7 @@ namespace DotRecast.Detour.Extras.Unity.Astar
                     int nodeCount = buffer.GetInt();
                     DtPoly[] nodes = new DtPoly[nodeCount];
                     DtPolyDetail[] detailNodes = new DtPolyDetail[nodeCount];
-                    float[] detailVerts = new float[0];
+                    float[] detailVerts = Array.Empty<float>();
                     int[] detailTris = new int[4 * nodeCount];
                     int vertMask = GetVertMask(vertsCount);
                     float ymin = float.PositiveInfinity;
@@ -97,11 +100,11 @@ namespace DotRecast.Detour.Extras.Unity.Astar
                         ymax = Math.Max(ymax, verts[nodes[i].verts[0] * 3 + 1]);
                         ymax = Math.Max(ymax, verts[nodes[i].verts[1] * 3 + 1]);
                         ymax = Math.Max(ymax, verts[nodes[i].verts[2] * 3 + 1]);
-                        detailNodes[i] = new DtPolyDetail();
-                        detailNodes[i].vertBase = 0;
-                        detailNodes[i].vertCount = 0;
-                        detailNodes[i].triBase = i;
-                        detailNodes[i].triCount = 1;
+                        int vertBase = 0;
+                        byte vertCount = 0;
+                        int triBase = i;
+                        byte triCount = 1;
+                        detailNodes[i] = new DtPolyDetail(vertBase, triBase, vertCount, triCount);
                         detailTris[4 * i] = 0;
                         detailTris[4 * i + 1] = 1;
                         detailTris[4 * i + 2] = 2;
@@ -116,25 +119,25 @@ namespace DotRecast.Detour.Extras.Unity.Astar
                     tiles[tileIndex].detailVerts = detailVerts;
                     tiles[tileIndex].detailTris = detailTris;
                     DtMeshHeader header = new DtMeshHeader();
-                    header.magic = DtMeshHeader.DT_NAVMESH_MAGIC;
-                    header.version = DtMeshHeader.DT_NAVMESH_VERSION;
+                    header.magic = DT_NAVMESH_MAGIC;
+                    header.version = DT_NAVMESH_VERSION;
                     header.x = x;
                     header.y = z;
                     header.polyCount = nodeCount;
                     header.vertCount = vertsCount;
                     header.detailMeshCount = nodeCount;
                     header.detailTriCount = nodeCount;
-                    header.maxLinkCount = nodeCount * 3 * 2; // XXX: Needed by Recast, not needed by recast4j
-                    header.bmin.X = meta.forcedBoundsCenter.x - 0.5f * meta.forcedBoundsSize.x
-                                    + meta.cellSize * meta.tileSizeX * x;
+                    header.maxLinkCount = nodeCount * 3 * 2; // needed by Recast, not needed by recast4j, needed by DotRecast
+                    header.bmin.X = meta.forcedBoundsCenter.x - 0.5f * meta.forcedBoundsSize.x +
+                                    meta.cellSize * meta.tileSizeX * x;
                     header.bmin.Y = ymin;
-                    header.bmin.Z = meta.forcedBoundsCenter.z - 0.5f * meta.forcedBoundsSize.z
-                                    + meta.cellSize * meta.tileSizeZ * z;
-                    header.bmax.X = meta.forcedBoundsCenter.x - 0.5f * meta.forcedBoundsSize.x
-                                    + meta.cellSize * meta.tileSizeX * (x + 1);
+                    header.bmin.Z = meta.forcedBoundsCenter.z - 0.5f * meta.forcedBoundsSize.z +
+                                    meta.cellSize * meta.tileSizeZ * z;
+                    header.bmax.X = meta.forcedBoundsCenter.x - 0.5f * meta.forcedBoundsSize.x +
+                                    meta.cellSize * meta.tileSizeX * (x + 1);
                     header.bmax.Y = ymax;
-                    header.bmax.Z = meta.forcedBoundsCenter.z - 0.5f * meta.forcedBoundsSize.z
-                                    + meta.cellSize * meta.tileSizeZ * (z + 1);
+                    header.bmax.Z = meta.forcedBoundsCenter.z - 0.5f * meta.forcedBoundsSize.z +
+                                    meta.cellSize * meta.tileSizeZ * (z + 1);
                     header.bvQuantFactor = 1.0f / meta.cellSize;
                     header.offMeshBase = nodeCount;
                     header.walkableClimb = meta.walkableClimb;

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

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

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

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

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

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -21,6 +22,8 @@ using System.Collections.Generic;
 
 namespace DotRecast.Detour.Extras.Unity.Astar
 {
+    using static DtDetour;
+
     public class LinkBuilder
     {
         // Process connections and transform them into recast neighbour flags
@@ -65,19 +68,19 @@ namespace DotRecast.Detour.Extras.Unity.Astar
         {
             if (neighbourTile.header.bmin.X > tile.header.bmin.X)
             {
-                node.neis[DtPolyUtils.FindEdge(node, tile, neighbourTile.header.bmin.X, 0)] = DtNavMesh.DT_EXT_LINK;
+                node.neis[DtPolyUtils.FindEdge(node, tile, neighbourTile.header.bmin.X, 0)] = DT_EXT_LINK;
             }
             else if (neighbourTile.header.bmin.X < tile.header.bmin.X)
             {
-                node.neis[DtPolyUtils.FindEdge(node, tile, tile.header.bmin.X, 0)] = DtNavMesh.DT_EXT_LINK | 4;
+                node.neis[DtPolyUtils.FindEdge(node, tile, tile.header.bmin.X, 0)] = DT_EXT_LINK | 4;
             }
             else if (neighbourTile.header.bmin.Z > tile.header.bmin.Z)
             {
-                node.neis[DtPolyUtils.FindEdge(node, tile, neighbourTile.header.bmin.Z, 2)] = DtNavMesh.DT_EXT_LINK | 2;
+                node.neis[DtPolyUtils.FindEdge(node, tile, neighbourTile.header.bmin.Z, 2)] = DT_EXT_LINK | 2;
             }
             else
             {
-                node.neis[DtPolyUtils.FindEdge(node, tile, tile.header.bmin.Z, 2)] = DtNavMesh.DT_EXT_LINK | 6;
+                node.neis[DtPolyUtils.FindEdge(node, tile, tile.header.bmin.Z, 2)] = DT_EXT_LINK | 6;
             }
         }
     }

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

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -25,7 +26,7 @@ namespace DotRecast.Detour.Extras.Unity.Astar
     {
         public const string TYPENAME_RECAST_GRAPH = "Pathfinding.RecastGraph";
         public const string MIN_SUPPORTED_VERSION = "4.0.6";
-        public const string UPDATED_STRUCT_VERSION = "4.1.16";
+        public const string UPDATED_STRUCT_VERSION = "4.1.0";
         public static readonly Regex VERSION_PATTERN = new Regex(@"(\d+)\.(\d+)\.(\d+)");
         public string version { get; set; }
         public int graphs { get; set; }

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

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

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

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

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

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

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

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

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

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -37,26 +38,25 @@ namespace DotRecast.Detour.Extras.Unity.Astar
                     if (startNode != null && endNode != null)
                     {
                         // FIXME: Optimise
-                        startTile.polys = RcArrayUtils.CopyOf(startTile.polys, startTile.polys.Length + 1);
+                        startTile.polys = RcArrays.CopyOf(startTile.polys, startTile.polys.Length + 1);
                         int poly = startTile.header.polyCount;
                         startTile.polys[poly] = new DtPoly(poly, 2);
                         startTile.polys[poly].verts[0] = startTile.header.vertCount;
                         startTile.polys[poly].verts[1] = startTile.header.vertCount + 1;
                         startTile.polys[poly].SetPolyType(DtPolyTypes.DT_POLYTYPE_OFFMESH_CONNECTION);
-                        startTile.verts = RcArrayUtils.CopyOf(startTile.verts, startTile.verts.Length + 6);
+                        startTile.verts = RcArrays.CopyOf(startTile.verts, startTile.verts.Length + 6);
                         startTile.header.polyCount++;
                         startTile.header.vertCount += 2;
                         DtOffMeshConnection connection = new DtOffMeshConnection();
                         connection.poly = poly;
-                        connection.pos = new float[]
+                        connection.pos = new RcVec3f[]
                         {
-                            l.clamped1.X, l.clamped1.Y, l.clamped1.Z,
-                            l.clamped2.X, l.clamped2.Y, l.clamped2.Z
+                            l.clamped1, l.clamped2
                         };
                         connection.rad = 0.1f;
                         connection.side = startTile == endTile
                             ? 0xFF
-                            : DtNavMeshBuilder.ClassifyOffMeshPoint(RcVecUtils.Create(connection.pos, 3), startTile.header.bmin, startTile.header.bmax);
+                            : DtNavMeshBuilder.ClassifyOffMeshPoint(connection.pos[1], startTile.header.bmin, startTile.header.bmax);
                         connection.userId = (int)l.linkID;
                         if (startTile.offMeshCons == null)
                         {
@@ -64,7 +64,7 @@ namespace DotRecast.Detour.Extras.Unity.Astar
                         }
                         else
                         {
-                            startTile.offMeshCons = RcArrayUtils.CopyOf(startTile.offMeshCons, startTile.offMeshCons.Length + 1);
+                            startTile.offMeshCons = RcArrays.CopyOf(startTile.offMeshCons, startTile.offMeshCons.Length + 1);
                         }
 
                         startTile.offMeshCons[startTile.offMeshCons.Length - 1] = connection;

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

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -48,8 +49,7 @@ namespace DotRecast.Detour.Extras.Unity.Astar
                 int nodeCount = graphMeshData.CountNodes();
                 if (connections.Count != nodeCount)
                 {
-                    throw new ArgumentException("Inconsistent number of nodes in data file: " + nodeCount
-                                                                                              + " and connecton files: " + connections.Count);
+                    throw new ArgumentException($"Inconsistent number of nodes in data file: {nodeCount} and connection files: {connections.Count}");
                 }
 
                 // Build BV tree
@@ -66,10 +66,11 @@ namespace DotRecast.Detour.Extras.Unity.Astar
                 option.orig.X = -0.5f * graphMeta.forcedBoundsSize.x + graphMeta.forcedBoundsCenter.x;
                 option.orig.Y = -0.5f * graphMeta.forcedBoundsSize.y + graphMeta.forcedBoundsCenter.y;
                 option.orig.Z = -0.5f * graphMeta.forcedBoundsSize.z + graphMeta.forcedBoundsCenter.z;
-                DtNavMesh mesh = new DtNavMesh(option, 3);
+                DtNavMesh mesh = new DtNavMesh();
+                mesh.Init(option, 3);
                 foreach (DtMeshData t in graphMeshData.tiles)
                 {
-                    mesh.AddTile(t, 0, 0);
+                    mesh.AddTile(t, 0, 0, out _);
                 }
 
                 meshes[graphIndex] = mesh;

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

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

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

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -31,7 +32,7 @@ namespace DotRecast.Detour.Extras.Unity.Astar
             ZipArchiveEntry graphReferences = file.GetEntry(filename);
             using var entryStream = graphReferences.Open();
             using var br = new BinaryReader(entryStream);
-            RcByteBuffer buffer = IOUtils.ToByteBuffer(br);
+            RcByteBuffer buffer = RcIO.ToByteBuffer(br);
             buffer.Order(RcByteOrder.LITTLE_ENDIAN);
             return buffer;
         }

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

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

src/DotRecast.Detour.TileCache/DotRecast.Detour.TileCache.csproj

@@ -1,15 +1,16 @@
 <Project Sdk="Microsoft.NET.Sdk">
 
   <PropertyGroup>
-    <TargetFrameworks>netstandard2.1;net6.0;net7.0</TargetFrameworks>
+    <TargetFrameworks>netstandard2.1;net6.0;net7.0;net8.0</TargetFrameworks>
     <PackageId>DotRecast.Detour.TileCache</PackageId>
     <PackageReadmeFile>README.md</PackageReadmeFile>
     <Authors>ikpil</Authors>
-    <Description>DotRecast - a port of Recast Detour, navigation mesh toolset for games, Unity3D, servers, C#</Description>
+    <Description>DotRecast - a port of Recast Detour, Industry-standard navigation mesh toolset for .NET, C#, Unity3D, games, servers</Description>
     <RepositoryType>git</RepositoryType>
     <PackageProjectUrl>https://github.com/ikpil/DotRecast</PackageProjectUrl>
     <RepositoryUrl>https://github.com/ikpil/DotRecast</RepositoryUrl>
     <PackageTags>game gamedev ai csharp server unity navigation game-development unity3d pathfinding pathfinder recast detour navmesh crowd-simulation recastnavigation</PackageTags>
+    <PackageReleaseNotes>https://github.com/ikpil/DotRecast/blob/main/CHANGELOG.md</PackageReleaseNotes>
   </PropertyGroup>
 
   <ItemGroup>

src/DotRecast.Detour.TileCache/DtCompressedTile.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

src/DotRecast.Detour.TileCache/DtCompressedTileFlags.cs

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

src/DotRecast.Detour.TileCache/DtLayerMonotoneRegion.cs

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

src/DotRecast.Detour.TileCache/DtLayerSweepSpan.cs

@@ -1,9 +0,0 @@
-namespace DotRecast.Detour.TileCache
-{
-    public class DtLayerSweepSpan
-    {
-        public int ns; // number samples
-        public int id; // region id
-        public int nei; // neighbour id
-    };
-}

src/DotRecast.Detour.TileCache/DtObstacleBox.cs

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

src/DotRecast.Detour.TileCache/DtObstacleCylinder.cs

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

src/DotRecast.Detour.TileCache/DtObstacleOrientedBox.cs

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

src/DotRecast.Detour.TileCache/DtObstacleRequest.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

src/DotRecast.Detour.TileCache/DtObstacleRequestAction.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

src/DotRecast.Detour.TileCache/DtObstacleState.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

src/DotRecast.Detour.TileCache/DtTempContour.cs

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

src/DotRecast.Detour.TileCache/DtTileCache.cs

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

src/DotRecast.Detour.TileCache/DtTileCacheBuilder.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -24,43 +24,42 @@ using System.IO;
 using DotRecast.Core;
 using DotRecast.Core.Numerics;
 using DotRecast.Detour.TileCache.Io;
-using DotRecast.Detour.TileCache.Io.Compress;
+using DotRecast.Recast;
 
 
 namespace DotRecast.Detour.TileCache
 {
-    public class DtTileCacheBuilder
+    public static class DtTileCacheBuilder
     {
-        public const int DT_TILECACHE_NULL_AREA = 0;
-        public const int DT_TILECACHE_WALKABLE_AREA = 63;
+        public const byte DT_TILECACHE_NULL_AREA = 0;
+        public const byte DT_TILECACHE_WALKABLE_AREA = 63;
         public const int DT_TILECACHE_NULL_IDX = 0xffff;
+
         private static readonly int[] DirOffsetX = { -1, 0, 1, 0, };
         private static readonly int[] DirOffsetY = { 0, 1, 0, -1 };
 
-        private readonly DtTileCacheLayerHeaderReader reader = new DtTileCacheLayerHeaderReader();
-
-        public void BuildTileCacheRegions(DtTileCacheLayer layer, int walkableClimb)
+        public static void BuildTileCacheRegions(DtTileCacheLayer layer, int walkableClimb)
         {
             int w = layer.header.width;
             int h = layer.header.height;
 
-            Array.Fill(layer.regs, (short)0x00FF);
+            Array.Fill(layer.regs, (byte)0xFF);
             int nsweeps = w;
-            DtLayerSweepSpan[] sweeps = new DtLayerSweepSpan[nsweeps];
+            RcLayerSweepSpan[] sweeps = new RcLayerSweepSpan[nsweeps];
             for (int i = 0; i < sweeps.Length; i++)
             {
-                sweeps[i] = new DtLayerSweepSpan();
+                sweeps[i] = new RcLayerSweepSpan();
             }
 
             // Partition walkable area into monotone regions.
-            int[] prevCount = new int[256];
-            int regId = 0;
+            Span<byte> prevCount = stackalloc byte[256];
+            byte regId = 0;
 
             for (int y = 0; y < h; ++y)
             {
                 if (regId > 0)
                 {
-                    Array.Fill(prevCount, 0, 0, regId);
+                    RcSpans.Fill<byte>(prevCount, 0, 0, regId);
                 }
 
                 // Memset(prevCount,0,Sizeof(char)*regId);
@@ -93,7 +92,7 @@ namespace DotRecast.Detour.TileCache
                     int yidx = x + (y - 1) * w;
                     if (y > 0 && IsConnected(layer, idx, yidx, walkableClimb))
                     {
-                        int nr = layer.regs[yidx];
+                        byte nr = layer.regs[yidx];
                         if (nr != 0xff)
                         {
                             // Set neighbour when first valid neighbour is
@@ -147,12 +146,12 @@ namespace DotRecast.Detour.TileCache
                 {
                     int idx = x + y * w;
                     if (layer.regs[idx] != 0xff)
-                        layer.regs[idx] = (short)sweeps[layer.regs[idx]].id;
+                        layer.regs[idx] = sweeps[layer.regs[idx]].id;
                 }
             }
 
             // Allocate and init layer regions.
-            int nregs = regId;
+            byte nregs = regId;
             DtLayerMonotoneRegion[] regs = new DtLayerMonotoneRegion[nregs];
 
             for (int i = 0; i < nregs; ++i)
@@ -167,7 +166,7 @@ namespace DotRecast.Detour.TileCache
                 for (int x = 0; x < w; ++x)
                 {
                     int idx = x + y * w;
-                    int ri = layer.regs[idx];
+                    byte ri = layer.regs[idx];
                     if (ri == 0xff)
                         continue;
 
@@ -179,17 +178,17 @@ namespace DotRecast.Detour.TileCache
                     int ymi = x + (y - 1) * w;
                     if (y > 0 && IsConnected(layer, idx, ymi, walkableClimb))
                     {
-                        int rai = layer.regs[ymi];
+                        byte rai = layer.regs[ymi];
                         if (rai != 0xff && rai != ri)
                         {
-                            AddUniqueLast(regs[ri].neis, rai);
-                            AddUniqueLast(regs[rai].neis, ri);
+                            AddUniqueLast(regs[ri].neis, ref regs[ri].nneis, rai);
+                            AddUniqueLast(regs[rai].neis, ref regs[rai].nneis, ri);
                         }
                     }
                 }
             }
 
-            for (int i = 0; i < nregs; ++i)
+            for (byte i = 0; i < nregs; ++i)
                 regs[i].regId = i;
 
             for (int i = 0; i < nregs; ++i)
@@ -198,8 +197,9 @@ namespace DotRecast.Detour.TileCache
 
                 int merge = -1;
                 int mergea = 0;
-                foreach (int nei in reg.neis)
+                for (int j = 0; j < reg.nneis; ++j)
                 {
+                    byte nei = reg.neis[j];
                     DtLayerMonotoneRegion regn = regs[nei];
                     if (reg.regId == regn.regId)
                         continue;
@@ -218,7 +218,7 @@ namespace DotRecast.Detour.TileCache
                 if (merge != -1)
                 {
                     int oldId = reg.regId;
-                    int newId = regs[merge].regId;
+                    byte newId = regs[merge].regId;
                     for (int j = 0; j < nregs; ++j)
                         if (regs[j].regId == oldId)
                             regs[j].regId = newId;
@@ -226,7 +226,7 @@ namespace DotRecast.Detour.TileCache
             }
 
             // Compact ids.
-            int[] remap = new int[256];
+            Span<byte> remap = stackalloc byte[256];
             // Find number of unique regions.
             regId = 0;
             for (int i = 0; i < nregs; ++i)
@@ -243,19 +243,20 @@ namespace DotRecast.Detour.TileCache
             for (int i = 0; i < w * h; ++i)
             {
                 if (layer.regs[i] != 0xff)
-                    layer.regs[i] = (short)regs[layer.regs[i]].regId;
+                    layer.regs[i] = regs[layer.regs[i]].regId;
             }
         }
 
-        void AddUniqueLast(List<int> a, int v)
+        public static void AddUniqueLast(byte[] a, ref byte an, byte v)
         {
-            int n = a.Count;
+            int n = an;
             if (n > 0 && a[n - 1] == v)
                 return;
-            a.Add(v);
+            a[an] = v;
+            an++;
         }
 
-        bool IsConnected(DtTileCacheLayer layer, int ia, int ib, int walkableClimb)
+        public static bool IsConnected(DtTileCacheLayer layer, int ia, int ib, int walkableClimb)
         {
             if (layer.areas[ia] != layer.areas[ib])
                 return false;
@@ -264,7 +265,7 @@ namespace DotRecast.Detour.TileCache
             return true;
         }
 
-        bool CanMerge(int oldRegId, int newRegId, DtLayerMonotoneRegion[] regs, int nregs)
+        public static bool CanMerge(int oldRegId, int newRegId, DtLayerMonotoneRegion[] regs, int nregs)
         {
             int count = 0;
             for (int i = 0; i < nregs; ++i)
@@ -272,9 +273,11 @@ namespace DotRecast.Detour.TileCache
                 DtLayerMonotoneRegion reg = regs[i];
                 if (reg.regId != oldRegId)
                     continue;
-                foreach (int nei in reg.neis)
+
+                int nnei = reg.nneis;
+                for (int j = 0; j < nnei ; ++j)
                 {
-                    if (regs[nei].regId == newRegId)
+                    if (regs[reg.neis[j]].regId == newRegId)
                         count++;
                 }
             }
@@ -282,7 +285,7 @@ namespace DotRecast.Detour.TileCache
             return count == 1;
         }
 
-        private void AppendVertex(DtTempContour cont, int x, int y, int z, int r)
+        public static void AppendVertex(DtTempContour cont, int x, int y, int z, int r)
         {
             // Try to merge with existing segments.
             if (cont.nverts > 1)
@@ -316,7 +319,7 @@ namespace DotRecast.Detour.TileCache
             cont.nverts++;
         }
 
-        private int GetNeighbourReg(DtTileCacheLayer layer, int ax, int ay, int dir)
+        public static int GetNeighbourReg(DtTileCacheLayer layer, int ax, int ay, int dir)
         {
             int w = layer.header.width;
             int ia = ax + ay * w;
@@ -339,17 +342,17 @@ namespace DotRecast.Detour.TileCache
             return layer.regs[ib];
         }
 
-        private int GetDirOffsetX(int dir)
+        public static int GetDirOffsetX(int dir)
         {
             return DirOffsetX[dir & 0x03];
         }
 
-        private int GetDirOffsetY(int dir)
+        public static int GetDirOffsetY(int dir)
         {
             return DirOffsetY[dir & 0x03];
         }
 
-        private void WalkContour(DtTileCacheLayer layer, int x, int y, DtTempContour cont)
+        public static void WalkContour(DtTileCacheLayer layer, int x, int y, DtTempContour cont)
         {
             int w = layer.header.width;
             int h = layer.header.height;
@@ -434,7 +437,7 @@ namespace DotRecast.Detour.TileCache
                 cont.nverts--;
         }
 
-        private float DistancePtSeg(int x, int z, int px, int pz, int qx, int qz)
+        public static float DistancePtSeg(int x, int z, int px, int pz, int qx, int qz)
         {
             float pqx = qx - px;
             float pqz = qz - pz;
@@ -455,7 +458,7 @@ namespace DotRecast.Detour.TileCache
             return dx * dx + dz * dz;
         }
 
-        private void SimplifyContour(DtTempContour cont, float maxError)
+        public static void SimplifyContour(DtTempContour cont, float maxError)
         {
             cont.poly.Clear();
 
@@ -584,7 +587,7 @@ namespace DotRecast.Detour.TileCache
             }
         }
 
-        static int GetCornerHeight(DtTileCacheLayer layer, int x, int y, int z, int walkableClimb, out bool shouldRemove)
+        public static int GetCornerHeight(DtTileCacheLayer layer, int x, int y, int z, int walkableClimb, out bool shouldRemove)
         {
             int w = layer.header.width;
             int h = layer.header.height;
@@ -634,7 +637,7 @@ namespace DotRecast.Detour.TileCache
         }
 
         // TODO: move this somewhere else, once the layer meshing is done.
-        public DtTileCacheContourSet BuildTileCacheContours(DtTileCacheLayer layer, int walkableClimb, float maxError)
+        public static DtTileCacheContourSet BuildTileCacheContours(DtTileCacheLayer layer, int walkableClimb, float maxError)
         {
             int w = layer.header.width;
             int h = layer.header.height;
@@ -656,7 +659,7 @@ namespace DotRecast.Detour.TileCache
                 for (int x = 0; x < w; ++x)
                 {
                     int idx = x + y * w;
-                    int ri = layer.regs[idx];
+                    byte ri = layer.regs[idx];
                     if (ri == 0xff)
                         continue;
 
@@ -711,7 +714,7 @@ namespace DotRecast.Detour.TileCache
 
         const uint VERTEX_BUCKET_COUNT2 = (1 << 8);
 
-        private int ComputeVertexHash2(int x, int y, int z)
+        public static int ComputeVertexHash2(int x, int y, int z)
         {
             uint h1 = 0x8da6b343; // Large multiplicative constants;
             uint h2 = 0xd8163841; // here arbitrarily chosen primes
@@ -720,7 +723,7 @@ namespace DotRecast.Detour.TileCache
             return (int)(n & (VERTEX_BUCKET_COUNT2 - 1));
         }
 
-        private int AddVertex(int x, int y, int z, int[] verts, int[] firstVert, int[] nextVert, int nv)
+        public static int AddVertex(int x, int y, int z, int[] verts, int[] firstVert, int[] nextVert, int nv)
         {
             int bucket = ComputeVertexHash2(x, 0, z);
             int i = firstVert[bucket];
@@ -743,7 +746,7 @@ namespace DotRecast.Detour.TileCache
             return i;
         }
 
-        private void BuildMeshAdjacency(int[] polys, int npolys, int[] verts, int nverts, DtTileCacheContourSet lcset,
+        public static void BuildMeshAdjacency(int[] polys, int npolys, int[] verts, int nverts, DtTileCacheContourSet lcset,
             int maxVertsPerPoly)
         {
             // Based on code by Eric Lengyel from:
@@ -954,22 +957,22 @@ namespace DotRecast.Detour.TileCache
             }
         }
 
-        private bool OverlapRangeExl(int amin, int amax, int bmin, int bmax)
+        public static bool OverlapRangeExl(int amin, int amax, int bmin, int bmax)
         {
             return (amin >= bmax || amax <= bmin) ? false : true;
         }
 
-        private int Prev(int i, int n)
+        public static int Prev(int i, int n)
         {
             return i - 1 >= 0 ? i - 1 : n - 1;
         }
 
-        private int Next(int i, int n)
+        public static int Next(int i, int n)
         {
             return i + 1 < n ? i + 1 : 0;
         }
 
-        private int Area2(int[] verts, int a, int b, int c)
+        public static int Area2(int[] verts, int a, int b, int c)
         {
             return (verts[b] - verts[a]) * (verts[c + 2] - verts[a + 2])
                    - (verts[c] - verts[a]) * (verts[b + 2] - verts[a + 2]);
@@ -977,17 +980,17 @@ namespace DotRecast.Detour.TileCache
 
         // Returns true iff c is strictly to the left of the directed
         // line through a to b.
-        private bool Left(int[] verts, int a, int b, int c)
+        public static bool Left(int[] verts, int a, int b, int c)
         {
             return Area2(verts, a, b, c) < 0;
         }
 
-        private bool LeftOn(int[] verts, int a, int b, int c)
+        public static bool LeftOn(int[] verts, int a, int b, int c)
         {
             return Area2(verts, a, b, c) <= 0;
         }
 
-        private bool Collinear(int[] verts, int a, int b, int c)
+        public static bool Collinear(int[] verts, int a, int b, int c)
         {
             return Area2(verts, a, b, c) == 0;
         }
@@ -995,7 +998,7 @@ namespace DotRecast.Detour.TileCache
         // Returns true iff ab properly intersects cd: they share
         // a point interior to both segments. The properness of the
         // intersection is ensured by using strict leftness.
-        private bool IntersectProp(int[] verts, int a, int b, int c, int d)
+        public static bool IntersectProp(int[] verts, int a, int b, int c, int d)
         {
             // Eliminate improper cases.
             if (Collinear(verts, a, b, c) || Collinear(verts, a, b, d) || Collinear(verts, c, d, a)
@@ -1007,7 +1010,7 @@ namespace DotRecast.Detour.TileCache
 
         // Returns T iff (a,b,c) are collinear and point c lies
         // on the closed segment ab.
-        private bool Between(int[] verts, int a, int b, int c)
+        public static bool Between(int[] verts, int a, int b, int c)
         {
             if (!Collinear(verts, a, b, c))
                 return false;
@@ -1021,7 +1024,7 @@ namespace DotRecast.Detour.TileCache
         }
 
         // Returns true iff segments ab and cd intersect, properly or improperly.
-        private bool Intersect(int[] verts, int a, int b, int c, int d)
+        public static bool Intersect(int[] verts, int a, int b, int c, int d)
         {
             if (IntersectProp(verts, a, b, c, d))
                 return true;
@@ -1032,14 +1035,14 @@ namespace DotRecast.Detour.TileCache
                 return false;
         }
 
-        private bool Vequal(int[] verts, int a, int b)
+        public static bool Vequal(int[] verts, int a, int b)
         {
             return verts[a] == verts[b] && verts[a + 2] == verts[b + 2];
         }
 
         // Returns T iff (v_i, v_j) is a proper internal *or* external
         // diagonal of P, *ignoring edges incident to v_i and v_j*.
-        private bool Diagonalie(int i, int j, int n, int[] verts, int[] indices)
+        public static bool Diagonalie(int i, int j, int n, int[] verts, int[] indices)
         {
             int d0 = (indices[i] & 0x7fff) * 4;
             int d1 = (indices[j] & 0x7fff) * 4;
@@ -1067,7 +1070,7 @@ namespace DotRecast.Detour.TileCache
 
         // Returns true iff the diagonal (i,j) is strictly internal to the
         // polygon P in the neighborhood of the i endpoint.
-        private bool InCone(int i, int j, int n, int[] verts, int[] indices)
+        public static bool InCone(int i, int j, int n, int[] verts, int[] indices)
         {
             int pi = (indices[i] & 0x7fff) * 4;
             int pj = (indices[j] & 0x7fff) * 4;
@@ -1084,12 +1087,12 @@ namespace DotRecast.Detour.TileCache
 
         // Returns T iff (v_i, v_j) is a proper internal
         // diagonal of P.
-        private bool Diagonal(int i, int j, int n, int[] verts, int[] indices)
+        public static bool Diagonal(int i, int j, int n, int[] verts, int[] indices)
         {
             return InCone(i, j, n, verts, indices) && Diagonalie(i, j, n, verts, indices);
         }
 
-        private int Triangulate(int n, int[] verts, int[] indices, int[] tris)
+        public static int Triangulate(int n, int[] verts, int[] indices, int[] tris)
         {
             int ntris = 0;
             int dst = 0; // tris;
@@ -1174,7 +1177,7 @@ namespace DotRecast.Detour.TileCache
             return ntris;
         }
 
-        private int CountPolyVerts(int[] polys, int p, int maxVertsPerPoly)
+        public static int CountPolyVerts(int[] polys, int p, int maxVertsPerPoly)
         {
             for (int i = 0; i < maxVertsPerPoly; ++i)
                 if (polys[p + i] == DT_TILECACHE_NULL_IDX)
@@ -1182,13 +1185,13 @@ namespace DotRecast.Detour.TileCache
             return maxVertsPerPoly;
         }
 
-        private bool Uleft(int[] verts, int a, int b, int c)
+        public static bool Uleft(int[] verts, int a, int b, int c)
         {
             return (verts[b] - verts[a]) * (verts[c + 2] - verts[a + 2])
                 - (verts[c] - verts[a]) * (verts[b + 2] - verts[a + 2]) < 0;
         }
 
-        private int GetPolyMergeValue(int[] polys, int pa, int pb, int[] verts, out int ea, out int eb, int maxVertsPerPoly)
+        public static int GetPolyMergeValue(int[] polys, int pa, int pb, int[] verts, out int ea, out int eb, int maxVertsPerPoly)
         {
             ea = 0;
             eb = 0;
@@ -1259,7 +1262,7 @@ namespace DotRecast.Detour.TileCache
             return (dx * dx) + (dy * dy);
         }
 
-        private void MergePolys(int[] polys, int pa, int pb, int ea, int eb, int maxVertsPerPoly)
+        public static void MergePolys(int[] polys, int pa, int pb, int ea, int eb, int maxVertsPerPoly)
         {
             int[] tmp = new int[maxVertsPerPoly * 2];
 
@@ -1275,22 +1278,22 @@ namespace DotRecast.Detour.TileCache
             // Add pb
             for (int i = 0; i < nb - 1; ++i)
                 tmp[n++] = polys[pb + (eb + 1 + i) % nb];
-            Array.Copy(tmp, 0, polys, pa, maxVertsPerPoly);
+            RcArrays.Copy(tmp, 0, polys, pa, maxVertsPerPoly);
         }
 
-        private int PushFront(int v, List<int> arr)
+        public static int PushFront(int v, List<int> arr)
         {
             arr.Insert(0, v);
             return arr.Count;
         }
 
-        private int PushBack(int v, List<int> arr)
+        public static int PushBack(int v, List<int> arr)
         {
             arr.Add(v);
             return arr.Count;
         }
 
-        private bool CanRemoveVertex(DtTileCachePolyMesh mesh, int rem)
+        public static bool CanRemoveVertex(DtTileCachePolyMesh mesh, int rem)
         {
             // Count number of polygons to remove.
             int maxVertsPerPoly = mesh.nvp;
@@ -1388,7 +1391,7 @@ namespace DotRecast.Detour.TileCache
             return true;
         }
 
-        private void RemoveVertex(DtTileCachePolyMesh mesh, int rem, int maxTris)
+        public static void RemoveVertex(DtTileCachePolyMesh mesh, int rem, int maxTris)
         {
             // Count number of polygons to remove.
             int maxVertsPerPoly = mesh.nvp;
@@ -1434,7 +1437,7 @@ namespace DotRecast.Detour.TileCache
 
                     // Remove the polygon.
                     int p2 = (mesh.npolys - 1) * maxVertsPerPoly * 2;
-                    Array.Copy(mesh.polys, p2, mesh.polys, p, maxVertsPerPoly);
+                    RcArrays.Copy(mesh.polys, p2, mesh.polys, p, maxVertsPerPoly);
                     Array.Fill(mesh.polys, DT_TILECACHE_NULL_IDX, p + maxVertsPerPoly, maxVertsPerPoly);
                     mesh.areas[i] = mesh.areas[mesh.npolys - 1];
                     mesh.npolys--;
@@ -1597,7 +1600,7 @@ namespace DotRecast.Detour.TileCache
                         int pa = bestPa * maxVertsPerPoly;
                         int pb = bestPb * maxVertsPerPoly;
                         MergePolys(polys, pa, pb, bestEa, bestEb, maxVertsPerPoly);
-                        Array.Copy(polys, (npolys - 1) * maxVertsPerPoly, polys, pb, maxVertsPerPoly);
+                        RcArrays.Copy(polys, (npolys - 1) * maxVertsPerPoly, polys, pb, maxVertsPerPoly);
                         pareas[bestPb] = pareas[npolys - 1];
                         npolys--;
                     }
@@ -1627,7 +1630,7 @@ namespace DotRecast.Detour.TileCache
             }
         }
 
-        public DtTileCachePolyMesh BuildTileCachePolyMesh(DtTileCacheContourSet lcset, int maxVertsPerPoly)
+        public static DtTileCachePolyMesh BuildTileCachePolyMesh(DtTileCacheContourSet lcset, int maxVertsPerPoly)
         {
             int maxVertices = 0;
             int maxTris = 0;
@@ -1753,7 +1756,7 @@ namespace DotRecast.Detour.TileCache
                             int pa = bestPa * maxVertsPerPoly;
                             int pb = bestPb * maxVertsPerPoly;
                             MergePolys(polys, pa, pb, bestEa, bestEb, maxVertsPerPoly);
-                            Array.Copy(polys, (npolys - 1) * maxVertsPerPoly, polys, pb, maxVertsPerPoly);
+                            RcArrays.Copy(polys, (npolys - 1) * maxVertsPerPoly, polys, pb, maxVertsPerPoly);
                             npolys--;
                         }
                         else
@@ -1801,7 +1804,7 @@ namespace DotRecast.Detour.TileCache
             return mesh;
         }
 
-        public void MarkCylinderArea(DtTileCacheLayer layer, RcVec3f orig, float cs, float ch, RcVec3f pos, float radius, float height, int areaId)
+        public static void MarkCylinderArea(DtTileCacheLayer layer, RcVec3f orig, float cs, float ch, RcVec3f pos, float radius, float height, byte areaId)
         {
             RcVec3f bmin = new RcVec3f();
             RcVec3f bmax = new RcVec3f();
@@ -1857,12 +1860,12 @@ namespace DotRecast.Detour.TileCache
                     int y = layer.heights[x + z * w];
                     if (y < miny || y > maxy)
                         continue;
-                    layer.areas[x + z * w] = (short)areaId;
+                    layer.areas[x + z * w] = areaId;
                 }
             }
         }
 
-        public void MarkBoxArea(DtTileCacheLayer layer, RcVec3f orig, float cs, float ch, RcVec3f bmin, RcVec3f bmax, int areaId)
+        public static void MarkBoxArea(DtTileCacheLayer layer, RcVec3f orig, float cs, float ch, RcVec3f bmin, RcVec3f bmax, byte areaId)
         {
             int w = layer.header.width;
             int h = layer.header.height;
@@ -1901,12 +1904,12 @@ namespace DotRecast.Detour.TileCache
                     int y = layer.heights[x + z * w];
                     if (y < miny || y > maxy)
                         continue;
-                    layer.areas[x + z * w] = (short)areaId;
+                    layer.areas[x + z * w] = areaId;
                 }
             }
         }
 
-        public byte[] CompressTileCacheLayer(IRcCompressor comp, DtTileCacheLayer layer, RcByteOrder order, bool cCompatibility)
+        public static byte[] CompressTileCacheLayer(IRcCompressor comp, DtTileCacheLayer layer, RcByteOrder order, bool cCompatibility)
         {
             using var ms = new MemoryStream();
             using var bw = new BinaryWriter(ms);
@@ -1933,7 +1936,7 @@ namespace DotRecast.Detour.TileCache
             }
         }
 
-        public byte[] CompressTileCacheLayer(DtTileCacheLayerHeader header, int[] heights, int[] areas, int[] cons, RcByteOrder order, bool cCompatibility, IRcCompressor comp)
+        public static byte[] CompressTileCacheLayer(DtTileCacheLayerHeader header, int[] heights, int[] areas, int[] cons, RcByteOrder order, bool cCompatibility, IRcCompressor comp)
         {
             using var ms = new MemoryStream();
             using var bw = new BinaryWriter(ms);
@@ -1960,14 +1963,14 @@ namespace DotRecast.Detour.TileCache
             }
         }
 
-        public DtTileCacheLayer DecompressTileCacheLayer(IRcCompressor comp, byte[] compressed, RcByteOrder order, bool cCompatibility)
+        public static DtTileCacheLayer DecompressTileCacheLayer(IRcCompressor comp, byte[] compressed, RcByteOrder order, bool cCompatibility)
         {
             RcByteBuffer buf = new RcByteBuffer(compressed);
             buf.Order(order);
             DtTileCacheLayer layer = new DtTileCacheLayer();
             try
             {
-                layer.header = reader.Read(buf, cCompatibility);
+                layer.header = DtTileCacheLayerHeaderReader.Read(buf, cCompatibility);
             }
             catch (IOException e)
             {
@@ -1976,22 +1979,22 @@ namespace DotRecast.Detour.TileCache
 
             int gridSize = layer.header.width * layer.header.height;
             byte[] grids = comp.Decompress(compressed, buf.Position(), compressed.Length - buf.Position(), gridSize * 3);
-            layer.heights = new short[gridSize];
-            layer.areas = new short[gridSize];
-            layer.cons = new short[gridSize];
-            layer.regs = new short[gridSize];
+            layer.heights = new byte[gridSize];
+            layer.areas = new byte[gridSize];
+            layer.cons = new byte[gridSize];
+            layer.regs = new byte[gridSize];
             for (int i = 0; i < gridSize; i++)
             {
-                layer.heights[i] = (short)(grids[i] & 0xFF);
-                layer.areas[i] = (short)(grids[i + gridSize] & 0xFF);
-                layer.cons[i] = (short)(grids[i + gridSize * 2] & 0xFF);
+                layer.heights[i] = (byte)(grids[i] & 0xFF);
+                layer.areas[i] = (byte)(grids[i + gridSize] & 0xFF);
+                layer.cons[i] = (byte)(grids[i + gridSize * 2] & 0xFF);
             }
 
             return layer;
         }
 
-        public void MarkBoxArea(DtTileCacheLayer layer, RcVec3f orig, float cs, float ch, RcVec3f center, RcVec3f extents,
-            float[] rotAux, int areaId)
+        public static void MarkBoxArea(DtTileCacheLayer layer, RcVec3f orig, float cs, float ch, RcVec3f center, RcVec3f extents,
+            float[] rotAux, byte areaId)
         {
             int w = layer.header.width;
             int h = layer.header.height;
@@ -2044,7 +2047,7 @@ namespace DotRecast.Detour.TileCache
                     int y = layer.heights[x + z * w];
                     if (y < miny || y > maxy)
                         continue;
-                    layer.areas[x + z * w] = (short)areaId;
+                    layer.areas[x + z * w] = areaId;
                 }
             }
         }

src/DotRecast.Detour.TileCache/DtTileCacheContour.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -24,7 +24,7 @@ namespace DotRecast.Detour.TileCache
     {
         public int nverts;
         public int[] verts;
-        public int reg;
-        public int area;
+        public byte reg;
+        public byte area;
     }
 }

src/DotRecast.Detour.TileCache/DtTileCacheContourSet.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

src/DotRecast.Detour.TileCache/DtTileCacheLayer.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -23,13 +23,10 @@ namespace DotRecast.Detour.TileCache
     public class DtTileCacheLayer
     {
         public DtTileCacheLayerHeader header;
-        public int regCount;
-
-        /// < Region count.
-        public short[] heights; // char
-
-        public short[] areas; // char
-        public short[] cons; // char
-        public short[] regs; // char
+        public byte regCount; // < Region count.
+        public byte[] heights; // unsigned char
+        public byte[] areas; // unsigned char
+        public byte[] cons; // unsigned char
+        public byte[] regs; // unsigned char
     }
 }

src/DotRecast.Detour.TileCache/DtTileCacheLayerBuildResult.cs

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

src/DotRecast.Detour.TileCache/DtTileCacheLayerBuilder.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -100,7 +100,6 @@ namespace DotRecast.Detour.TileCache
             List<byte[]> result = new List<byte[]>();
             if (lset != null)
             {
-                DtTileCacheBuilder builder = new DtTileCacheBuilder();
                 for (int i = 0; i < lset.layers.Length; ++i)
                 {
                     RcHeightfieldLayer layer = lset.layers[i];
@@ -128,7 +127,7 @@ namespace DotRecast.Detour.TileCache
                     header.hmax = layer.hmax;
 
                     var comp = _compFactory.Create(storageParams.Compatibility ? 0 : 1);
-                    var bytes = builder.CompressTileCacheLayer(header, layer.heights, layer.areas, layer.cons, storageParams.Order, storageParams.Compatibility, comp);
+                    var bytes = DtTileCacheBuilder.CompressTileCacheLayer(header, layer.heights, layer.areas, layer.cons, storageParams.Order, storageParams.Compatibility, comp);
                     result.Add(bytes);
                 }
             }

src/DotRecast.Detour.TileCache/DtTileCacheLayerHeader.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

src/DotRecast.Detour.TileCache/DtTileCacheObstacle.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -19,32 +19,28 @@ freely, subject to the following restrictions:
 */
 
 using System.Collections.Generic;
-using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour.TileCache
 {
     public class DtTileCacheObstacle
     {
         public readonly int index;
-        public DtTileCacheObstacleType type;
-        public RcVec3f pos = new RcVec3f();
-        public RcVec3f bmin = new RcVec3f();
-        public RcVec3f bmax = new RcVec3f();
-        public float radius, height;
-        public RcVec3f center = new RcVec3f();
-        public RcVec3f extents = new RcVec3f();
-        public readonly float[] rotAux = new float[2]; // { Cos(0.5f*angle)*Sin(-0.5f*angle); Cos(0.5f*angle)*Cos(0.5f*angle) - 0.5 }
+
+        public DtObstacleCylinder cylinder = new DtObstacleCylinder();
+        public DtObstacleBox box = new DtObstacleBox();
+        public DtObstacleOrientedBox orientedBox = new DtObstacleOrientedBox();
 
         public List<long> touched = new List<long>();
         public readonly List<long> pending = new List<long>();
         public int salt;
+        public DtTileCacheObstacleType type;
         public DtObstacleState state = DtObstacleState.DT_OBSTACLE_EMPTY;
         public DtTileCacheObstacle next;
 
         public DtTileCacheObstacle(int index)
         {
-            salt = 1;
             this.index = index;
+            salt = 1;
         }
     }
 }

src/DotRecast.Detour.TileCache/DtTileCacheObstacleType.cs

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

src/DotRecast.Detour.TileCache/DtTileCacheParams.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

src/DotRecast.Detour.TileCache/DtTileCachePolyMesh.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -23,24 +23,13 @@ namespace DotRecast.Detour.TileCache
     public class DtTileCachePolyMesh
     {
         public int nvp;
-        public int nverts;
+        public int nverts; // < Number of vertices.
+        public int npolys; // < Number of polygons.
+        public int[] verts; // < Vertices of the mesh, 3 elements per vertex.
+        public int[] polys; // < Polygons of the mesh, nvp*2 elements per polygon.
+        public int[] flags; // < Per polygon flags.
+        public int[] areas; // < Area ID of polygons.
 
-        /// < Number of vertices.
-        public int npolys;
-
-        /// < Number of polygons.
-        public int[] verts;
-
-        /// < Vertices of the mesh, 3 elements per vertex.
-        public int[] polys;
-
-        /// < Polygons of the mesh, nvp*2 elements per polygon.
-        public int[] flags;
-
-        /// < Per polygon flags.
-        public int[] areas;
-
-        /// < Area ID of polygons.
         public DtTileCachePolyMesh(int nvp)
         {
             this.nvp = nvp;

src/DotRecast.Detour.TileCache/DtTileCacheStorageParams.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

src/DotRecast.Detour.TileCache/IDtTileCacheMeshProcess.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

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

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

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -47,7 +47,7 @@ namespace DotRecast.Detour.TileCache.Io.Compress
         {
             byte[] output = new byte[FastLZ.EstimateCompressedSize(buf.Length)];
             long len = FastLZ.CompressLevel(2, buf, 0, buf.Length, output);
-            return RcArrayUtils.CopyOf(output, len);
+            return RcArrays.CopyOf(output, len);
         }
     }
 }

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -23,9 +23,9 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.TileCache.Io
 {
-    public class DtTileCacheLayerHeaderReader
+    public static class DtTileCacheLayerHeaderReader
     {
-        public DtTileCacheLayerHeader Read(RcByteBuffer data, bool cCompatibility)
+        public static DtTileCacheLayerHeader Read(RcByteBuffer data, bool cCompatibility)
         {
             DtTileCacheLayerHeader header = new DtTileCacheLayerHeader();
             header.magic = data.GetInt();

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -24,34 +24,34 @@ using DotRecast.Detour.Io;
 
 namespace DotRecast.Detour.TileCache.Io
 {
-    public class DtTileCacheLayerHeaderWriter : DtWriter
+    public class DtTileCacheLayerHeaderWriter
     {
         public void Write(BinaryWriter stream, DtTileCacheLayerHeader header, RcByteOrder order, bool cCompatibility)
         {
-            Write(stream, header.magic, order);
-            Write(stream, header.version, order);
-            Write(stream, header.tx, order);
-            Write(stream, header.ty, order);
-            Write(stream, header.tlayer, order);
+            RcIO.Write(stream, header.magic, order);
+            RcIO.Write(stream, header.version, order);
+            RcIO.Write(stream, header.tx, order);
+            RcIO.Write(stream, header.ty, order);
+            RcIO.Write(stream, header.tlayer, order);
 
-            Write(stream, header.bmin.X, order);
-            Write(stream, header.bmin.Y, order);
-            Write(stream, header.bmin.Z, order);
-            Write(stream, header.bmax.X, order);
-            Write(stream, header.bmax.Y, order);
-            Write(stream, header.bmax.Z, order);
+            RcIO.Write(stream, header.bmin.X, order);
+            RcIO.Write(stream, header.bmin.Y, order);
+            RcIO.Write(stream, header.bmin.Z, order);
+            RcIO.Write(stream, header.bmax.X, order);
+            RcIO.Write(stream, header.bmax.Y, order);
+            RcIO.Write(stream, header.bmax.Z, order);
 
-            Write(stream, (short)header.hmin, order);
-            Write(stream, (short)header.hmax, order);
-            Write(stream, (byte)header.width);
-            Write(stream, (byte)header.height);
-            Write(stream, (byte)header.minx);
-            Write(stream, (byte)header.maxx);
-            Write(stream, (byte)header.miny);
-            Write(stream, (byte)header.maxy);
+            RcIO.Write(stream, (short)header.hmin, order);
+            RcIO.Write(stream, (short)header.hmax, order);
+            RcIO.Write(stream, (byte)header.width);
+            RcIO.Write(stream, (byte)header.height);
+            RcIO.Write(stream, (byte)header.minx);
+            RcIO.Write(stream, (byte)header.maxx);
+            RcIO.Write(stream, (byte)header.miny);
+            RcIO.Write(stream, (byte)header.maxy);
             if (cCompatibility)
             {
-                Write(stream, (short)0, order); // C struct padding
+                RcIO.Write(stream, (short)0, order); // C struct padding
             }
         }
     }

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -37,7 +37,7 @@ namespace DotRecast.Detour.TileCache.Io
 
         public DtTileCache Read(BinaryReader @is, int maxVertPerPoly, IDtTileCacheMeshProcess meshProcessor)
         {
-            RcByteBuffer bb = IOUtils.ToByteBuffer(@is);
+            RcByteBuffer bb = RcIO.ToByteBuffer(@is);
             return Read(bb, maxVertPerPoly, meshProcessor);
         }
 
@@ -47,7 +47,7 @@ namespace DotRecast.Detour.TileCache.Io
             header.magic = bb.GetInt();
             if (header.magic != DtTileCacheSetHeader.TILECACHESET_MAGIC)
             {
-                header.magic = IOUtils.SwapEndianness(header.magic);
+                header.magic = RcIO.SwapEndianness(header.magic);
                 if (header.magic != DtTileCacheSetHeader.TILECACHESET_MAGIC)
                 {
                     throw new IOException("Invalid magic");
@@ -69,7 +69,8 @@ namespace DotRecast.Detour.TileCache.Io
             header.numTiles = bb.GetInt();
             header.meshParams = paramReader.Read(bb);
             header.cacheParams = ReadCacheParams(bb, cCompatibility);
-            DtNavMesh mesh = new DtNavMesh(header.meshParams, maxVertPerPoly);
+            DtNavMesh mesh = new DtNavMesh();
+            mesh.Init(header.meshParams, maxVertPerPoly);
             IRcCompressor comp = _compFactory.Create(cCompatibility ? 0 : 1);
             DtTileCacheStorageParams storageParams = new DtTileCacheStorageParams(bb.Order(), cCompatibility);
             DtTileCache tc = new DtTileCache(header.cacheParams, storageParams, mesh, comp, meshProcessor);

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -25,10 +25,9 @@ using DotRecast.Detour.TileCache.Io.Compress;
 
 namespace DotRecast.Detour.TileCache.Io
 {
-    public class DtTileCacheWriter : DtWriter
+    public class DtTileCacheWriter
     {
         private readonly DtNavMeshParamWriter paramWriter = new DtNavMeshParamWriter();
-        private readonly DtTileCacheBuilder builder = new DtTileCacheBuilder();
         private readonly IDtTileCacheCompressorFactory _compFactory;
 
         public DtTileCacheWriter(IDtTileCacheCompressorFactory compFactory)
@@ -39,8 +38,8 @@ namespace DotRecast.Detour.TileCache.Io
 
         public void Write(BinaryWriter stream, DtTileCache cache, RcByteOrder order, bool cCompatibility)
         {
-            Write(stream, DtTileCacheSetHeader.TILECACHESET_MAGIC, order);
-            Write(stream, cCompatibility
+            RcIO.Write(stream, DtTileCacheSetHeader.TILECACHESET_MAGIC, order);
+            RcIO.Write(stream, cCompatibility
                 ? DtTileCacheSetHeader.TILECACHESET_VERSION
                 : DtTileCacheSetHeader.TILECACHESET_VERSION_RECAST4J, order);
             int numTiles = 0;
@@ -52,7 +51,7 @@ namespace DotRecast.Detour.TileCache.Io
                 numTiles++;
             }
 
-            Write(stream, numTiles, order);
+            RcIO.Write(stream, numTiles, order);
             paramWriter.Write(stream, cache.GetNavMesh().GetParams(), order);
             WriteCacheParams(stream, cache.GetParams(), order);
             for (int i = 0; i < cache.GetTileCount(); i++)
@@ -60,32 +59,32 @@ namespace DotRecast.Detour.TileCache.Io
                 DtCompressedTile tile = cache.GetTile(i);
                 if (tile == null || tile.data == null)
                     continue;
-                Write(stream, (int)cache.GetTileRef(tile), order);
+                RcIO.Write(stream, (int)cache.GetTileRef(tile), order);
                 byte[] data = tile.data;
                 DtTileCacheLayer layer = cache.DecompressTile(tile);
                 var comp = _compFactory.Create(cCompatibility ? 0 : 1);
-                data = builder.CompressTileCacheLayer(comp, layer, order, cCompatibility);
-                Write(stream, data.Length, order);
+                data = DtTileCacheBuilder.CompressTileCacheLayer(comp, layer, order, cCompatibility);
+                RcIO.Write(stream, data.Length, order);
                 stream.Write(data);
             }
         }
 
         private void WriteCacheParams(BinaryWriter stream, DtTileCacheParams option, RcByteOrder order)
         {
-            Write(stream, option.orig.X, order);
-            Write(stream, option.orig.Y, order);
-            Write(stream, option.orig.Z, order);
+            RcIO.Write(stream, option.orig.X, order);
+            RcIO.Write(stream, option.orig.Y, order);
+            RcIO.Write(stream, option.orig.Z, order);
 
-            Write(stream, option.cs, order);
-            Write(stream, option.ch, order);
-            Write(stream, option.width, order);
-            Write(stream, option.height, order);
-            Write(stream, option.walkableHeight, order);
-            Write(stream, option.walkableRadius, order);
-            Write(stream, option.walkableClimb, order);
-            Write(stream, option.maxSimplificationError, order);
-            Write(stream, option.maxTiles, order);
-            Write(stream, option.maxObstacles, order);
+            RcIO.Write(stream, option.cs, order);
+            RcIO.Write(stream, option.ch, order);
+            RcIO.Write(stream, option.width, order);
+            RcIO.Write(stream, option.height, order);
+            RcIO.Write(stream, option.walkableHeight, order);
+            RcIO.Write(stream, option.walkableRadius, order);
+            RcIO.Write(stream, option.walkableClimb, order);
+            RcIO.Write(stream, option.maxSimplificationError, order);
+            RcIO.Write(stream, option.maxTiles, order);
+            RcIO.Write(stream, option.maxObstacles, order);
         }
     }
 }

src/DotRecast.Detour/BVItem.cs

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

src/DotRecast.Detour/BVItemXComparer.cs

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

src/DotRecast.Detour/BVItemYComparer.cs

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

src/DotRecast.Detour/BVItemZComparer.cs

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

src/DotRecast.Detour/DetourBuilder.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

src/DotRecast.Detour/DotRecast.Detour.asmdef

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

src/DotRecast.Detour/DotRecast.Detour.csproj

@@ -1,15 +1,16 @@
 <Project Sdk="Microsoft.NET.Sdk">
 
   <PropertyGroup>
-    <TargetFrameworks>netstandard2.1;net6.0;net7.0</TargetFrameworks>
+    <TargetFrameworks>netstandard2.1;net6.0;net7.0;net8.0</TargetFrameworks>
     <PackageId>DotRecast.Detour</PackageId>
     <PackageReadmeFile>README.md</PackageReadmeFile>
     <Authors>ikpil</Authors>
-    <Description>DotRecast - a port of Recast Detour, navigation mesh toolset for games, Unity3D, servers, C#</Description>
+    <Description>DotRecast - a port of Recast Detour, Industry-standard navigation mesh toolset for .NET, C#, Unity3D, games, servers</Description>
     <RepositoryType>git</RepositoryType>
     <PackageProjectUrl>https://github.com/ikpil/DotRecast</PackageProjectUrl>
     <RepositoryUrl>https://github.com/ikpil/DotRecast</RepositoryUrl>
     <PackageTags>game gamedev ai csharp server unity navigation game-development unity3d pathfinding pathfinder recast detour navmesh crowd-simulation recastnavigation</PackageTags>
+    <PackageReleaseNotes>https://github.com/ikpil/DotRecast/blob/main/CHANGELOG.md</PackageReleaseNotes>
   </PropertyGroup>
 
   <ItemGroup>

src/DotRecast.Detour/DtBVNode.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -18,23 +18,17 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using DotRecast.Core.Numerics;
+
 namespace DotRecast.Detour
 {
-    /**
- * Bounding volume node.
- *
- * @note This structure is rarely if ever used by the end user.
- * @see MeshTile
- */
+    /// Bounding volume node.
+    /// @note This structure is rarely if ever used by the end user.
+    /// @see dtMeshTile
     public class DtBVNode
     {
-        /** Minimum bounds of the node's AABB. [(x, y, z)] */
-        public int[] bmin = new int[3];
-
-        /** Maximum bounds of the node's AABB. [(x, y, z)] */
-        public int[] bmax = new int[3];
-
-        /** The node's index. (Negative for escape sequence.) */
-        public int i;
+        public RcVec3i bmin; //< Minimum bounds of the node's AABB. [(x, y, z)]
+        public RcVec3i bmax; //< Maximum bounds of the node's AABB. [(x, y, z)]
+        public int i; //< The node's index. (Negative for escape sequence.)
     }
 }

src/DotRecast.Detour/DtCallbackPolyQuery.cs

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

src/DotRecast.Detour/DtCollectPolysQuery.cs

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

src/DotRecast.Detour/DtConnectPoly.cs

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

src/DotRecast.Detour/DtConvexConvexInFlag.cs

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

src/DotRecast.Detour/DtConvexConvexIntersection.cs

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

src/DotRecast.Detour/DtConvexConvexIntersections.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -22,18 +22,16 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {
-    /**
- * Convex-convex intersection based on "Computational Geometry in C" by Joseph O'Rourke
- */
+    // Convex-convex intersection based on "Computational Geometry in C" by Joseph O'Rourke
     public static class DtConvexConvexIntersections
     {
-        private static readonly float EPSILON = 0.0001f;
+        private const float EPSILON = 0.0001f;
 
-        public static float[] Intersect(float[] p, float[] q)
+        public static Span<float> Intersect(Span<float> p, Span<float> q, Span<float> buffer)
         {
             int n = p.Length / 3;
             int m = q.Length / 3;
-            float[] inters = new float[Math.Max(m, n) * 3 * 3];
+            Span<float> inters = stackalloc float[Math.Max(m, n) * 3 * 3];
             int ii = 0;
             /* Initialize variables. */
             RcVec3f a = new RcVec3f();
@@ -53,10 +51,10 @@ namespace DotRecast.Detour
 
             do
             {
-                a = RcVecUtils.Create(p, 3 * (ai % n));
-                b = RcVecUtils.Create(q, 3 * (bi % m));
-                a1 = RcVecUtils.Create(p, 3 * ((ai + n - 1) % n)); // prev a
-                b1 = RcVecUtils.Create(q, 3 * ((bi + m - 1) % m)); // prev b
+                a = RcVec.Create(p, 3 * (ai % n));
+                b = RcVec.Create(q, 3 * (bi % m));
+                a1 = RcVec.Create(p, 3 * ((ai + n - 1) % n)); // prev a
+                b1 = RcVec.Create(q, 3 * ((bi + m - 1) % m)); // prev b
 
                 RcVec3f A = RcVec3f.Subtract(a, a1);
                 RcVec3f B = RcVec3f.Subtract(b, b1);
@@ -97,7 +95,7 @@ namespace DotRecast.Detour
                 /* Special case: A & B parallel and separated. */
                 if (parallel && aHB < 0f && bHA < 0f)
                 {
-                    return null;
+                    return Span<float>.Empty;
                 }
                 /* Special case: A & B collinear. */
                 else if (parallel && MathF.Abs(aHB) < EPSILON && MathF.Abs(bHA) < EPSILON)
@@ -170,12 +168,12 @@ namespace DotRecast.Detour
                 return null;
             }
 
-            float[] copied = new float[ii];
-            Array.Copy(inters, copied, ii);
-            return copied;
+            Span<float> result = buffer.Slice(0, ii);
+            inters.Slice(0, ii).CopyTo(result);
+            return result;
         }
 
-        private static int AddVertex(float[] inters, int ii, RcVec3f p)
+        private static int AddVertex(Span<float> inters, int ii, RcVec3f p)
         {
             if (ii > 0)
             {

src/DotRecast.Detour/DtDefaultQueryHeuristic.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

src/DotRecast.Detour/DtDetailTriEdgeFlags.cs

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

src/DotRecast.Detour/DtDetour.cs

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

src/DotRecast.Detour/DtFindNearestPolyQuery.cs

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

src/DotRecast.Detour/DtFindPathOption.cs

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

src/DotRecast.Detour/DtFindPathOptions.cs

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

src/DotRecast.Detour/DtHeightSamplePolyQuery.cs

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

src/DotRecast.Detour/DtLink.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -18,32 +18,20 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using System;
+
 namespace DotRecast.Detour
 {
-    /**
- * Defines a link between polygons.
- *
- * @note This structure is rarely if ever used by the end user.
- * @see MeshTile
- */
+    /// Defines a link between polygons.
+    /// @note This structure is rarely if ever used by the end user.
+    /// @see dtMeshTile
     public class DtLink
     {
-        /** Neighbour reference. (The neighbor that is linked to.) */
-        public long refs;
-
-        /** Index of the next link. */
-        public int next;
-
-        /** Index of the polygon edge that owns this link. */
-        public int edge;
-
-        /** If a boundary link, defines on which side the link is. */
-        public int side;
-
-        /** If a boundary link, defines the minimum sub-edge area. */
-        public int bmin;
-
-        /** If a boundary link, defines the maximum sub-edge area. */
-        public int bmax;
+        public long refs; //< Neighbour reference. (The neighbor that is linked to.)
+        public int next; //< Index of the next link.
+        public byte edge; //< Index of the polygon edge that owns this link.
+        public byte side; //< If a boundary link, defines on which side the link is.
+        public byte bmin; //< If a boundary link, defines the minimum sub-edge area.
+        public byte bmax; //< If a boundary link, defines the maximum sub-edge area.
     }
 }

src/DotRecast.Detour/DtMeshData.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -18,37 +18,29 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using System;
+
 namespace DotRecast.Detour
 {
+    [Serializable]
     public class DtMeshData
     {
-        /** The tile header. */
-        public DtMeshHeader header;
+        public DtMeshHeader header; //< The tile header.
+        public DtPoly[] polys; //< The tile polygons. [Size: dtMeshHeader::polyCount]
+        public float[] verts; //< The tile vertices. [(x, y, z) * dtMeshHeader::vertCount] 
+        public DtPolyDetail[] detailMeshes; //< The tile's detail sub-meshes. [Size: dtMeshHeader::detailMeshCount]
 
-        /** The tile vertices. [Size: MeshHeader::vertCount] */
-        public float[] verts;
-
-        /** The tile polygons. [Size: MeshHeader::polyCount] */
-        public DtPoly[] polys;
-
-        /** The tile's detail sub-meshes. [Size: MeshHeader::detailMeshCount] */
-        public DtPolyDetail[] detailMeshes;
-
-        /** The detail mesh's unique vertices. [(x, y, z) * MeshHeader::detailVertCount] */
+        /// The detail mesh's unique vertices. [(x, y, z) * dtMeshHeader::detailVertCount]
         public float[] detailVerts;
 
-        /**
-         * The detail mesh's triangles. [(vertA, vertB, vertC) * MeshHeader::detailTriCount] See DetailTriEdgeFlags and
-         * NavMesh::getDetailTriEdgeFlags.
-         */
+        /// The detail mesh's triangles. [(vertA, vertB, vertC, triFlags) * dtMeshHeader::detailTriCount].
+        /// See dtDetailTriEdgeFlags and dtGetDetailTriEdgeFlags.
         public int[] detailTris;
 
-        /**
-         * The tile bounding volume nodes. [Size: MeshHeader::bvNodeCount] (Will be null if bounding volumes are disabled.)
-         */
+        /// The tile bounding volume nodes. [Size: dtMeshHeader::bvNodeCount]
+        /// (Will be null if bounding volumes are disabled.)
         public DtBVNode[] bvTree;
 
-        /** The tile off-mesh connections. [Size: MeshHeader::offMeshConCount] */
-        public DtOffMeshConnection[] offMeshCons;
+        public DtOffMeshConnection[] offMeshCons; //< The tile off-mesh connections. [Size: dtMeshHeader::offMeshConCount]
     }
 }

src/DotRecast.Detour/DtMeshHeader.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -18,30 +18,15 @@ 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
     {
-        /** 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;
-
         /** Tile magic number. (Used to identify the data format.) */
         public int magic;
 

src/DotRecast.Detour/DtMeshTile.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -18,33 +18,22 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-using System.Collections.Generic;
-
 namespace DotRecast.Detour
 {
-    /**
-     * Defines a navigation mesh tile.
-     */
+    using static DtDetour;
+
+    /// Defines a navigation mesh tile.
+    /// @ingroup detour
     public class DtMeshTile
     {
-        public readonly int index;
+        public readonly int index; // DtNavMesh.m_tiles array index
+        public int linksFreeList = DT_NULL_LINK; //< Index to the next free link.
+        public int salt; //< Counter describing modifications to the tile.
+        public DtMeshData data; // The tile data.
+        public DtLink[] links; // The tile links. [Size: dtMeshHeader::maxLinkCount]
 
-        /** Counter describing modifications to the tile. */
-        public int salt;
-
-        /** The tile data. */
-        public DtMeshData data;
-
-        public int[] polyLinks;
-
-        /** The tile links. */
-        public readonly List<DtLink> links = new List<DtLink>();
-
-        /** Index to the next free link. */
-        public int linksFreeList = DtNavMesh.DT_NULL_LINK; // FIXME: Remove
-
-        /** Tile flags. (See: #dtTileFlags) */
-        public int flags;
+        public int flags; //< Tile flags. (See: #dtTileFlags)
+        public DtMeshTile next; //< The next free tile, or the next tile in the spatial grid.
 
         public DtMeshTile(int index)
         {

src/DotRecast.Detour/DtNavMeshBuilder.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -19,46 +19,40 @@ freely, subject to the following restrictions:
 */
 
 using System;
+using DotRecast.Core;
 using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {
+    using static DtDetour;
+
     public static class DtNavMeshBuilder
     {
         const int MESH_NULL_IDX = 0xffff;
 
 
-        private static int[][] CalcExtends(BVItem[] items, int nitems, int imin, int imax)
+        private static void CalcExtends(BVItem[] items, int nitems, int imin, int imax, ref RcVec3i bmin, ref RcVec3i bmax)
         {
-            int[] bmin = new int[3];
-            int[] bmax = new int[3];
-            bmin[0] = items[imin].bmin[0];
-            bmin[1] = items[imin].bmin[1];
-            bmin[2] = items[imin].bmin[2];
-
-            bmax[0] = items[imin].bmax[0];
-            bmax[1] = items[imin].bmax[1];
-            bmax[2] = items[imin].bmax[2];
+            bmin = items[imin].bmin;
+            bmax = items[imin].bmax;
 
             for (int i = imin + 1; i < imax; ++i)
             {
                 BVItem it = items[i];
-                if (it.bmin[0] < bmin[0])
-                    bmin[0] = it.bmin[0];
-                if (it.bmin[1] < bmin[1])
-                    bmin[1] = it.bmin[1];
-                if (it.bmin[2] < bmin[2])
-                    bmin[2] = it.bmin[2];
+                if (it.bmin.X < bmin.X)
+                    bmin.X = it.bmin.X;
+                if (it.bmin.Y < bmin.Y)
+                    bmin.Y = it.bmin.Y;
+                if (it.bmin.Z < bmin.Z)
+                    bmin.Z = it.bmin.Z;
 
-                if (it.bmax[0] > bmax[0])
-                    bmax[0] = it.bmax[0];
-                if (it.bmax[1] > bmax[1])
-                    bmax[1] = it.bmax[1];
-                if (it.bmax[2] > bmax[2])
-                    bmax[2] = it.bmax[2];
+                if (it.bmax.X > bmax.X)
+                    bmax.X = it.bmax.X;
+                if (it.bmax.Y > bmax.Y)
+                    bmax.Y = it.bmax.Y;
+                if (it.bmax.Z > bmax.Z)
+                    bmax.Z = it.bmax.Z;
             }
-
-            return new int[][] { bmin, bmax };
         }
 
         private static int LongestAxis(int x, int y, int z)
@@ -91,25 +85,21 @@ namespace DotRecast.Detour
             if (inum == 1)
             {
                 // Leaf
-                node.bmin[0] = items[imin].bmin[0];
-                node.bmin[1] = items[imin].bmin[1];
-                node.bmin[2] = items[imin].bmin[2];
-
-                node.bmax[0] = items[imin].bmax[0];
-                node.bmax[1] = items[imin].bmax[1];
-                node.bmax[2] = items[imin].bmax[2];
+                node.bmin = items[imin].bmin;
+                node.bmax = items[imin].bmax;
 
                 node.i = items[imin].i;
             }
             else
             {
                 // Split
-                int[][] minmax = CalcExtends(items, nitems, imin, imax);
-                node.bmin = minmax[0];
-                node.bmax = minmax[1];
+                CalcExtends(items, nitems, imin, imax, ref node.bmin, ref node.bmax);
 
-                int axis = LongestAxis(node.bmax[0] - node.bmin[0], node.bmax[1] - node.bmin[1],
-                    node.bmax[2] - node.bmin[2]);
+                int axis = LongestAxis(
+                    node.bmax.X - node.bmin.X,
+                    node.bmax.Y - node.bmin.Y,
+                    node.bmax.Z - node.bmin.Z
+                );
 
                 if (axis == 0)
                 {
@@ -158,29 +148,29 @@ namespace DotRecast.Detour
                     int vb = option.detailMeshes[i * 4 + 0];
                     int ndv = option.detailMeshes[i * 4 + 1];
                     int dv = vb * 3;
-                    var bmin = RcVecUtils.Create(option.detailVerts, dv);
-                    var bmax = RcVecUtils.Create(option.detailVerts, dv);
+                    var bmin = RcVec.Create(option.detailVerts, dv);
+                    var bmax = RcVec.Create(option.detailVerts, dv);
                     for (int j = 1; j < ndv; j++)
                     {
-                        bmin = RcVecUtils.Min(bmin, option.detailVerts, dv + j * 3);
-                        bmax = RcVecUtils.Max(bmax, option.detailVerts, dv + j * 3);
+                        bmin = RcVec3f.Min(bmin, RcVec.Create(option.detailVerts, dv + j * 3));
+                        bmax = RcVec3f.Max(bmax, RcVec.Create(option.detailVerts, dv + j * 3));
                     }
 
                     // BV-tree uses cs for all dimensions
-                    it.bmin[0] = Math.Clamp((int)((bmin.X - option.bmin.X) * quantFactor), 0, int.MaxValue);
-                    it.bmin[1] = Math.Clamp((int)((bmin.Y - option.bmin.Y) * quantFactor), 0, int.MaxValue);
-                    it.bmin[2] = Math.Clamp((int)((bmin.Z - option.bmin.Z) * quantFactor), 0, int.MaxValue);
+                    it.bmin.X = Math.Clamp((int)((bmin.X - option.bmin.X) * quantFactor), 0, int.MaxValue);
+                    it.bmin.Y = Math.Clamp((int)((bmin.Y - option.bmin.Y) * quantFactor), 0, int.MaxValue);
+                    it.bmin.Z = Math.Clamp((int)((bmin.Z - option.bmin.Z) * quantFactor), 0, int.MaxValue);
 
-                    it.bmax[0] = Math.Clamp((int)((bmax.X - option.bmin.X) * quantFactor), 0, int.MaxValue);
-                    it.bmax[1] = Math.Clamp((int)((bmax.Y - option.bmin.Y) * quantFactor), 0, int.MaxValue);
-                    it.bmax[2] = Math.Clamp((int)((bmax.Z - option.bmin.Z) * quantFactor), 0, int.MaxValue);
+                    it.bmax.X = Math.Clamp((int)((bmax.X - option.bmin.X) * quantFactor), 0, int.MaxValue);
+                    it.bmax.Y = Math.Clamp((int)((bmax.Y - option.bmin.Y) * quantFactor), 0, int.MaxValue);
+                    it.bmax.Z = Math.Clamp((int)((bmax.Z - option.bmin.Z) * quantFactor), 0, int.MaxValue);
                 }
                 else
                 {
                     int p = i * option.nvp * 2;
-                    it.bmin[0] = it.bmax[0] = option.verts[option.polys[p] * 3 + 0];
-                    it.bmin[1] = it.bmax[1] = option.verts[option.polys[p] * 3 + 1];
-                    it.bmin[2] = it.bmax[2] = option.verts[option.polys[p] * 3 + 2];
+                    it.bmin.X = it.bmax.X = option.verts[option.polys[p] * 3 + 0];
+                    it.bmin.Y = it.bmax.Y = option.verts[option.polys[p] * 3 + 1];
+                    it.bmin.Z = it.bmax.Z = option.verts[option.polys[p] * 3 + 2];
 
                     for (int j = 1; j < option.nvp; ++j)
                     {
@@ -190,24 +180,24 @@ namespace DotRecast.Detour
                         int y = option.verts[option.polys[p + j] * 3 + 1];
                         int z = option.verts[option.polys[p + j] * 3 + 2];
 
-                        if (x < it.bmin[0])
-                            it.bmin[0] = x;
-                        if (y < it.bmin[1])
-                            it.bmin[1] = y;
-                        if (z < it.bmin[2])
-                            it.bmin[2] = z;
+                        if (x < it.bmin.X)
+                            it.bmin.X = x;
+                        if (y < it.bmin.Y)
+                            it.bmin.Y = y;
+                        if (z < it.bmin.Z)
+                            it.bmin.Z = z;
 
-                        if (x > it.bmax[0])
-                            it.bmax[0] = x;
-                        if (y > it.bmax[1])
-                            it.bmax[1] = y;
-                        if (z > it.bmax[2])
-                            it.bmax[2] = z;
+                        if (x > it.bmax.X)
+                            it.bmax.X = x;
+                        if (y > it.bmax.Y)
+                            it.bmax.Y = y;
+                        if (z > it.bmax.Z)
+                            it.bmax.Z = z;
                     }
 
                     // Remap y
-                    it.bmin[1] = (int)MathF.Floor(it.bmin[1] * option.ch * quantFactor);
-                    it.bmax[1] = (int)MathF.Ceiling(it.bmax[1] * option.ch * quantFactor);
+                    it.bmin.Y = (int)MathF.Floor(it.bmin.Y * option.ch * quantFactor);
+                    it.bmax.Y = (int)MathF.Ceiling(it.bmax.Y * option.ch * quantFactor);
                 }
             }
 
@@ -250,14 +240,15 @@ namespace DotRecast.Detour
             return 0xff;
         }
 
-        /**
-     * Builds navigation mesh tile data from the provided tile creation data.
-     *
-     * @param option
-     *            Tile creation data.
-     *
-     * @return created tile data
-     */
+        // TODO: Better error handling.
+
+        /// @par
+        /// 
+        /// The output data array is allocated using the detour allocator (dtAlloc()).  The method
+        /// used to free the memory will be determined by how the tile is added to the navigation
+        /// mesh.
+        ///
+        /// @see dtNavMesh, dtNavMesh::addTile()
         public static DtMeshData CreateNavMeshData(DtNavMeshCreateParams option)
         {
             if (option.vertCount >= 0xffff)
@@ -315,8 +306,8 @@ namespace DotRecast.Detour
 
                 for (int i = 0; i < option.offMeshConCount; ++i)
                 {
-                    var p0 = RcVecUtils.Create(option.offMeshConVerts, (i * 2 + 0) * 3);
-                    var p1 = RcVecUtils.Create(option.offMeshConVerts, (i * 2 + 1) * 3);
+                    var p0 = RcVec.Create(option.offMeshConVerts, (i * 2 + 0) * 3);
+                    var p1 = RcVec.Create(option.offMeshConVerts, (i * 2 + 1) * 3);
 
                     offMeshConClass[i * 2 + 0] = ClassifyOffMeshPoint(p0, bmin, bmax);
                     offMeshConClass[i * 2 + 1] = ClassifyOffMeshPoint(p1, bmin, bmax);
@@ -423,8 +414,8 @@ namespace DotRecast.Detour
             DtOffMeshConnection[] offMeshCons = new DtOffMeshConnection[storedOffMeshConCount];
 
             // Store header
-            header.magic = DtMeshHeader.DT_NAVMESH_MAGIC;
-            header.version = DtMeshHeader.DT_NAVMESH_VERSION;
+            header.magic = DT_NAVMESH_MAGIC;
+            header.version = DT_NAVMESH_VERSION;
             header.x = option.tileX;
             header.y = option.tileZ;
             header.layer = option.tileLayer;
@@ -468,7 +459,7 @@ namespace DotRecast.Detour
                 {
                     int linkv = i * 2 * 3;
                     int v = (offMeshVertsBase + n * 2) * 3;
-                    Array.Copy(option.offMeshConVerts, linkv, navVerts, v, 6);
+                    RcArrays.Copy(option.offMeshConVerts, linkv, navVerts, v, 6);
                     n++;
                 }
             }
@@ -496,13 +487,13 @@ namespace DotRecast.Detour
                         if (dir == 0xf) // Border
                             p.neis[j] = 0;
                         else if (dir == 0) // Portal x-
-                            p.neis[j] = DtNavMesh.DT_EXT_LINK | 4;
+                            p.neis[j] = DT_EXT_LINK | 4;
                         else if (dir == 1) // Portal z+
-                            p.neis[j] = DtNavMesh.DT_EXT_LINK | 2;
+                            p.neis[j] = DT_EXT_LINK | 2;
                         else if (dir == 2) // Portal x+
-                            p.neis[j] = DtNavMesh.DT_EXT_LINK | 0;
+                            p.neis[j] = DT_EXT_LINK | 0;
                         else if (dir == 3) // Portal z-
-                            p.neis[j] = DtNavMesh.DT_EXT_LINK | 6;
+                            p.neis[j] = DT_EXT_LINK | 6;
                     }
                     else
                     {
@@ -545,26 +536,25 @@ namespace DotRecast.Detour
                 int vbase = 0;
                 for (int i = 0; i < option.polyCount; ++i)
                 {
-                    DtPolyDetail dtl = new DtPolyDetail();
-                    navDMeshes[i] = dtl;
                     int vb = option.detailMeshes[i * 4 + 0];
                     int ndv = option.detailMeshes[i * 4 + 1];
                     int nv = navPolys[i].vertCount;
-                    dtl.vertBase = vbase;
-                    dtl.vertCount = (ndv - nv);
-                    dtl.triBase = option.detailMeshes[i * 4 + 2];
-                    dtl.triCount = option.detailMeshes[i * 4 + 3];
+                    int vertBase = vbase;
+                    byte vertCount = (byte)(ndv - nv);
+                    int triBase = option.detailMeshes[i * 4 + 2];
+                    byte triCount = (byte)option.detailMeshes[i * 4 + 3];
+                    navDMeshes[i] = new DtPolyDetail(vertBase, triBase, vertCount, triCount);
                     // Copy vertices except the first 'nv' verts which are equal to
                     // nav poly verts.
                     if (ndv - nv != 0)
                     {
-                        Array.Copy(option.detailVerts, (vb + nv) * 3, navDVerts, vbase * 3, 3 * (ndv - nv));
+                        RcArrays.Copy(option.detailVerts, (vb + nv) * 3, navDVerts, vbase * 3, 3 * (ndv - nv));
                         vbase += ndv - nv;
                     }
                 }
 
                 // Store triangles.
-                Array.Copy(option.detailTris, 0, navDTris, 0, 4 * option.detailTriCount);
+                RcArrays.Copy(option.detailTris, 0, navDTris, 0, 4 * option.detailTriCount);
             }
             else
             {
@@ -572,13 +562,12 @@ namespace DotRecast.Detour
                 int tbase = 0;
                 for (int i = 0; i < option.polyCount; ++i)
                 {
-                    DtPolyDetail dtl = new DtPolyDetail();
-                    navDMeshes[i] = dtl;
                     int nv = navPolys[i].vertCount;
-                    dtl.vertBase = 0;
-                    dtl.vertCount = 0;
-                    dtl.triBase = tbase;
-                    dtl.triCount = (nv - 2);
+                    int vertBase = 0;
+                    byte vertCount = 0;
+                    int triBase = tbase;
+                    byte triCount = (byte)(nv - 2);
+                    navDMeshes[i] = new DtPolyDetail(vertBase, triBase, vertCount, triCount);
                     // Triangulate polygon (local indices).
                     for (int j = 2; j < nv; ++j)
                     {
@@ -617,9 +606,13 @@ namespace DotRecast.Detour
                     con.poly = (offMeshPolyBase + n);
                     // Copy connection end-points.
                     int endPts = i * 2 * 3;
-                    Array.Copy(option.offMeshConVerts, endPts, con.pos, 0, 6);
+                    for (int j = 0; j < 2; ++j)
+                    {
+                        con.pos[j] = RcVec.Create(option.offMeshConVerts, endPts + (j * 3));
+                    }
+
                     con.rad = option.offMeshConRad[i];
-                    con.flags = option.offMeshConDir[i] != 0 ? DtNavMesh.DT_OFFMESH_CON_BIDIR : 0;
+                    con.flags = option.offMeshConDir[i] != 0 ? DT_OFFMESH_CON_BIDIR : 0;
                     con.side = offMeshConClass[i * 2 + 1];
                     if (option.offMeshConUserID != null)
                         con.userId = option.offMeshConUserID[i];

src/DotRecast.Detour/DtNavMeshCreateParams.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

src/DotRecast.Detour/DtNavMeshParams.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -18,31 +18,21 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using System;
 using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {
-    /**
- * Configuration parameters used to define multi-tile navigation meshes. The values are used to allocate space during
- * the initialization of a navigation mesh.
- *
- * @see NavMesh
- */
+    /// Configuration parameters used to define multi-tile navigation meshes.
+    /// The values are used to allocate space during the initialization of a navigation mesh.
+    /// @see dtNavMesh::init()
+    /// @ingroup detour
     public struct DtNavMeshParams
     {
-        /** The world space origin of the navigation mesh's tile space. [(x, y, z)] */
-        public RcVec3f orig;
-
-        /** The width of each tile. (Along the x-axis.) */
-        public float tileWidth;
-
-        /** The height of each tile. (Along the z-axis.) */
-        public float tileHeight;
-
-        /** The maximum number of tiles the navigation mesh can contain. */
-        public int maxTiles;
-
-        /** The maximum number of polygons each tile can contain. */
-        public int maxPolys;
+        public RcVec3f orig; //< The world space origin of the navigation mesh's tile space. [(x, y, z)]
+        public float tileWidth; //< The width of each tile. (Along the x-axis.)
+        public float tileHeight; //< The height of each tile. (Along the z-axis.)
+        public int maxTiles; //< The maximum number of tiles the navigation mesh can contain. This and maxPolys are used to calculate how many bits are needed to identify tiles and polygons uniquely.
+        public int maxPolys; //< The maximum number of polygons each tile can contain. This and maxTiles are used to calculate how many bits are needed to identify tiles and polygons uniquely.
     }
 }

src/DotRecast.Detour/DtNavMeshQueryMock.cs

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

src/DotRecast.Detour/DtNavMeshRaycast.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -17,6 +17,7 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using System;
 using DotRecast.Core;
 using DotRecast.Core.Numerics;
 
@@ -48,6 +49,7 @@ namespace DotRecast.Detour
         private static bool Raycast(DtMeshTile tile, RcVec3f sp, RcVec3f sq, out float hitTime)
         {
             hitTime = 0.0f;
+            Span<RcVec3f> tempVerts = stackalloc RcVec3f[3];
             for (int i = 0; i < tile.data.header.polyCount; ++i)
             {
                 DtPoly p = tile.data.polys[i];
@@ -56,11 +58,9 @@ namespace DotRecast.Detour
                     continue;
                 }
 
-                DtPolyDetail pd = tile.data.detailMeshes[i];
+                ref DtPolyDetail pd = ref tile.data.detailMeshes[i];
 
-                if (pd != null)
-                {
-                    RcVec3f[] verts = new RcVec3f[3];
+                Span<RcVec3f> verts = tempVerts;
                 for (int j = 0; j < pd.triCount; ++j)
                 {
                     int t = (pd.triBase + j) * 4;
@@ -87,11 +87,6 @@ namespace DotRecast.Detour
                     }
                 }
             }
-                else
-                {
-                    // FIXME: Use Poly if PolyDetail is unavailable
-                }
-            }
 
             return false;
         }

src/DotRecast.Detour/DtNoOpDtPolygonByCircleConstraint.cs

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

src/DotRecast.Detour/DtNode.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -25,42 +25,34 @@ namespace DotRecast.Detour
 {
     public class DtNode
     {
-        public readonly int index;
+        public readonly int ptr;
 
-        /** Position of the node. */
-        public RcVec3f pos = new RcVec3f();
+        public RcVec3f pos; // Position of the node.
+        public float cost; // Cost from previous node to current node.
+        public float total; // Cost up to the node.
+        public int pidx; // Index to parent node.
+        public int state; // extra state information. A polyRef can have multiple nodes with different extra info. see DT_MAX_STATES_PER_NODE
+        public int flags; // Node flags. A combination of dtNodeFlags.
+        public long id; // Polygon ref the node corresponds to.
+        public List<long> shortcut; // Shortcut found by raycast.
 
-        /** Cost of reaching the given node. */
-        public float cost;
-
-        /** Total cost of reaching the goal via the given node including heuristics. */
-        public float total;
-
-        /** Index to parent node. */
-        public int pidx;
-
-        /**
-     * extra state information. A polyRef can have multiple nodes with different extra info. see DT_MAX_STATES_PER_NODE
-     */
-        public int state;
-
-        /** Node flags. A combination of dtNodeFlags. */
-        public int flags;
-
-        /** Polygon ref the node corresponds to. */
-        public long id;
-
-        /** Shortcut found by raycast. */
-        public List<long> shortcut;
-
-        public DtNode(int index)
+        public DtNode(int ptr)
         {
-            this.index = index;
+            this.ptr = ptr;
+        }
+        
+        public static int ComparisonNodeTotal(DtNode a, DtNode b)
+        {
+            int compare = a.total.CompareTo(b.total);
+            if (0 != compare)
+                return compare;
+
+            return a.ptr.CompareTo(b.ptr);
         }
 
         public override string ToString()
         {
-            return "Node [id=" + id + "]";
+            return $"Node [ptr={ptr} id={id} cost={cost} total={total}]";
         }
     }
 }

src/DotRecast.Detour/DtNodeFlags.cs

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

src/DotRecast.Detour/DtNodePool.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -18,41 +18,95 @@ 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
 {
     public class DtNodePool
     {
-        private readonly Dictionary<long, List<DtNode>> m_map = new Dictionary<long, List<DtNode>>();
-        private readonly List<DtNode> m_nodes = new List<DtNode>();
+        private readonly Dictionary<long, List<DtNode>> m_map;
 
-        public DtNodePool()
+        private int m_usedNodesCount;
+        private List<DtNode[]> m_buckets;
+        private readonly int m_initialBufferCapacityBase;
+        private readonly RcObjectPool<List<DtNode>> m_listPool;
+
+        public DtNodePool(int initialBufferCapacityBase = 6) // initial size 64
         {
+            m_map = new Dictionary<long, List<DtNode>>();
+            m_listPool = new RcObjectPool<List<DtNode>>(() => new List<DtNode>());
+            m_buckets = new List<DtNode[]>();
+            m_initialBufferCapacityBase = initialBufferCapacityBase;
+        }
+
+        private void AddNewBucket()
+        {
+            var bucketIndex = m_buckets.Count;
+            var bucket = new DtNode[1 << (bucketIndex + m_initialBufferCapacityBase)];
+            m_buckets.Add(bucket);
+            FillBucket(bucketIndex);
+        }
+
+        private void FillBucket(int bucketIndex)
+        {
+            var bucket = m_buckets[bucketIndex];
+            var startIndex = GetBucketStartIndex(bucketIndex);
+            for (int i = 0; i < bucket.Length; i++)
+            {
+                bucket[i] = new DtNode(startIndex + i);
+            }
+        }
+
+        private int GetBucketStartIndex(int bucketIndex)
+        {
+            return ((1 << (bucketIndex + m_initialBufferCapacityBase)) - 1) ^ ((1 << m_initialBufferCapacityBase) - 1);
+        }
+
+        private DtNode[] EnsureBucket(int bucketIndex)
+        {
+            if (m_buckets.Count == bucketIndex)
+                AddNewBucket();
+            else if (m_buckets.Count < bucketIndex)
+                throw new Exception();
+            return m_buckets[bucketIndex];
+        }
+
+        private int GetBucketIndexByElementIndex(int elementIndex)
+        {
+            return DtUtils.Ilog2((elementIndex >> m_initialBufferCapacityBase) + 1);
         }
 
         public void Clear()
         {
-            m_nodes.Clear();
+            foreach (var pair in m_map)
+                m_listPool.Return(pair.Value);
+
             m_map.Clear();
+            m_usedNodesCount = 0;
         }
 
-        public List<DtNode> FindNodes(long id)
+        public int GetNodeCount()
         {
-            var hasNode = m_map.TryGetValue(id, out var nodes);
-            ;
-            if (nodes == null)
-            {
-                nodes = new List<DtNode>();
+            return m_usedNodesCount;
         }
 
-            return nodes;
+        public int FindNodes(long id, out List<DtNode> nodes)
+        {
+            var hasNode = m_map.TryGetValue(id, out nodes);
+            if (hasNode)
+            {
+                return nodes.Count;
+            }
+
+            return 0;
         }
 
         public DtNode FindNode(long id)
         {
-            var hasNode = m_map.TryGetValue(id, out var nodes);
-            ;
+            m_map.TryGetValue(id, out var nodes);
             if (nodes != null && 0 != nodes.Count)
             {
                 return nodes[0];
@@ -63,7 +117,7 @@ namespace DotRecast.Detour
 
         public DtNode GetNode(long id, int state)
         {
-            var hasNode = m_map.TryGetValue(id, out var nodes);
+            m_map.TryGetValue(id, out var nodes);
             if (nodes != null)
             {
                 foreach (DtNode node in nodes)
@@ -76,7 +130,8 @@ namespace DotRecast.Detour
             }
             else
             {
-                nodes = new List<DtNode>();
+                nodes = m_listPool.Get();
+                nodes.Clear();
                 m_map.Add(id, nodes);
             }
 
@@ -85,10 +140,17 @@ namespace DotRecast.Detour
 
         private DtNode Create(long id, int state, List<DtNode> nodes)
         {
-            DtNode node = new DtNode(m_nodes.Count + 1);
+            int i = m_usedNodesCount++;
+            int bucketIndex = GetBucketIndexByElementIndex(i);
+            int bucketStartIndex = GetBucketStartIndex(bucketIndex);
+            var node = EnsureBucket(bucketIndex)[i - bucketStartIndex];
+            node.pidx = 0;
+            node.cost = 0;
+            node.total = 0;
             node.id = id;
             node.state = state;
-            m_nodes.Add(node);
+            node.flags = 0;
+            node.shortcut = null;
 
             nodes.Add(node);
             return node;
@@ -96,12 +158,23 @@ namespace DotRecast.Detour
 
         public int GetNodeIdx(DtNode node)
         {
-            return node != null ? node.index : 0;
+            return node != null
+                ? node.ptr + 1
+                : 0;
         }
 
         public DtNode GetNodeAtIdx(int idx)
         {
-            return idx != 0 ? m_nodes[idx - 1] : null;
+            if (idx == 0)
+                return null;
+            
+            int bucketIndex = GetBucketIndexByElementIndex(idx - 1);
+            if (m_buckets.Count <= bucketIndex)
+                throw new ArgumentOutOfRangeException();
+
+            int bucketStartIndex = GetBucketStartIndex(bucketIndex);
+            var node = EnsureBucket(bucketIndex)[idx - bucketStartIndex - 1];
+            return node;
         }
 
         public DtNode GetNode(long refs)
@@ -109,9 +182,9 @@ namespace DotRecast.Detour
             return GetNode(refs, 0);
         }
 
-        public Dictionary<long, List<DtNode>> GetNodeMap()
+        public IEnumerable<DtNode> AsEnumerable()
         {
-            return m_map;
+            return m_buckets.SelectMany(x => x);
         }
     }
 }

src/DotRecast.Detour/DtNodeQueue.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -24,7 +24,12 @@ namespace DotRecast.Detour
 {
     public class DtNodeQueue
     {
-        private readonly RcSortedQueue<DtNode> m_heap = new RcSortedQueue<DtNode>((n1, n2) => n1.total.CompareTo(n2.total));
+        private readonly RcSortedQueue<DtNode> m_heap;
+
+        public DtNodeQueue()
+        {
+            m_heap = new RcSortedQueue<DtNode>(DtNode.ComparisonNodeTotal);
+        }
 
         public int Count()
         {
@@ -43,9 +48,7 @@ namespace DotRecast.Detour
 
         public DtNode Pop()
         {
-            var node = Peek();
-            m_heap.Remove(node);
-            return node;
+            return m_heap.Dequeue();
         }
 
         public void Push(DtNode node)
@@ -61,7 +64,7 @@ namespace DotRecast.Detour
 
         public bool IsEmpty()
         {
-            return 0 == m_heap.Count();
+            return m_heap.IsEmpty();
         }
     }
 }

src/DotRecast.Detour/DtOffMeshConnection.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -18,14 +18,18 @@ 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)]
-        public float[] pos = new float[6];
+        public RcVec3f[] pos = new RcVec3f[2];
 
         /// The radius of the endpoints. [Limit: >= 0]
         public float rad;

src/DotRecast.Detour/DtPathUtils.cs

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

src/DotRecast.Detour/DtPoly.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -20,21 +20,26 @@ freely, subject to the following restrictions:
 
 namespace DotRecast.Detour
 {
-    /** Defines a polygon within a MeshTile object. */
+    /// Defines a polygon within a dtMeshTile object.
+    /// @ingroup detour
     public class DtPoly
     {
         public readonly int index;
         
-        /** The indices of the polygon's vertices. The actual vertices are located in MeshTile::verts. */
+        /// Index to first link in linked list. (Or #DT_NULL_LINK if there is no link.)
+        public int firstLink;
+
+        /// The indices of the polygon's vertices.
+        /// The actual vertices are located in dtMeshTile::verts.
         public readonly int[] verts;
 
-        /** Packed data representing neighbor polygons references and flags for each edge. */
+        /// Packed data representing neighbor polygons references and flags for each edge.
         public readonly int[] neis;
 
-        /** The user defined polygon flags. */
+        /// The user defined polygon flags.
         public int flags;
 
-        /** The number of vertices in the polygon. */
+        /// The number of vertices in the polygon.
         public int vertCount;
 
         /// The bit packed area id and polygon type.
@@ -48,25 +53,25 @@ namespace DotRecast.Detour
             neis = new int[maxVertsPerPoly];
         }
 
-        /** Sets the user defined area id. [Limit: < {@link org.recast4j.detour.NavMesh#DT_MAX_AREAS}] */
+        /// Sets the user defined area id. [Limit: < #DT_MAX_AREAS]
         public void SetArea(int a)
         {
             areaAndtype = (areaAndtype & 0xc0) | (a & 0x3f);
         }
 
-        /** Sets the polygon type. (See: #dtPolyTypes.) */
+        /// Sets the polygon type. (See: #dtPolyTypes.)
         public void SetPolyType(int t)
         {
             areaAndtype = (areaAndtype & 0x3f) | (t << 6);
         }
 
-        /** Gets the user defined area id. */
+        /// Gets the user defined area id.
         public int GetArea()
         {
             return areaAndtype & 0x3f;
         }
 
-        /** Gets the polygon type. (See: #dtPolyTypes) */
+        /// Gets the polygon type. (See: #dtPolyTypes)
         public int GetPolyType()
         {
             return areaAndtype >> 6;

src/DotRecast.Detour/DtPolyDetail.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -20,19 +20,20 @@ freely, subject to the following restrictions:
 
 namespace DotRecast.Detour
 {
-    /** Defines the location of detail sub-mesh data within a dtMeshTile. */
-    public class DtPolyDetail
+    /// Defines the location of detail sub-mesh data within a dtMeshTile.
+    public readonly struct DtPolyDetail
     {
-        /** The offset of the vertices in the MeshTile::detailVerts array. */
-        public int vertBase;
+        public readonly int vertBase; //< The offset of the vertices in the dtMeshTile::detailVerts array.
+        public readonly int triBase; //< The offset of the triangles in the dtMeshTile::detailTris array.
+        public readonly byte vertCount; //< The number of vertices in the sub-mesh.
+        public readonly byte triCount; //< The number of triangles in the sub-mesh.
 
-        /** The offset of the triangles in the MeshTile::detailTris array. */
-        public int triBase;
-
-        /** The number of vertices in the sub-mesh. */
-        public int vertCount;
-
-        /** The number of triangles in the sub-mesh. */
-        public int triCount;
+        public DtPolyDetail(int vertBase, int triBase, byte vertCount, byte triCount)
+        {
+            this.vertBase = vertBase;
+            this.triBase = triBase;
+            this.vertCount = vertCount;
+            this.triCount = triCount;
+        }
     }
 }

src/DotRecast.Detour/DtPolyPoint.cs

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

src/DotRecast.Detour/DtPolyTypes.cs

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

src/DotRecast.Detour/DtQueryData.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

src/DotRecast.Detour/DtQueryDefaultFilter.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -23,6 +23,8 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {
+    using static DtDetour;
+
     /**
  * <b>The Default Implementation</b>
  *
@@ -50,7 +52,7 @@ namespace DotRecast.Detour
  */
     public class DtQueryDefaultFilter : IDtQueryFilter
     {
-        private readonly float[] m_areaCost = new float[DtNavMesh.DT_MAX_AREAS]; //< Cost per area type. (Used by default implementation.)
+        private readonly float[] m_areaCost = new float[DT_MAX_AREAS]; //< Cost per area type. (Used by default implementation.)
         private int m_includeFlags; //< Flags for polygons that can be visited. (Used by default implementation.) 
         private int m_excludeFlags; //< Flags for polygons that should not be visited. (Used by default implementation.) 
 
@@ -58,7 +60,7 @@ namespace DotRecast.Detour
         {
             m_includeFlags = 0xffff;
             m_excludeFlags = 0;
-            for (int i = 0; i < DtNavMesh.DT_MAX_AREAS; ++i)
+            for (int i = 0; i < DT_MAX_AREAS; ++i)
             {
                 m_areaCost[i] = 1.0f;
             }
@@ -68,12 +70,12 @@ namespace DotRecast.Detour
         {
             m_includeFlags = includeFlags;
             m_excludeFlags = excludeFlags;
-            for (int i = 0; i < Math.Min(DtNavMesh.DT_MAX_AREAS, areaCost.Length); ++i)
+            for (int i = 0; i < Math.Min(DT_MAX_AREAS, areaCost.Length); ++i)
             {
                 m_areaCost[i] = areaCost[i];
             }
 
-            for (int i = areaCost.Length; i < DtNavMesh.DT_MAX_AREAS; ++i)
+            for (int i = areaCost.Length; i < DT_MAX_AREAS; ++i)
             {
                 m_areaCost[i] = 1.0f;
             }

src/DotRecast.Detour/DtQueryEmptyFilter.cs

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

src/DotRecast.Detour/DtQueryNoOpFilter.cs

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

src/DotRecast.Detour/DtRaycastHit.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -23,24 +23,31 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {
-    /**
- * Provides information about raycast hit. Filled by NavMeshQuery::raycast
- */
-    public class DtRaycastHit
+    /// Provides information about raycast hit
+    /// filled by dtNavMeshQuery::raycast
+    /// @ingroup detour
+    public struct DtRaycastHit
     {
-        /** The hit parameter. (float.MaxValue if no wall hit.) */
+        /// The hit parameter. (FLT_MAX if no wall hit.)
         public float t;
 
-        /** hitNormal The normal of the nearest wall hit. [(x, y, z)] */
-        public RcVec3f hitNormal = new RcVec3f();
+        /// hitNormal	The normal of the nearest wall hit. [(x, y, z)]
+        public RcVec3f hitNormal;
 
-        /** Visited polygons. */
-        public readonly List<long> path = new List<long>();
+        /// The index of the edge on the final polygon where the wall was hit.
+        public int hitEdgeIndex;
 
-        /** The cost of the path until hit. */
+        /// Pointer to an array of reference ids of the visited polygons. [opt]
+        public long[] path;
+
+        public int pathCount;
+
+        ///  The cost of the path until hit.
         public float pathCost;
 
-        /** The index of the edge on the readonly polygon where the wall was hit. */
-        public int hitEdgeIndex;
+        public void AddPathNode(long nodeRef)
+        {
+            path[pathCount++] = nodeRef;
+        }
     }
 }

src/DotRecast.Detour/DtRaycastOptions.cs

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

src/DotRecast.Detour/DtSegInterval.cs

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

src/DotRecast.Detour/DtStatus.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -26,7 +26,7 @@ namespace DotRecast.Detour
     {
         // High level status.
         public static readonly DtStatus DT_FAILURE = new DtStatus(1u << 31); // Operation failed. 
-        public static readonly DtStatus DT_SUCCSESS = new DtStatus(1u << 30); // Operation succeed. 
+        public static readonly DtStatus DT_SUCCESS = new DtStatus(1u << 30); // Operation succeed. 
         public static readonly DtStatus DT_IN_PROGRESS = new DtStatus(1u << 29); // Operation still in progress. 
 
         // Detail information for status.
@@ -57,7 +57,7 @@ namespace DotRecast.Detour
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public bool Succeeded()
         {
-            return 0 != (Value & (DT_SUCCSESS.Value | DT_PARTIAL_RESULT.Value));
+            return 0 != (Value & (DT_SUCCESS.Value | DT_PARTIAL_RESULT.Value));
         }
 
         [MethodImpl(MethodImplOptions.AggressiveInlining)]

src/DotRecast.Detour/DtStraightPath.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -25,11 +25,16 @@ namespace DotRecast.Detour
     //TODO: (PP) Add comments
     public readonly struct DtStraightPath
     {
+        /// The local path corridor corners for the agent. (Staight path.) [(x, y, z) * #ncorners]
         public readonly RcVec3f pos;
-        public readonly int flags;
+
+        /// The local path corridor corner flags. (See: #dtStraightPathFlags) [(flags) * #ncorners]
+        public readonly byte flags;
+
+        /// The reference id of the polygon being entered at the corner. [(polyRef) * #ncorners]
         public readonly long refs;
 
-        public DtStraightPath(RcVec3f pos, int flags, long refs)
+        public DtStraightPath(RcVec3f pos, byte flags, long refs)
         {
             this.pos = pos;
             this.flags = flags;

src/DotRecast.Detour/DtStraightPathFlags.cs

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

src/DotRecast.Detour/DtStraightPathOption.cs

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

src/DotRecast.Detour/DtStraightPathOptions.cs

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

src/DotRecast.Detour/DtStrictDtPolygonByCircleConstraint.cs

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

src/DotRecast.Detour/DtUtils.cs

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

src/DotRecast.Detour/IDtPolyQuery.cs

@@ -1,7 +1,14 @@
+using System;
+
 namespace DotRecast.Detour
 {
+    /// Provides custom polygon query behavior.
+    /// Used by dtNavMeshQuery::queryPolygons.
+    /// @ingroup detour
     public interface IDtPolyQuery
     {
-        void Process(DtMeshTile tile, DtPoly poly, long refs);
+        /// Called for each batch of unique polygons touched by the search area in dtNavMeshQuery::queryPolygons.
+        /// This can be called multiple times for a single query.
+        void Process(DtMeshTile tile, Span<DtPoly> poly, Span<long> refs, int count);
     }
 }

src/DotRecast.Detour/IDtPolygonByCircleConstraint.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -24,6 +24,6 @@ namespace DotRecast.Detour
 {
     public interface IDtPolygonByCircleConstraint
     {
-        float[] Apply(float[] polyVerts, RcVec3f circleCenter, float radius);
+        Span<float> Apply(Span<float> polyVerts, RcVec3f circleCenter, float radius, Span<float> resultBuffer);
     }
 }

src/DotRecast.Detour/IDtQueryFilter.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

src/DotRecast.Detour/IDtQueryHeuristic.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

src/DotRecast.Detour/Io/DtMeshDataReader.cs

@@ -21,13 +21,17 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.Io
 {
+    using static DtDetour;
+
     public class DtMeshDataReader
     {
         public const int DT_POLY_DETAIL_SIZE = 10;
+        public const int LINK_SIZEOF = 16;
+        public const int LINK_SIZEOF32BIT = 12;
 
         public DtMeshData Read(BinaryReader stream, int maxVertPerPoly)
         {
-            RcByteBuffer buf = IOUtils.ToByteBuffer(stream);
+            RcByteBuffer buf = RcIO.ToByteBuffer(stream);
             return Read(buf, maxVertPerPoly, false);
         }
 
@@ -38,7 +42,7 @@ namespace DotRecast.Detour.Io
 
         public DtMeshData Read32Bit(BinaryReader stream, int maxVertPerPoly)
         {
-            RcByteBuffer buf = IOUtils.ToByteBuffer(stream);
+            RcByteBuffer buf = RcIO.ToByteBuffer(stream);
             return Read(buf, maxVertPerPoly, true);
         }
 
@@ -53,10 +57,10 @@ namespace DotRecast.Detour.Io
             DtMeshHeader header = new DtMeshHeader();
             data.header = header;
             header.magic = buf.GetInt();
-            if (header.magic != DtMeshHeader.DT_NAVMESH_MAGIC)
+            if (header.magic != DT_NAVMESH_MAGIC)
             {
-                header.magic = IOUtils.SwapEndianness(header.magic);
-                if (header.magic != DtMeshHeader.DT_NAVMESH_MAGIC)
+                header.magic = RcIO.SwapEndianness(header.magic);
+                if (header.magic != DT_NAVMESH_MAGIC)
                 {
                     throw new IOException("Invalid magic");
                 }
@@ -65,16 +69,16 @@ namespace DotRecast.Detour.Io
             }
 
             header.version = buf.GetInt();
-            if (header.version != DtMeshHeader.DT_NAVMESH_VERSION)
+            if (header.version != DT_NAVMESH_VERSION)
             {
-                if (header.version < DtMeshHeader.DT_NAVMESH_VERSION_RECAST4J_FIRST
-                    || header.version > DtMeshHeader.DT_NAVMESH_VERSION_RECAST4J_LAST)
+                if (header.version < DT_NAVMESH_VERSION_RECAST4J_FIRST
+                    || header.version > DT_NAVMESH_VERSION_RECAST4J_LAST)
                 {
                     throw new IOException("Invalid version " + header.version);
                 }
             }
 
-            bool cCompatibility = header.version == DtMeshHeader.DT_NAVMESH_VERSION;
+            bool cCompatibility = header.version == DT_NAVMESH_VERSION;
             header.x = buf.GetInt();
             header.y = buf.GetInt();
             header.layer = buf.GetInt();
@@ -116,8 +120,6 @@ namespace DotRecast.Detour.Io
             return data;
         }
 
-        public const int LINK_SIZEOF = 16;
-        public const int LINK_SIZEOF32BIT = 12;
 
         public static int GetSizeofLink(bool is32Bit)
         {
@@ -141,7 +143,7 @@ namespace DotRecast.Detour.Io
             for (int i = 0; i < polys.Length; i++)
             {
                 polys[i] = new DtPoly(i, maxVertPerPoly);
-                if (header.version < DtMeshHeader.DT_NAVMESH_VERSION_RECAST4J_NO_POLY_FIRSTLINK)
+                if (header.version < DT_NAVMESH_VERSION_RECAST4J_NO_POLY_FIRSTLINK)
                 {
                     buf.GetInt(); // polys[i].firstLink
                 }
@@ -169,11 +171,11 @@ namespace DotRecast.Detour.Io
             DtPolyDetail[] polys = new DtPolyDetail[header.detailMeshCount];
             for (int i = 0; i < polys.Length; i++)
             {
-                polys[i] = new DtPolyDetail();
-                polys[i].vertBase = buf.GetInt();
-                polys[i].triBase = buf.GetInt();
-                polys[i].vertCount = buf.Get() & 0xFF;
-                polys[i].triCount = buf.Get() & 0xFF;
+                int vertBase = buf.GetInt();
+                int triBase = buf.GetInt();
+                byte vertCount = (byte)(buf.Get() & 0xFF);
+                byte triCount = (byte)(buf.Get() & 0xFF);
+                polys[i] = new DtPolyDetail(vertBase, triBase, vertCount, triCount);
                 if (cCompatibility)
                 {
                     buf.GetShort(); // C struct padding
@@ -200,29 +202,25 @@ namespace DotRecast.Detour.Io
             for (int i = 0; i < nodes.Length; i++)
             {
                 nodes[i] = new DtBVNode();
-                if (header.version < DtMeshHeader.DT_NAVMESH_VERSION_RECAST4J_32BIT_BVTREE)
+                if (header.version < DT_NAVMESH_VERSION_RECAST4J_32BIT_BVTREE)
                 {
-                    for (int j = 0; j < 3; j++)
-                    {
-                        nodes[i].bmin[j] = buf.GetShort() & 0xFFFF;
-                    }
+                    nodes[i].bmin.X = buf.GetShort() & 0xFFFF;
+                    nodes[i].bmin.Y = buf.GetShort() & 0xFFFF;
+                    nodes[i].bmin.Z = buf.GetShort() & 0xFFFF;
 
-                    for (int j = 0; j < 3; j++)
-                    {
-                        nodes[i].bmax[j] = buf.GetShort() & 0xFFFF;
-                    }
+                    nodes[i].bmax.X = buf.GetShort() & 0xFFFF;
+                    nodes[i].bmax.Y = buf.GetShort() & 0xFFFF;
+                    nodes[i].bmax.Z = buf.GetShort() & 0xFFFF;
                 }
                 else
                 {
-                    for (int j = 0; j < 3; j++)
-                    {
-                        nodes[i].bmin[j] = buf.GetInt();
-                    }
+                    nodes[i].bmin.X = buf.GetInt();
+                    nodes[i].bmin.Y = buf.GetInt();
+                    nodes[i].bmin.Z = buf.GetInt();
 
-                    for (int j = 0; j < 3; j++)
-                    {
-                        nodes[i].bmax[j] = buf.GetInt();
-                    }
+                    nodes[i].bmax.X = buf.GetInt();
+                    nodes[i].bmax.Y = buf.GetInt();
+                    nodes[i].bmax.Z = buf.GetInt();
                 }
 
                 nodes[i].i = buf.GetInt();
@@ -237,9 +235,11 @@ namespace DotRecast.Detour.Io
             for (int i = 0; i < cons.Length; i++)
             {
                 cons[i] = new DtOffMeshConnection();
-                for (int j = 0; j < 6; j++)
+                for (int j = 0; j < 2; j++)
                 {
-                    cons[i].pos[j] = buf.GetFloat();
+                    cons[i].pos[j].X = buf.GetFloat();
+                    cons[i].pos[j].Y = buf.GetFloat();
+                    cons[i].pos[j].Z = buf.GetFloat();
                 }
 
                 cons[i].rad = buf.GetFloat();

src/DotRecast.Detour/Io/DtMeshDataWriter.cs

@@ -21,36 +21,38 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.Io
 {
-    public class DtMeshDataWriter : DtWriter
+    using static DtDetour;
+
+    public class DtMeshDataWriter
     {
         public void Write(BinaryWriter stream, DtMeshData data, RcByteOrder order, bool cCompatibility)
         {
             DtMeshHeader header = data.header;
-            Write(stream, header.magic, order);
-            Write(stream, cCompatibility ? DtMeshHeader.DT_NAVMESH_VERSION : DtMeshHeader.DT_NAVMESH_VERSION_RECAST4J_LAST, order);
-            Write(stream, header.x, order);
-            Write(stream, header.y, order);
-            Write(stream, header.layer, order);
-            Write(stream, header.userId, order);
-            Write(stream, header.polyCount, order);
-            Write(stream, header.vertCount, order);
-            Write(stream, header.maxLinkCount, order);
-            Write(stream, header.detailMeshCount, order);
-            Write(stream, header.detailVertCount, order);
-            Write(stream, header.detailTriCount, order);
-            Write(stream, header.bvNodeCount, order);
-            Write(stream, header.offMeshConCount, order);
-            Write(stream, header.offMeshBase, order);
-            Write(stream, header.walkableHeight, order);
-            Write(stream, header.walkableRadius, order);
-            Write(stream, header.walkableClimb, order);
-            Write(stream, header.bmin.X, order);
-            Write(stream, header.bmin.Y, order);
-            Write(stream, header.bmin.Z, order);
-            Write(stream, header.bmax.X, order);
-            Write(stream, header.bmax.Y, order);
-            Write(stream, header.bmax.Z, order);
-            Write(stream, header.bvQuantFactor, order);
+            RcIO.Write(stream, header.magic, order);
+            RcIO.Write(stream, cCompatibility ? DT_NAVMESH_VERSION : DT_NAVMESH_VERSION_RECAST4J_LAST, order);
+            RcIO.Write(stream, header.x, order);
+            RcIO.Write(stream, header.y, order);
+            RcIO.Write(stream, header.layer, order);
+            RcIO.Write(stream, header.userId, order);
+            RcIO.Write(stream, header.polyCount, order);
+            RcIO.Write(stream, header.vertCount, order);
+            RcIO.Write(stream, header.maxLinkCount, order);
+            RcIO.Write(stream, header.detailMeshCount, order);
+            RcIO.Write(stream, header.detailVertCount, order);
+            RcIO.Write(stream, header.detailTriCount, order);
+            RcIO.Write(stream, header.bvNodeCount, order);
+            RcIO.Write(stream, header.offMeshConCount, order);
+            RcIO.Write(stream, header.offMeshBase, order);
+            RcIO.Write(stream, header.walkableHeight, order);
+            RcIO.Write(stream, header.walkableRadius, order);
+            RcIO.Write(stream, header.walkableClimb, order);
+            RcIO.Write(stream, header.bmin.X, order);
+            RcIO.Write(stream, header.bmin.Y, order);
+            RcIO.Write(stream, header.bmin.Z, order);
+            RcIO.Write(stream, header.bmax.X, order);
+            RcIO.Write(stream, header.bmax.Y, order);
+            RcIO.Write(stream, header.bmax.Z, order);
+            RcIO.Write(stream, header.bvQuantFactor, order);
             WriteVerts(stream, data.verts, header.vertCount, order);
             WritePolys(stream, data, order, cCompatibility);
             if (cCompatibility)
@@ -70,7 +72,7 @@ namespace DotRecast.Detour.Io
         {
             for (int i = 0; i < count * 3; i++)
             {
-                Write(stream, verts[i], order);
+                RcIO.Write(stream, verts[i], order);
             }
         }
 
@@ -80,22 +82,22 @@ namespace DotRecast.Detour.Io
             {
                 if (cCompatibility)
                 {
-                    Write(stream, 0xFFFF, order);
+                    RcIO.Write(stream, 0xFFFF, order);
                 }
 
                 for (int j = 0; j < data.polys[i].verts.Length; j++)
                 {
-                    Write(stream, (short)data.polys[i].verts[j], order);
+                    RcIO.Write(stream, (short)data.polys[i].verts[j], order);
                 }
 
                 for (int j = 0; j < data.polys[i].neis.Length; j++)
                 {
-                    Write(stream, (short)data.polys[i].neis[j], order);
+                    RcIO.Write(stream, (short)data.polys[i].neis[j], order);
                 }
 
-                Write(stream, (short)data.polys[i].flags, order);
-                Write(stream, (byte)data.polys[i].vertCount);
-                Write(stream, (byte)data.polys[i].areaAndtype);
+                RcIO.Write(stream, (short)data.polys[i].flags, order);
+                RcIO.Write(stream, (byte)data.polys[i].vertCount);
+                RcIO.Write(stream, (byte)data.polys[i].areaAndtype);
             }
         }
 
@@ -103,13 +105,13 @@ namespace DotRecast.Detour.Io
         {
             for (int i = 0; i < data.header.detailMeshCount; i++)
             {
-                Write(stream, data.detailMeshes[i].vertBase, order);
-                Write(stream, data.detailMeshes[i].triBase, order);
-                Write(stream, (byte)data.detailMeshes[i].vertCount);
-                Write(stream, (byte)data.detailMeshes[i].triCount);
+                RcIO.Write(stream, data.detailMeshes[i].vertBase, order);
+                RcIO.Write(stream, data.detailMeshes[i].triBase, order);
+                RcIO.Write(stream, (byte)data.detailMeshes[i].vertCount);
+                RcIO.Write(stream, (byte)data.detailMeshes[i].triCount);
                 if (cCompatibility)
                 {
-                    Write(stream, (short)0, order);
+                    RcIO.Write(stream, (short)0, order);
                 }
             }
         }
@@ -118,7 +120,7 @@ namespace DotRecast.Detour.Io
         {
             for (int i = 0; i < data.header.detailTriCount * 4; i++)
             {
-                Write(stream, (byte)data.detailTris[i]);
+                RcIO.Write(stream, (byte)data.detailTris[i]);
             }
         }
 
@@ -128,30 +130,26 @@ namespace DotRecast.Detour.Io
             {
                 if (cCompatibility)
                 {
-                    for (int j = 0; j < 3; j++)
-                    {
-                        Write(stream, (short)data.bvTree[i].bmin[j], order);
-                    }
+                    RcIO.Write(stream, (short)data.bvTree[i].bmin.X, order);
+                    RcIO.Write(stream, (short)data.bvTree[i].bmin.Y, order);
+                    RcIO.Write(stream, (short)data.bvTree[i].bmin.Z, order);
 
-                    for (int j = 0; j < 3; j++)
-                    {
-                        Write(stream, (short)data.bvTree[i].bmax[j], order);
-                    }
+                    RcIO.Write(stream, (short)data.bvTree[i].bmax.X, order);
+                    RcIO.Write(stream, (short)data.bvTree[i].bmax.Y, order);
+                    RcIO.Write(stream, (short)data.bvTree[i].bmax.Z, order);
                 }
                 else
                 {
-                    for (int j = 0; j < 3; j++)
-                    {
-                        Write(stream, data.bvTree[i].bmin[j], order);
+                    RcIO.Write(stream, data.bvTree[i].bmin.X, order);
+                    RcIO.Write(stream, data.bvTree[i].bmin.Y, order);
+                    RcIO.Write(stream, data.bvTree[i].bmin.Z, order);
+
+                    RcIO.Write(stream, data.bvTree[i].bmax.X, order);
+                    RcIO.Write(stream, data.bvTree[i].bmax.Y, order);
+                    RcIO.Write(stream, data.bvTree[i].bmax.Z, order);
                 }
 
-                    for (int j = 0; j < 3; j++)
-                    {
-                        Write(stream, data.bvTree[i].bmax[j], order);
-                    }
-                }
-
-                Write(stream, data.bvTree[i].i, order);
+                RcIO.Write(stream, data.bvTree[i].i, order);
             }
         }
 
@@ -159,16 +157,18 @@ namespace DotRecast.Detour.Io
         {
             for (int i = 0; i < data.header.offMeshConCount; i++)
             {
-                for (int j = 0; j < 6; j++)
+                for (int j = 0; j < 2; j++)
                 {
-                    Write(stream, data.offMeshCons[i].pos[j], order);
+                    RcIO.Write(stream, data.offMeshCons[i].pos[j].X, order);
+                    RcIO.Write(stream, data.offMeshCons[i].pos[j].Y, order);
+                    RcIO.Write(stream, data.offMeshCons[i].pos[j].Z, order);
                 }
 
-                Write(stream, data.offMeshCons[i].rad, order);
-                Write(stream, (short)data.offMeshCons[i].poly, order);
-                Write(stream, (byte)data.offMeshCons[i].flags);
-                Write(stream, (byte)data.offMeshCons[i].side);
-                Write(stream, data.offMeshCons[i].userId, order);
+                RcIO.Write(stream, data.offMeshCons[i].rad, order);
+                RcIO.Write(stream, (short)data.offMeshCons[i].poly, order);
+                RcIO.Write(stream, (byte)data.offMeshCons[i].flags);
+                RcIO.Write(stream, (byte)data.offMeshCons[i].side);
+                RcIO.Write(stream, data.offMeshCons[i].userId, order);
             }
         }
     }

src/DotRecast.Detour/Io/DtMeshSetReader.cs

@@ -22,6 +22,8 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.Io
 {
+    using static DtDetour;
+
     public class DtMeshSetReader
     {
         private readonly DtMeshDataReader meshReader = new DtMeshDataReader();
@@ -29,7 +31,7 @@ namespace DotRecast.Detour.Io
 
         public DtNavMesh Read(BinaryReader @is, int maxVertPerPoly)
         {
-            return Read(IOUtils.ToByteBuffer(@is), maxVertPerPoly, false);
+            return Read(RcIO.ToByteBuffer(@is), maxVertPerPoly, false);
         }
 
         public DtNavMesh Read(RcByteBuffer bb, int maxVertPerPoly)
@@ -39,7 +41,7 @@ namespace DotRecast.Detour.Io
 
         public DtNavMesh Read32Bit(BinaryReader @is, int maxVertPerPoly)
         {
-            return Read(IOUtils.ToByteBuffer(@is), maxVertPerPoly, true);
+            return Read(RcIO.ToByteBuffer(@is), maxVertPerPoly, true);
         }
 
         public DtNavMesh Read32Bit(RcByteBuffer bb, int maxVertPerPoly)
@@ -49,7 +51,7 @@ namespace DotRecast.Detour.Io
 
         public DtNavMesh Read(BinaryReader @is)
         {
-            return Read(IOUtils.ToByteBuffer(@is));
+            return Read(RcIO.ToByteBuffer(@is));
         }
 
         public DtNavMesh Read(RcByteBuffer bb)
@@ -66,8 +68,9 @@ namespace DotRecast.Detour.Io
             }
 
             bool cCompatibility = header.version == NavMeshSetHeader.NAVMESHSET_VERSION;
-            DtNavMesh mesh = new DtNavMesh(header.option, header.maxVertsPerPoly);
-            ReadTiles(bb, is32Bit, header, cCompatibility, mesh);
+            DtNavMesh mesh = new DtNavMesh();
+            mesh.Init(header.option, header.maxVertsPerPoly);
+            ReadTiles(bb, is32Bit, ref header, cCompatibility, mesh);
             return mesh;
         }
 
@@ -77,7 +80,7 @@ namespace DotRecast.Detour.Io
             header.magic = bb.GetInt();
             if (header.magic != NavMeshSetHeader.NAVMESHSET_MAGIC)
             {
-                header.magic = IOUtils.SwapEndianness(header.magic);
+                header.magic = RcIO.SwapEndianness(header.magic);
                 if (header.magic != NavMeshSetHeader.NAVMESHSET_MAGIC)
                 {
                     throw new IOException("Invalid magic " + header.magic);
@@ -104,7 +107,7 @@ namespace DotRecast.Detour.Io
             return header;
         }
 
-        private void ReadTiles(RcByteBuffer bb, bool is32Bit, NavMeshSetHeader header, bool cCompatibility, DtNavMesh mesh)
+        private void ReadTiles(RcByteBuffer bb, bool is32Bit, ref NavMeshSetHeader header, bool cCompatibility, DtNavMesh mesh)
         {
             // Read tiles.
             for (int i = 0; i < header.numTiles; ++i)
@@ -131,7 +134,7 @@ namespace DotRecast.Detour.Io
                 }
 
                 DtMeshData data = meshReader.Read(bb, mesh.GetMaxVertsPerPoly(), is32Bit);
-                mesh.AddTile(data, i, tileHeader.tileRef);
+                mesh.AddTile(data, i, tileHeader.tileRef, out _);
             }
         }
 
@@ -147,7 +150,7 @@ namespace DotRecast.Detour.Io
             int salt = ((refs >> (m_polyBits + m_tileBits)) & saltMask);
             int it = ((refs >> m_polyBits) & tileMask);
             int ip = refs & polyMask;
-            return DtNavMesh.EncodePolyId(salt, it, ip);
+            return EncodePolyId(salt, it, ip);
         }
     }
 }

src/DotRecast.Detour/Io/DtMeshSetWriter.cs

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

src/DotRecast.Detour/Io/DtNavMeshParamWriter.cs

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

src/DotRecast.Detour/Io/DtWriter.cs

@@ -1,98 +0,0 @@
-/*
-Recast4J Copyright (c) 2015 Piotr Piastucki piotr@jtilia.org
-
-This software is provided 'as-is', without any express or implied
-warranty.  In no event will the authors be held liable for any damages
-arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it
-freely, subject to the following restrictions:
-1. The origin of this software must not be misrepresented; you must not
- claim that you wrote the original software. If you use this software
- in a product, an acknowledgment in the product documentation would be
- appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be
- misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-using System;
-using System.IO;
-using DotRecast.Core;
-
-namespace DotRecast.Detour.Io
-{
-    public abstract class DtWriter
-    {
-        protected void Write(BinaryWriter stream, float value, RcByteOrder order)
-        {
-            byte[] bytes = BitConverter.GetBytes(value);
-            int i = BitConverter.ToInt32(bytes, 0);
-            Write(stream, i, order);
-        }
-
-        protected void Write(BinaryWriter stream, short value, RcByteOrder order)
-        {
-            if (order == RcByteOrder.BIG_ENDIAN)
-            {
-                stream.Write((byte)((value >> 8) & 0xFF));
-                stream.Write((byte)(value & 0xFF));
-            }
-            else
-            {
-                stream.Write((byte)(value & 0xFF));
-                stream.Write((byte)((value >> 8) & 0xFF));
-            }
-        }
-
-        protected void Write(BinaryWriter stream, long value, RcByteOrder order)
-        {
-            if (order == RcByteOrder.BIG_ENDIAN)
-            {
-                Write(stream, (int)((ulong)value >> 32), order);
-                Write(stream, (int)(value & 0xFFFFFFFF), order);
-            }
-            else
-            {
-                Write(stream, (int)(value & 0xFFFFFFFF), order);
-                Write(stream, (int)((ulong)value >> 32), order);
-            }
-        }
-
-        protected void Write(BinaryWriter stream, int value, RcByteOrder order)
-        {
-            if (order == RcByteOrder.BIG_ENDIAN)
-            {
-                stream.Write((byte)((value >> 24) & 0xFF));
-                stream.Write((byte)((value >> 16) & 0xFF));
-                stream.Write((byte)((value >> 8) & 0xFF));
-                stream.Write((byte)(value & 0xFF));
-            }
-            else
-            {
-                stream.Write((byte)(value & 0xFF));
-                stream.Write((byte)((value >> 8) & 0xFF));
-                stream.Write((byte)((value >> 16) & 0xFF));
-                stream.Write((byte)((value >> 24) & 0xFF));
-            }
-        }
-
-        protected void Write(BinaryWriter stream, bool @bool)
-        {
-            Write(stream, (byte)(@bool ? 1 : 0));
-        }
-
-        protected void Write(BinaryWriter stream, byte value)
-        {
-            stream.Write(value);
-        }
-
-        protected void Write(BinaryWriter stream, MemoryStream data)
-        {
-            data.Position = 0;
-            byte[] buffer = new byte[data.Length];
-            data.Read(buffer, 0, buffer.Length);
-            stream.Write(buffer);
-        }
-    }
-}

src/DotRecast.Detour/Io/IOUtils.cs

@@ -1,64 +0,0 @@
-/*
-Recast4J Copyright (c) 2015 Piotr Piastucki piotr@jtilia.org
-
-This software is provided 'as-is', without any express or implied
-warranty.  In no event will the authors be held liable for any damages
-arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it
-freely, subject to the following restrictions:
-1. The origin of this software must not be misrepresented; you must not
- claim that you wrote the original software. If you use this software
- in a product, an acknowledgment in the product documentation would be
- appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be
- misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-using System;
-using System.IO;
-using DotRecast.Core;
-
-namespace DotRecast.Detour.Io
-{
-    public static class IOUtils
-    {
-        public static RcByteBuffer ToByteBuffer(BinaryReader @is, bool direct)
-        {
-            byte[] data = ToByteArray(@is);
-            if (direct)
-            {
-                Array.Reverse(data);
-            }
-
-            return new RcByteBuffer(data);
-        }
-
-        public static byte[] ToByteArray(BinaryReader inputStream)
-        {
-            using var msw = new MemoryStream();
-            byte[] buffer = new byte[4096];
-            int l;
-            while ((l = inputStream.Read(buffer)) > 0)
-            {
-                msw.Write(buffer, 0, l);
-            }
-
-            return msw.ToArray();
-        }
-
-
-        public static RcByteBuffer ToByteBuffer(BinaryReader inputStream)
-        {
-            var bytes = ToByteArray(inputStream);
-            return new RcByteBuffer(bytes);
-        }
-
-        public static int SwapEndianness(int i)
-        {
-            var s = (((uint)i >> 24) & 0xFF) | (((uint)i >> 8) & 0xFF00) | (((uint)i << 8) & 0xFF0000) | ((i << 24) & 0xFF000000);
-            return (int)s;
-        }
-    }
-}

src/DotRecast.Detour/Io/NavMeshSetHeader.cs

@@ -18,7 +18,7 @@ freely, subject to the following restrictions:
 
 namespace DotRecast.Detour.Io
 {
-    public class NavMeshSetHeader
+    public struct NavMeshSetHeader
     {
         public const int NAVMESHSET_MAGIC = 'M' << 24 | 'S' << 16 | 'E' << 8 | 'T'; // 'MSET';
         public const int NAVMESHSET_VERSION = 1;
@@ -28,7 +28,7 @@ namespace DotRecast.Detour.Io
         public int magic;
         public int version;
         public int numTiles;
-        public DtNavMeshParams option = new DtNavMeshParams();
+        public DtNavMeshParams option;
         public int maxVertsPerPoly;
     }
 }

src/DotRecast.Detour/Io/NavMeshTileHeader.cs

@@ -1,6 +1,6 @@
 namespace DotRecast.Detour.Io
 {
-    public class NavMeshTileHeader
+    public struct NavMeshTileHeader
     {
         public long tileRef;
         public int dataSize;

src/DotRecast.Recast.Demo/DemoSample.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -32,6 +32,7 @@ namespace DotRecast.Recast.Demo
         private DtNavMesh _navMesh;
         private DtNavMeshQuery _navMeshQuery;
         private readonly RcNavMeshBuildSettings _settings;
+        private RcConfig _cfg;
         private IList<RcBuilderResult> _recastResults;
         private bool _changed;
 
@@ -56,6 +57,11 @@ namespace DotRecast.Recast.Demo
             return _geom;
         }
 
+        public RcConfig GetRecastConfig()
+        {
+            return _cfg;
+        }
+
         public IList<RcBuilderResult> GetRecastResults()
         {
             return _recastResults;
@@ -86,9 +92,10 @@ namespace DotRecast.Recast.Demo
             _changed = changed;
         }
 
-        public void Update(DemoInputGeomProvider geom, IList<RcBuilderResult> recastResults, DtNavMesh navMesh)
+        public void Update(DemoInputGeomProvider geom, RcConfig cfg, IList<RcBuilderResult> recastResults, DtNavMesh navMesh)
         {
             _geom = geom;
+            _cfg = cfg;
             _recastResults = recastResults;
             _navMesh = navMesh;
             SetQuery(navMesh);

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

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

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

@@ -2,16 +2,17 @@
 
   <PropertyGroup>
     <OutputType>Exe</OutputType>
-    <TargetFrameworks>net6.0;net7.0</TargetFrameworks>
+    <TargetFrameworks>net6.0;net7.0;net8.0</TargetFrameworks>
     <AllowUnsafeBlocks>true</AllowUnsafeBlocks>
     <PackageId>DotRecast.Recast.Demo</PackageId>
     <PackageReadmeFile>README.md</PackageReadmeFile>
     <Authors>ikpil</Authors>
-    <Description>DotRecast - a port of Recast Detour, navigation mesh toolset for games, Unity3D, servers, C#</Description>
+    <Description>DotRecast - a port of Recast Detour, Industry-standard navigation mesh toolset for .NET, C#, Unity3D, games, servers</Description>
     <RepositoryType>git</RepositoryType>
     <PackageProjectUrl>https://github.com/ikpil/DotRecast</PackageProjectUrl>
     <RepositoryUrl>https://github.com/ikpil/DotRecast</RepositoryUrl>
     <PackageTags>game gamedev ai csharp server unity navigation game-development unity3d pathfinding pathfinder recast detour navmesh crowd-simulation recastnavigation</PackageTags>
+    <PackageReleaseNotes>https://github.com/ikpil/DotRecast/blob/main/CHANGELOG.md</PackageReleaseNotes>
   </PropertyGroup>
 
   <ItemGroup>
@@ -19,15 +20,15 @@
   </ItemGroup>
 
   <ItemGroup>
-    <PackageReference Include="Serilog" Version="3.0.1"/>
-    <PackageReference Include="Serilog.Settings.Configuration" Version="7.0.1"/>
-    <PackageReference Include="Serilog.Enrichers.Thread" Version="3.1.0"/>
-    <PackageReference Include="Serilog.Sinks.Async" Version="1.5.0"/>
-    <PackageReference Include="Serilog.Sinks.Console" Version="4.1.0"/>
-    <PackageReference Include="Serilog.Sinks.File" Version="5.0.0"/>
-    <PackageReference Include="K4os.Compression.LZ4" Version="1.3.6"/>
-    <PackageReference Include="Silk.NET" Version="2.17.1"/>
-    <PackageReference Include="Silk.NET.OpenGL.Extensions.ImGui" Version="2.17.1"/>
+    <PackageReference Include="Serilog" Version="4.1.0" />
+    <PackageReference Include="Serilog.Settings.Configuration" Version="8.0.4" />
+    <PackageReference Include="Serilog.Enrichers.Thread" Version="4.0.0" />
+    <PackageReference Include="Serilog.Sinks.Async" Version="2.1.0" />
+    <PackageReference Include="Serilog.Sinks.Console" Version="6.0.0" />
+    <PackageReference Include="Serilog.Sinks.File" Version="6.0.0" />
+    <PackageReference Include="K4os.Compression.LZ4" Version="1.3.8" />
+    <PackageReference Include="Silk.NET" Version="2.22.0" />
+    <PackageReference Include="Silk.NET.OpenGL.Extensions.ImGui" Version="2.22.0" />
   </ItemGroup>
 
   <ItemGroup>

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

@@ -1,4 +1,5 @@
-using System;
+using System;
+using DotRecast.Core;
 
 namespace DotRecast.Recast.Demo.Draw;
 
@@ -8,23 +9,23 @@ public class ArrayBuffer<T>
     private T[] _items;
     public int Count => _size;
 
-    public ArrayBuffer()
+    public ArrayBuffer() : this(512) { }
+
+    public ArrayBuffer(int capacity)
     {
+        if (capacity <= 0)
+            throw new ArgumentOutOfRangeException();
+
         _size = 0;
-        _items = Array.Empty<T>();
+        _items = new T[capacity];
     }
 
     public void Add(T item)
     {
-        if (0 >= _items.Length)
-        {
-            _items = new T[256];
-        }
-
         if (_items.Length <= _size)
         {
             var temp = new T[(int)(_size * 1.5)];
-            Array.Copy(_items, 0, temp, 0, _items.Length);
+            RcArrays.Copy(_items, 0, temp, 0, _items.Length);
             _items = temp;
         }
 
@@ -36,8 +37,8 @@ public class ArrayBuffer<T>
         _size = 0;
     }
 
-    public T[] AsArray()
+    public Span<T> AsArray()
     {
-        return _items;
+        return _items.AsSpan(0, _size);
     }
 }

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -326,9 +326,9 @@ public class DebugDraw
         }
     }
 
-    private static readonly int NUM_ARC_PTS = 8;
-    private static readonly float PAD = 0.05f;
-    private static readonly float ARC_PTS_SCALE = (1.0f - PAD * 2) / NUM_ARC_PTS;
+    private const int NUM_ARC_PTS = 8;
+    private const float PAD = 0.05f;
+    private const float ARC_PTS_SCALE = (1.0f - PAD * 2) / NUM_ARC_PTS;
 
     public void AppendArc(float x0, float y0, float z0, float x1, float y1, float z1, float h, float as0, float as1, int col)
     {
@@ -694,7 +694,7 @@ public class DebugDraw
         plane[3] = pw;
     }
 
-    public bool FrustumTest(float[] bounds)
+    public bool FrustumTest(Span<float> bounds)
     {
         foreach (float[] plane in frustumPlanes)
         {
@@ -748,6 +748,6 @@ public class DebugDraw
 
     public bool FrustumTest(RcVec3f bmin, RcVec3f bmax)
     {
-        return FrustumTest(new float[] { bmin.X, bmin.Y, bmin.Z, bmax.X, bmax.Y, bmax.Z });
+        return FrustumTest(stackalloc float[] { bmin.X, bmin.Y, bmin.Z, bmax.X, bmax.Y, bmax.Z });
     }
 }

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -64,8 +64,8 @@ public class DrawMode
         DRAWMODE_POLYMESH_DETAIL
     );
 
-    public int Idx { get; }
-    public string Text { get; }
+    public readonly int Idx;
+    public readonly string Text;
 
     private DrawMode(int idx, string text)
     {

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -32,15 +32,18 @@ public class GLCheckerTexture
         _gl = gl;
     }
 
-    public void Release()
+    public unsafe void Release()
     {
         if (m_texId != 0)
         {
-            _gl.DeleteTextures(1, m_texId);
+            fixed (uint* p = &m_texId)
+            {
+                _gl.DeleteTextures(1, p);
+            }
         }
     }
 
-    public void Bind()
+    public unsafe void Bind()
     {
         if (m_texId == 0)
         {
@@ -50,7 +53,11 @@ public class GLCheckerTexture
             uint TSIZE = 64;
             int[] data = new int[TSIZE * TSIZE];
 
-            _gl.GenTextures(1, out m_texId);
+            fixed (uint* p = &m_texId)
+            {
+                _gl.GenTextures(1, p);
+            }
+
             _gl.BindTexture(GLEnum.Texture2D, m_texId);
 
             int level = 0;
@@ -70,8 +77,10 @@ public class GLCheckerTexture
                 level++;
             }
 
-            _gl.TexParameterI(GLEnum.Texture2D, GLEnum.TextureMinFilter, (uint)GLEnum.LinearMipmapNearest);
-            _gl.TexParameterI(GLEnum.Texture2D, GLEnum.TextureMagFilter, (uint)GLEnum.Linear);
+            uint linearMipmapNearest = (uint)GLEnum.LinearMipmapNearest;
+            uint linear = (uint)GLEnum.Linear;
+            _gl.TexParameterI(GLEnum.Texture2D, GLEnum.TextureMinFilter, &linearMipmapNearest);
+            _gl.TexParameterI(GLEnum.Texture2D, GLEnum.TextureMagFilter, &linear);
         }
         else
         {

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

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -68,8 +69,8 @@ public static class GLU
     public static int GlhUnProjectf(float winx, float winy, float winz, float[] modelview, float[] projection, int[] viewport, ref RcVec3f objectCoordinate)
     {
         // Transformation matrices
-        float[] m = new float[16], A = new float[16];
-        float[] @in = new float[4], @out = new float[4];
+        Span<float> m = stackalloc float[16], A = stackalloc float[16];
+        Span<float> @in = stackalloc float[4], @out = stackalloc float[4];
         // Calculation for inverting a matrix, compute projection x modelview
         // and store in A[16]
         MultiplyMatrices4by4OpenGL_FLOAT(A, projection, modelview);
@@ -92,7 +93,7 @@ public static class GLU
         return 1;
     }
 
-    static void MultiplyMatrices4by4OpenGL_FLOAT(float[] result, float[] matrix1, float[] matrix2)
+    static void MultiplyMatrices4by4OpenGL_FLOAT(Span<float> result, float[] matrix1, float[] matrix2)
     {
         result[0] = matrix1[0] * matrix2[0] + matrix1[4] * matrix2[1] + matrix1[8] * matrix2[2] + matrix1[12] * matrix2[3];
         result[4] = matrix1[0] * matrix2[4] + matrix1[4] * matrix2[5] + matrix1[8] * matrix2[6] + matrix1[12] * matrix2[7];
@@ -115,7 +116,7 @@ public static class GLU
         result[15] = matrix1[3] * matrix2[12] + matrix1[7] * matrix2[13] + matrix1[11] * matrix2[14] + matrix1[15] * matrix2[15];
     }
 
-    static void MultiplyMatrixByVector4by4OpenGL_FLOAT(float[] resultvector, float[] matrix, float[] pvector)
+    static void MultiplyMatrixByVector4by4OpenGL_FLOAT(Span<float> resultvector, Span<float> matrix, Span<float> pvector)
     {
         resultvector[0] = matrix[0] * pvector[0] + matrix[4] * pvector[1] + matrix[8] * pvector[2] + matrix[12] * pvector[3];
         resultvector[1] = matrix[1] * pvector[0] + matrix[5] * pvector[1] + matrix[9] * pvector[2] + matrix[13] * pvector[3];
@@ -124,15 +125,13 @@ public static class GLU
     }
 
     // This code comes directly from GLU except that it is for float
-    static int GlhInvertMatrixf2(float[] m, float[] @out)
+    static int GlhInvertMatrixf2(Span<float> m, Span<float> @out)
     {
-        float[][] wtmp = RcArrayUtils.Of<float>(4, 8);
         float m0, m1, m2, m3, s;
-        float[] r0, r1, r2, r3;
-        r0 = wtmp[0];
-        r1 = wtmp[1];
-        r2 = wtmp[2];
-        r3 = wtmp[3];
+        Span<float> r0 = stackalloc float[8];
+        Span<float> r1 = stackalloc float[8];
+        Span<float> r2 = stackalloc float[8];
+        Span<float> r3 = stackalloc float[8];
         r0[0] = MAT(m, 0, 0);
         r0[1] = MAT(m, 0, 1);
         r0[2] = MAT(m, 0, 2);
@@ -160,27 +159,28 @@ public static class GLU
         /* choose pivot - or die */
         if (MathF.Abs(r3[0]) > MathF.Abs(r2[0]))
         {
-            float[] r = r2;
+            Span<float> r = r2;
             r2 = r3;
             r3 = r;
         }
 
         if (MathF.Abs(r2[0]) > MathF.Abs(r1[0]))
         {
-            float[] r = r2;
+            Span<float> r = r2;
             r2 = r1;
             r1 = r;
         }
 
         if (MathF.Abs(r1[0]) > MathF.Abs(r0[0]))
         {
-            float[] r = r1;
+            Span<float> r = r1;
             r1 = r0;
             r0 = r;
         }
 
         if (0.0 == r0[0])
             return 0;
+        
         /* eliminate first variable */
         m1 = r1[0] / r0[0];
         m2 = r2[0] / r0[0];
@@ -232,14 +232,14 @@ public static class GLU
         /* choose pivot - or die */
         if (MathF.Abs(r3[1]) > MathF.Abs(r2[1]))
         {
-            float[] r = r2;
+            Span<float> r = r2;
             r2 = r3;
             r3 = r;
         }
 
         if (MathF.Abs(r2[1]) > MathF.Abs(r1[1]))
         {
-            float[] r = r2;
+            Span<float> r = r2;
             r2 = r1;
             r1 = r;
         }
@@ -284,7 +284,7 @@ public static class GLU
         /* choose pivot - or die */
         if (MathF.Abs(r3[2]) > MathF.Abs(r2[2]))
         {
-            float[] r = r2;
+            Span<float> r = r2;
             r2 = r3;
             r3 = r;
         }
@@ -358,12 +358,12 @@ public static class GLU
         return 1;
     }
 
-    static float MAT(float[] m, int r, int c)
+    static float MAT(Span<float> m, int r, int c)
     {
         return m[(c) * 4 + (r)];
     }
 
-    static void MAT(float[] m, int r, int c, float v)
+    static void MAT(Span<float> m, int r, int c, float v)
     {
         m[(c) * 4 + (r)] = v;
     }

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

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

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

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

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -23,14 +23,14 @@ using DotRecast.Core.Numerics;
 using DotRecast.Detour;
 using DotRecast.Recast.Toolset.Builder;
 using DotRecast.Recast.Toolset.Geom;
-using static DotRecast.Recast.RcCommons;
+using static DotRecast.Recast.RcRecast;
 
 namespace DotRecast.Recast.Demo.Draw;
 
 public class NavMeshRenderer
 {
     private readonly RecastDebugDraw _debugDraw;
-    private readonly int _navMeshDrawFlags = RecastDebugDraw.DRAWNAVMESH_OFFMESHCONS | RecastDebugDraw.DRAWNAVMESH_CLOSEDLIST;
+    private readonly int _navMeshDrawFlags = RecastDebugDraw.DU_DRAWNAVMESH_OFFMESHCONS | RecastDebugDraw.DU_DRAWNAVMESH_CLOSEDLIST;
 
     public NavMeshRenderer(RecastDebugDraw debugDraw)
     {
@@ -123,80 +123,80 @@ public class NavMeshRenderer
 
         foreach (RcBuilderResult rcBuilderResult in rcBuilderResults)
         {
-            if (rcBuilderResult.GetCompactHeightfield() != null && drawMode == DrawMode.DRAWMODE_COMPACT)
+            if (rcBuilderResult.CompactHeightfield != null && drawMode == DrawMode.DRAWMODE_COMPACT)
             {
-                _debugDraw.DebugDrawCompactHeightfieldSolid(rcBuilderResult.GetCompactHeightfield());
+                _debugDraw.DebugDrawCompactHeightfieldSolid(rcBuilderResult.CompactHeightfield);
             }
 
-            if (rcBuilderResult.GetCompactHeightfield() != null && drawMode == DrawMode.DRAWMODE_COMPACT_DISTANCE)
+            if (rcBuilderResult.CompactHeightfield != null && drawMode == DrawMode.DRAWMODE_COMPACT_DISTANCE)
             {
-                _debugDraw.DebugDrawCompactHeightfieldDistance(rcBuilderResult.GetCompactHeightfield());
+                _debugDraw.DebugDrawCompactHeightfieldDistance(rcBuilderResult.CompactHeightfield);
             }
 
-            if (rcBuilderResult.GetCompactHeightfield() != null && drawMode == DrawMode.DRAWMODE_COMPACT_REGIONS)
+            if (rcBuilderResult.CompactHeightfield != null && drawMode == DrawMode.DRAWMODE_COMPACT_REGIONS)
             {
-                _debugDraw.DebugDrawCompactHeightfieldRegions(rcBuilderResult.GetCompactHeightfield());
+                _debugDraw.DebugDrawCompactHeightfieldRegions(rcBuilderResult.CompactHeightfield);
             }
 
-            if (rcBuilderResult.GetSolidHeightfield() != null && drawMode == DrawMode.DRAWMODE_VOXELS)
+            if (rcBuilderResult.SolidHeightfiled != null && drawMode == DrawMode.DRAWMODE_VOXELS)
             {
                 _debugDraw.Fog(true);
-                _debugDraw.DebugDrawHeightfieldSolid(rcBuilderResult.GetSolidHeightfield());
+                _debugDraw.DebugDrawHeightfieldSolid(rcBuilderResult.SolidHeightfiled);
                 _debugDraw.Fog(false);
             }
 
-            if (rcBuilderResult.GetSolidHeightfield() != null && drawMode == DrawMode.DRAWMODE_VOXELS_WALKABLE)
+            if (rcBuilderResult.SolidHeightfiled != null && drawMode == DrawMode.DRAWMODE_VOXELS_WALKABLE)
             {
                 _debugDraw.Fog(true);
-                _debugDraw.DebugDrawHeightfieldWalkable(rcBuilderResult.GetSolidHeightfield());
+                _debugDraw.DebugDrawHeightfieldWalkable(rcBuilderResult.SolidHeightfiled);
                 _debugDraw.Fog(false);
             }
 
-            if (rcBuilderResult.GetContourSet() != null && drawMode == DrawMode.DRAWMODE_RAW_CONTOURS)
+            if (rcBuilderResult.ContourSet != null && drawMode == DrawMode.DRAWMODE_RAW_CONTOURS)
             {
                 _debugDraw.DepthMask(false);
-                _debugDraw.DebugDrawRawContours(rcBuilderResult.GetContourSet(), 1f);
+                _debugDraw.DebugDrawRawContours(rcBuilderResult.ContourSet, 1f);
                 _debugDraw.DepthMask(true);
             }
 
-            if (rcBuilderResult.GetContourSet() != null && drawMode == DrawMode.DRAWMODE_BOTH_CONTOURS)
+            if (rcBuilderResult.ContourSet != null && drawMode == DrawMode.DRAWMODE_BOTH_CONTOURS)
             {
                 _debugDraw.DepthMask(false);
-                _debugDraw.DebugDrawRawContours(rcBuilderResult.GetContourSet(), 0.5f);
-                _debugDraw.DebugDrawContours(rcBuilderResult.GetContourSet());
+                _debugDraw.DebugDrawRawContours(rcBuilderResult.ContourSet, 0.5f);
+                _debugDraw.DebugDrawContours(rcBuilderResult.ContourSet);
                 _debugDraw.DepthMask(true);
             }
 
-            if (rcBuilderResult.GetContourSet() != null && drawMode == DrawMode.DRAWMODE_CONTOURS)
+            if (rcBuilderResult.ContourSet != null && drawMode == DrawMode.DRAWMODE_CONTOURS)
             {
                 _debugDraw.DepthMask(false);
-                _debugDraw.DebugDrawContours(rcBuilderResult.GetContourSet());
+                _debugDraw.DebugDrawContours(rcBuilderResult.ContourSet);
                 _debugDraw.DepthMask(true);
             }
 
-            if (rcBuilderResult.GetCompactHeightfield() != null && drawMode == DrawMode.DRAWMODE_REGION_CONNECTIONS)
+            if (rcBuilderResult.CompactHeightfield != null && drawMode == DrawMode.DRAWMODE_REGION_CONNECTIONS)
             {
-                _debugDraw.DebugDrawCompactHeightfieldRegions(rcBuilderResult.GetCompactHeightfield());
+                _debugDraw.DebugDrawCompactHeightfieldRegions(rcBuilderResult.CompactHeightfield);
                 _debugDraw.DepthMask(false);
-                if (rcBuilderResult.GetContourSet() != null)
+                if (rcBuilderResult.ContourSet != null)
                 {
-                    _debugDraw.DebugDrawRegionConnections(rcBuilderResult.GetContourSet());
+                    _debugDraw.DebugDrawRegionConnections(rcBuilderResult.ContourSet);
                 }
 
                 _debugDraw.DepthMask(true);
             }
 
-            if (rcBuilderResult.GetMesh() != null && drawMode == DrawMode.DRAWMODE_POLYMESH)
+            if (rcBuilderResult.Mesh != null && drawMode == DrawMode.DRAWMODE_POLYMESH)
             {
                 _debugDraw.DepthMask(false);
-                _debugDraw.DebugDrawPolyMesh(rcBuilderResult.GetMesh());
+                _debugDraw.DebugDrawPolyMesh(rcBuilderResult.Mesh);
                 _debugDraw.DepthMask(true);
             }
 
-            if (rcBuilderResult.GetMeshDetail() != null && drawMode == DrawMode.DRAWMODE_POLYMESH_DETAIL)
+            if (rcBuilderResult.MeshDetail != null && drawMode == DrawMode.DRAWMODE_POLYMESH_DETAIL)
             {
                 _debugDraw.DepthMask(false);
-                _debugDraw.DebugDrawPolyMeshDetail(rcBuilderResult.GetMeshDetail());
+                _debugDraw.DebugDrawPolyMeshDetail(rcBuilderResult.MeshDetail);
                 _debugDraw.DepthMask(true);
             }
         }

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -19,7 +19,6 @@ freely, subject to the following restrictions:
 */
 
 using System;
-using System.Collections.Generic;
 using DotRecast.Core.Numerics;
 using DotRecast.Detour;
 using DotRecast.Recast.Toolset.Builder;
@@ -27,11 +26,13 @@ using Silk.NET.OpenGL;
 
 namespace DotRecast.Recast.Demo.Draw;
 
+using static DtDetour;
+
 public class RecastDebugDraw : DebugDraw
 {
-    public static readonly int DRAWNAVMESH_OFFMESHCONS = 0x01;
-    public static readonly int DRAWNAVMESH_CLOSEDLIST = 0x02;
-    public static readonly int DRAWNAVMESH_COLOR_TILES = 0x04;
+    public const int DU_DRAWNAVMESH_OFFMESHCONS = 0x01;
+    public const int DU_DRAWNAVMESH_CLOSEDLIST = 0x02;
+    public const int DU_DRAWNAVMESH_COLOR_TILES = 0x04;
 
     public RecastDebugDraw(GL gl) : base(gl)
     {
@@ -101,7 +102,7 @@ public class RecastDebugDraw : DebugDraw
 
     public void DebugDrawNavMeshWithClosedList(DtNavMesh mesh, DtNavMeshQuery query, int flags)
     {
-        DtNavMeshQuery q = (flags & DRAWNAVMESH_CLOSEDLIST) != 0 ? query : null;
+        DtNavMeshQuery q = (flags & DU_DRAWNAVMESH_CLOSEDLIST) != 0 ? query : null;
         for (int i = 0; i < mesh.GetMaxTiles(); ++i)
         {
             DtMeshTile tile = mesh.GetTile(i);
@@ -116,7 +117,7 @@ public class RecastDebugDraw : DebugDraw
     {
         long @base = mesh.GetPolyRefBase(tile);
 
-        int tileNum = DtNavMesh.DecodePolyIdTile(@base);
+        int tileNum = DecodePolyIdTile(@base);
         int tileColor = DuIntToCol(tileNum, 128);
         DepthMask(false);
         Begin(DebugDrawPrimitives.TRIS);
@@ -135,7 +136,7 @@ public class RecastDebugDraw : DebugDraw
             }
             else
             {
-                if ((flags & DRAWNAVMESH_COLOR_TILES) != 0)
+                if ((flags & DU_DRAWNAVMESH_COLOR_TILES) != 0)
                 {
                     col = tileColor;
                 }
@@ -163,7 +164,7 @@ public class RecastDebugDraw : DebugDraw
         // Draw outer poly boundaries
         DrawPolyBoundaries(tile, DuRGBA(0, 48, 64, 220), 2.5f, false);
 
-        if ((flags & DRAWNAVMESH_OFFMESHCONS) != 0)
+        if ((flags & DU_DRAWNAVMESH_OFFMESHCONS) != 0)
         {
             Begin(DebugDrawPrimitives.LINES, 2.0f);
             for (int i = 0; i < tile.data.header.polyCount; ++i)
@@ -198,7 +199,7 @@ public class RecastDebugDraw : DebugDraw
                 // Check to see if start and end end-points have links.
                 bool startSet = false;
                 bool endSet = false;
-                for (int k = tile.polyLinks[p.index]; k != DtNavMesh.DT_NULL_LINK; k = tile.links[k].next)
+                for (int k = p.firstLink; k != DT_NULL_LINK; k = tile.links[k].next)
                 {
                     if (tile.links[k].edge == 0)
                     {
@@ -213,25 +214,27 @@ public class RecastDebugDraw : DebugDraw
 
                 // End points and their on-mesh locations.
                 Vertex(va.X, va.Y, va.Z, col);
-                Vertex(con.pos[0], con.pos[1], con.pos[2], col);
+                Vertex(con.pos[0], col);
                 col2 = startSet ? col : DuRGBA(220, 32, 16, 196);
-                AppendCircle(con.pos[0], con.pos[1] + 0.1f, con.pos[2], con.rad, col2);
+                AppendCircle(con.pos[0].X, con.pos[0].Y + 0.1f, con.pos[0].Z, con.rad, col2);
 
                 Vertex(vb.X, vb.Y, vb.Z, col);
-                Vertex(con.pos[3], con.pos[4], con.pos[5], col);
+                Vertex(con.pos[1], col);
                 col2 = endSet ? col : DuRGBA(220, 32, 16, 196);
-                AppendCircle(con.pos[3], con.pos[4] + 0.1f, con.pos[5], con.rad, col2);
+                AppendCircle(con.pos[1].X, con.pos[1].Y + 0.1f, con.pos[1].Z, con.rad, col2);
 
                 // End point vertices.
-                Vertex(con.pos[0], con.pos[1], con.pos[2], DuRGBA(0, 48, 64, 196));
-                Vertex(con.pos[0], con.pos[1] + 0.2f, con.pos[2], DuRGBA(0, 48, 64, 196));
+                Vertex(con.pos[0], DuRGBA(0, 48, 64, 196));
+                Vertex(con.pos[0].X, con.pos[0].Y + 0.2f, con.pos[0].Z, DuRGBA(0, 48, 64, 196));
 
-                Vertex(con.pos[3], con.pos[4], con.pos[5], DuRGBA(0, 48, 64, 196));
-                Vertex(con.pos[3], con.pos[4] + 0.2f, con.pos[5], DuRGBA(0, 48, 64, 196));
+                Vertex(con.pos[1], DuRGBA(0, 48, 64, 196));
+                Vertex(con.pos[1].X, con.pos[1].Y + 0.2f, con.pos[1].Z, DuRGBA(0, 48, 64, 196));
 
                 // Connection arc.
-                AppendArc(con.pos[0], con.pos[1], con.pos[2], con.pos[3], con.pos[4], con.pos[5], 0.25f,
-                    (con.flags & 1) != 0 ? 0.6f : 0, 0.6f, col);
+                AppendArc(
+                    con.pos[0].X, con.pos[0].Y, con.pos[0].Z,
+                    con.pos[1].X, con.pos[1].Y, con.pos[1].Z,
+                    0.25f, (con.flags & 1) != 0 ? 0.6f : 0, 0.6f, col);
             }
 
             End();
@@ -255,9 +258,7 @@ public class RecastDebugDraw : DebugDraw
         DtPoly p = tile.data.polys[index];
         if (tile.data.detailMeshes != null)
         {
-            DtPolyDetail pd = tile.data.detailMeshes[index];
-            if (pd != null)
-            {
+            ref DtPolyDetail pd = ref tile.data.detailMeshes[index];
             for (int j = 0; j < pd.triCount; ++j)
             {
                 int t = (pd.triBase + j) * 4;
@@ -278,7 +279,6 @@ public class RecastDebugDraw : DebugDraw
                 }
             }
         }
-        }
         else
         {
             for (int j = 1; j < p.vertCount - 1; ++j)
@@ -300,6 +300,7 @@ public class RecastDebugDraw : DebugDraw
 
         Begin(DebugDrawPrimitives.LINES, linew);
 
+        Span<RcVec3f> tv = stackalloc RcVec3f[3];
         for (int i = 0; i < tile.data.header.polyCount; ++i)
         {
             DtPoly p = tile.data.polys[i];
@@ -319,10 +320,10 @@ public class RecastDebugDraw : DebugDraw
                         continue;
                     }
 
-                    if ((p.neis[j] & DtNavMesh.DT_EXT_LINK) != 0)
+                    if ((p.neis[j] & DT_EXT_LINK) != 0)
                     {
                         bool con = false;
-                        for (int k = tile.polyLinks[p.index]; k != DtNavMesh.DT_NULL_LINK; k = tile.links[k].next)
+                        for (int k = p.firstLink; k != DT_NULL_LINK; k = tile.links[k].next)
                         {
                             if (tile.links[k].edge == j)
                             {
@@ -367,18 +368,18 @@ public class RecastDebugDraw : DebugDraw
                 // This is really slow.
                 if (tile.data.detailMeshes != null)
                 {
-                    DtPolyDetail pd = tile.data.detailMeshes[i];
+                    ref DtPolyDetail pd = ref tile.data.detailMeshes[i];
                     for (int k = 0; k < pd.triCount; ++k)
                     {
                         int t = (pd.triBase + k) * 4;
-                        RcVec3f[] tv = new RcVec3f[3];
                         for (int m = 0; m < 3; ++m)
                         {
                             int v = tile.data.detailTris[t + m];
                             if (v < p.vertCount)
                             {
                                 tv[m] = new RcVec3f(
-                                    tile.data.verts[p.verts[v] * 3], tile.data.verts[p.verts[v] * 3 + 1],
+                                    tile.data.verts[p.verts[v] * 3],
+                                    tile.data.verts[p.verts[v] * 3 + 1],
                                     tile.data.verts[p.verts[v] * 3 + 2]
                                 );
                             }
@@ -394,7 +395,7 @@ public class RecastDebugDraw : DebugDraw
 
                         for (int m = 0, n = 2; m < 3; n = m++)
                         {
-                            if ((DtNavMesh.GetDetailTriEdgeFlags(tile.data.detailTris[t + 3], n) & DtDetailTriEdgeFlags.DT_DETAIL_EDGE_BOUNDARY) == 0)
+                            if ((GetDetailTriEdgeFlags(tile.data.detailTris[t + 3], n) & DtDetailTriEdgeFlags.DT_DETAIL_EDGE_BOUNDARY) == 0)
                                 continue;
 
                             if (((tile.data.detailTris[t + 3] >> (n * 2)) & 0x3) == 0)
@@ -464,9 +465,13 @@ public class RecastDebugDraw : DebugDraw
                 continue;
             }
 
-            AppendBoxWire(tile.data.header.bmin.X + n.bmin[0] * cs, tile.data.header.bmin.Y + n.bmin[1] * cs,
-                tile.data.header.bmin.Z + n.bmin[2] * cs, tile.data.header.bmin.X + n.bmax[0] * cs,
-                tile.data.header.bmin.Y + n.bmax[1] * cs, tile.data.header.bmin.Z + n.bmax[2] * cs,
+            AppendBoxWire(
+                tile.data.header.bmin.X + n.bmin.X * cs, 
+                tile.data.header.bmin.Y + n.bmin.Y * cs,
+                tile.data.header.bmin.Z + n.bmin.Z * cs, 
+                tile.data.header.bmin.X + n.bmax.X * cs,
+                tile.data.header.bmin.Y + n.bmax.Y * cs, 
+                tile.data.header.bmin.Z + n.bmax.Z * cs,
                 DuRGBA(255, 255, 255, 128));
         }
 
@@ -486,11 +491,11 @@ public class RecastDebugDraw : DebugDraw
             {
                 float fx = chf.bmin.X + x * cs;
                 float fz = chf.bmin.Z + y * cs;
-                RcCompactCell c = chf.cells[x + y * chf.width];
+                ref RcCompactCell c = ref chf.cells[x + y * chf.width];
 
                 for (int i = c.index, ni = c.index + c.count; i < ni; ++i)
                 {
-                    RcCompactSpan s = chf.spans[i];
+                    ref RcCompactSpan s = ref chf.spans[i];
 
                     int area = chf.areas[i];
                     int color;
@@ -498,7 +503,7 @@ public class RecastDebugDraw : DebugDraw
                     {
                         color = DuRGBA(0, 192, 255, 64);
                     }
-                    else if (area == RcConstants.RC_NULL_AREA)
+                    else if (area == RcRecast.RC_NULL_AREA)
                     {
                         color = DuRGBA(0, 0, 0, 64);
                     }
@@ -670,7 +675,7 @@ public class RecastDebugDraw : DebugDraw
                 int v3 = c.rverts[j * 4 + 3];
                 float off = 0;
                 int colv = color;
-                if ((v3 & RcConstants.RC_BORDER_VERTEX) != 0)
+                if ((v3 & RcRecast.RC_BORDER_VERTEX) != 0)
                 {
                     colv = DuRGBA(255, 255, 255, a);
                     off = ch * 2;
@@ -717,7 +722,7 @@ public class RecastDebugDraw : DebugDraw
                 int vb0 = c.verts[j * 4];
                 int vb1 = c.verts[j * 4 + 1];
                 int vb2 = c.verts[j * 4 + 2];
-                int col = (va3 & RcConstants.RC_AREA_BORDER) != 0 ? bcolor : color;
+                int col = (va3 & RcRecast.RC_AREA_BORDER) != 0 ? bcolor : color;
 
                 float fx = orig.X + va0 * cs;
                 float fy = orig.Y + (va1 + 1 + (i & 1)) * ch;
@@ -748,7 +753,7 @@ public class RecastDebugDraw : DebugDraw
                 int v3 = c.verts[j * 4 + 3];
                 float off = 0;
                 int colv = color;
-                if ((v3 & RcConstants.RC_BORDER_VERTEX) != 0)
+                if ((v3 & RcRecast.RC_BORDER_VERTEX) != 0)
                 {
                     colv = DuRGBA(255, 255, 255, a);
                     off = ch * 2;
@@ -828,7 +833,7 @@ public class RecastDebugDraw : DebugDraw
                     {
                         fcol[0] = DuRGBA(64, 128, 160, 255);
                     }
-                    else if (s.area == RcConstants.RC_NULL_AREA)
+                    else if (s.area == RcRecast.RC_NULL_AREA)
                     {
                         fcol[0] = DuRGBA(64, 64, 64, 255);
                     }
@@ -859,11 +864,11 @@ public class RecastDebugDraw : DebugDraw
             {
                 float fx = chf.bmin.X + x * cs;
                 float fz = chf.bmin.Z + y * cs;
-                RcCompactCell c = chf.cells[x + y * chf.width];
+                ref RcCompactCell c = ref chf.cells[x + y * chf.width];
 
                 for (int i = c.index, ni = c.index + c.count; i < ni; ++i)
                 {
-                    RcCompactSpan s = chf.spans[i];
+                    ref RcCompactSpan s = ref chf.spans[i];
                     float fy = chf.bmin.Y + (s.y) * ch;
                     int color;
                     if (s.reg != 0)
@@ -912,11 +917,11 @@ public class RecastDebugDraw : DebugDraw
             {
                 float fx = chf.bmin.X + x * cs;
                 float fz = chf.bmin.Z + y * cs;
-                RcCompactCell c = chf.cells[x + y * chf.width];
+                ref RcCompactCell c = ref chf.cells[x + y * chf.width];
 
                 for (int i = c.index, ni = c.index + c.count; i < ni; ++i)
                 {
-                    RcCompactSpan s = chf.spans[i];
+                    ref RcCompactSpan s = ref chf.spans[i];
                     float fy = chf.bmin.Y + (s.y + 1) * ch;
                     char cd = (char)(chf.dist[i] * dscale);
                     int color = DuRGBA(cd, cd, cd, 255);
@@ -950,7 +955,7 @@ public class RecastDebugDraw : DebugDraw
             {
                 color = DuRGBA(0, 192, 255, 64);
             }
-            else if (area == RcConstants.RC_NULL_AREA)
+            else if (area == RcRecast.RC_NULL_AREA)
             {
                 color = DuRGBA(0, 0, 0, 64);
             }
@@ -962,7 +967,7 @@ public class RecastDebugDraw : DebugDraw
             int[] vi = new int[3];
             for (int j = 2; j < nvp; ++j)
             {
-                if (mesh.polys[p + j] == RcConstants.RC_MESH_NULL_IDX)
+                if (mesh.polys[p + j] == RcRecast.RC_MESH_NULL_IDX)
                 {
                     break;
                 }
@@ -993,7 +998,7 @@ public class RecastDebugDraw : DebugDraw
             int p = i * nvp * 2;
             for (int j = 0; j < nvp; ++j)
             {
-                if (mesh.polys[p + j] == RcConstants.RC_MESH_NULL_IDX)
+                if (mesh.polys[p + j] == RcRecast.RC_MESH_NULL_IDX)
                 {
                     break;
                 }
@@ -1003,7 +1008,7 @@ public class RecastDebugDraw : DebugDraw
                     continue;
                 }
 
-                int nj = (j + 1 >= nvp || mesh.polys[p + j + 1] == RcConstants.RC_MESH_NULL_IDX) ? 0 : j + 1;
+                int nj = (j + 1 >= nvp || mesh.polys[p + j + 1] == RcRecast.RC_MESH_NULL_IDX) ? 0 : j + 1;
                 int[] vi = { mesh.polys[p + j], mesh.polys[p + nj] };
 
                 for (int k = 0; k < 2; ++k)
@@ -1027,7 +1032,7 @@ public class RecastDebugDraw : DebugDraw
             int p = i * nvp * 2;
             for (int j = 0; j < nvp; ++j)
             {
-                if (mesh.polys[p + j] == RcConstants.RC_MESH_NULL_IDX)
+                if (mesh.polys[p + j] == RcRecast.RC_MESH_NULL_IDX)
                 {
                     break;
                 }
@@ -1037,7 +1042,7 @@ public class RecastDebugDraw : DebugDraw
                     continue;
                 }
 
-                int nj = (j + 1 >= nvp || mesh.polys[p + j + 1] == RcConstants.RC_MESH_NULL_IDX) ? 0 : j + 1;
+                int nj = (j + 1 >= nvp || mesh.polys[p + j + 1] == RcRecast.RC_MESH_NULL_IDX) ? 0 : j + 1;
                 int[] vi = { mesh.polys[p + j], mesh.polys[p + nj] };
 
                 int col = colb;
@@ -1201,9 +1206,7 @@ public class RecastDebugDraw : DebugDraw
             float off = 0.5f;
             Begin(DebugDrawPrimitives.POINTS, 4.0f);
 
-            foreach (List<DtNode> nodes in pool.GetNodeMap().Values)
-            {
-                foreach (DtNode node in nodes)
+            foreach (DtNode node in pool.AsEnumerable())
             {
                 if (node == null)
                 {
@@ -1212,14 +1215,11 @@ public class RecastDebugDraw : DebugDraw
 
                 Vertex(node.pos.X, node.pos.Y + off, node.pos.Z, DuRGBA(255, 192, 0, 255));
             }
-            }
 
             End();
 
             Begin(DebugDrawPrimitives.LINES, 2.0f);
-            foreach (List<DtNode> nodes in pool.GetNodeMap().Values)
-            {
-                foreach (DtNode node in nodes)
+            foreach (DtNode node in pool.AsEnumerable())
             {
                 if (node == null)
                 {
@@ -1240,7 +1240,6 @@ public class RecastDebugDraw : DebugDraw
                 Vertex(node.pos.X, node.pos.Y + off, node.pos.Z, DuRGBA(255, 192, 0, 128));
                 Vertex(parent.pos.X, parent.pos.Y + off, parent.pos.Z, DuRGBA(255, 192, 0, 128));
             }
-            }
 
             End();
         }
@@ -1296,8 +1295,10 @@ public class RecastDebugDraw : DebugDraw
             Begin(DebugDrawPrimitives.LINES, 2.0f);
 
             // Connection arc.
-            AppendArc(con.pos[0], con.pos[1], con.pos[2], con.pos[3], con.pos[4], con.pos[5], 0.25f,
-                (con.flags & 1) != 0 ? 0.6f : 0.0f, 0.6f, c);
+            AppendArc(
+                con.pos[0].X, con.pos[0].Y, con.pos[0].Z,
+                con.pos[1].X, con.pos[1].Y, con.pos[1].Z,
+                0.25f, (con.flags & 1) != 0 ? 0.6f : 0.0f, 0.6f, c);
 
             End();
         }
@@ -1332,7 +1333,7 @@ public class RecastDebugDraw : DebugDraw
 
         for (int side = 0; side < 8; ++side)
         {
-            int m = DtNavMesh.DT_EXT_LINK | (short)side;
+            int m = DT_EXT_LINK | (short)side;
 
             for (int i = 0; i < tile.data.header.polyCount; ++i)
             {

src/DotRecast.Recast.Demo/DtVoxelTileLZ4DemoCompressor.cs

@@ -1,4 +1,4 @@
-using System;
+using System;
 using DotRecast.Core;
 using K4os.Compression.LZ4;
 
@@ -28,7 +28,7 @@ public class DtVoxelTileLZ4DemoCompressor : IRcCompressor
         byte[] compressed = LZ4Pickler.Pickle(data, LZ4Level.L12_MAX);
         byte[] result = new byte[4 + compressed.Length];
         RcByteUtils.PutInt(compressed.Length, result, 0, RcByteOrder.BIG_ENDIAN);
-        Array.Copy(compressed, 0, result, 4, compressed.Length);
+        RcArrays.Copy(compressed, 0, result, 4, compressed.Length);
         return result;
     }
 }

src/DotRecast.Recast.Demo/KeyModState.cs

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

src/DotRecast.Recast.Demo/Program.cs

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

src/DotRecast.Recast.Demo/RecastDemo.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -25,6 +25,8 @@ using System.Globalization;
 using System.IO;
 using System.Linq;
 using System.Numerics;
+using System.Runtime;
+using System.Runtime.InteropServices;
 using DotRecast.Core;
 using Serilog;
 using Silk.NET.Input;
@@ -43,7 +45,6 @@ using DotRecast.Recast.Demo.Messages;
 using DotRecast.Recast.Toolset.Geom;
 using DotRecast.Recast.Demo.Tools;
 using DotRecast.Recast.Demo.UI;
-using DotRecast.Recast.Toolset;
 using MouseButton = Silk.NET.Input.MouseButton;
 using Window = Silk.NET.Windowing.Window;
 
@@ -59,6 +60,7 @@ public class RecastDemo : IRecastDemoChannel
     private ImGuiController _imgui;
     private RcCanvas _canvas;
 
+    private Vector2D<int> _resolution;
     private int width = 1000;
     private int height = 900;
 
@@ -110,7 +112,8 @@ public class RecastDemo : IRecastDemoChannel
     private bool markerPositionSet;
     private RcVec3f markerPosition = new RcVec3f();
 
-    private RcToolsetView toolset;
+    private RcMenuView _menuView;
+    private RcToolsetView _toolsetView;
     private RcSettingsView settingsView;
     private RcLogView logView;
 
@@ -250,17 +253,17 @@ public class RecastDemo : IRecastDemoChannel
     private IWindow CreateWindow()
     {
         var monitor = Window.Platforms.First().GetMainMonitor();
-        var resolution = monitor.VideoMode.Resolution.Value;
+        _resolution = monitor.VideoMode.Resolution.Value;
 
         float aspect = 16.0f / 9.0f;
-        width = Math.Min(resolution.X, (int)(resolution.Y * aspect)) - 100;
-        height = resolution.Y - 100;
+        width = Math.Min(_resolution.X, (int)(_resolution.Y * aspect)) - 100;
+        height = _resolution.Y - 100;
         viewport = new int[] { 0, 0, width, height };
 
         var options = WindowOptions.Default;
         options.Title = title;
         options.Size = new Vector2D<int>(width, height);
-        options.Position = new Vector2D<int>((resolution.X - width) / 2, (resolution.Y - height) / 2);
+        options.Position = new Vector2D<int>((_resolution.X - width) / 2, (_resolution.Y - height) / 2);
         options.VSync = true;
         options.ShouldSwapAutomatically = false;
         options.PreferredDepthBufferBits = 24;
@@ -317,8 +320,8 @@ public class RecastDemo : IRecastDemoChannel
 
             if (null != mesh)
             {
-                _sample.Update(_sample.GetInputGeom(), ImmutableArray<RcBuilderResult>.Empty, mesh);
-                toolset.SetEnabled(true);
+                _sample.Update(_sample.GetInputGeom(), _sample.GetRecastConfig(), ImmutableArray<RcBuilderResult>.Empty, mesh);
+                _toolsetView.SetEnabled(true);
             }
         }
         catch (Exception e)
@@ -364,18 +367,26 @@ public class RecastDemo : IRecastDemoChannel
 
         dd.Init(camr);
 
+
+        var scale = (float)_resolution.X / 1920;
+        int fontSize = Math.Max(10, (int)(16 * scale));
+
         // for windows : Microsoft Visual C++ Redistributable Package
         // link - https://learn.microsoft.com/en-us/cpp/windows/latest-supported-vc-redist
-        ImGuiFontConfig imGuiFontConfig = new(Path.Combine("resources\\fonts", "DroidSans.ttf"), 16, null);
+        var imGuiFontConfig = new ImGuiFontConfig(Path.Combine("resources\\fonts", "DroidSans.ttf"), fontSize, null);
         _imgui = new ImGuiController(_gl, window, _input, imGuiFontConfig);
 
+        ImGui.GetStyle().ScaleAllSizes(scale);
+        //ImGui.GetIO().FontGlobalScale = 2.0f;
+
         DemoInputGeomProvider geom = LoadInputMesh("nav_test.obj");
         _sample = new DemoSample(geom, ImmutableArray<RcBuilderResult>.Empty, null);
 
+        _menuView = new RcMenuView();
         settingsView = new RcSettingsView(this);
         settingsView.SetSample(_sample);
 
-        toolset = new RcToolsetView(
+        _toolsetView = new RcToolsetView(
             new TestNavmeshSampleTool(),
             new TileSampleTool(),
             new ObstacleSampleTool(),
@@ -386,10 +397,10 @@ public class RecastDemo : IRecastDemoChannel
             new JumpLinkBuilderSampleTool(),
             new DynamicUpdateSampleTool()
         );
-        toolset.SetEnabled(true);
+        _toolsetView.SetEnabled(true);
         logView = new RcLogView();
 
-        _canvas = new RcCanvas(window, settingsView, toolset, logView);
+        _canvas = new RcCanvas(window, _menuView, settingsView, _toolsetView, logView);
 
         var vendor = _gl.GetStringS(GLEnum.Vendor);
         var version = _gl.GetStringS(GLEnum.Version);
@@ -400,12 +411,24 @@ public class RecastDemo : IRecastDemoChannel
 
         var workingDirectory = Directory.GetCurrentDirectory();
         Logger.Information($"Working directory - {workingDirectory}");
-        Logger.Information($"ImGui.Net version - {ImGui.GetVersion()}");
-        Logger.Information($"Dotnet - {Environment.Version.ToString()} culture({currentCulture.Name})");
         Logger.Information($"OS Version - {Environment.OSVersion} {bitness}");
+        Logger.Information($"{RuntimeInformation.OSArchitecture} {RuntimeInformation.OSDescription}");
+        Logger.Information($"{RuntimeInformation.ProcessArchitecture} {RuntimeInformation.FrameworkDescription}");
+        Logger.Information($"Dotnet - {Environment.Version.ToString()} culture({currentCulture.Name})");
+        Logger.Information($"Processor Count : {Environment.ProcessorCount}");
+
+        Logger.Information($"Server garbage collection : {(GCSettings.IsServerGC ? "Enabled" : "Disabled")}");
+        Logger.Information($"Current latency mode for garbage collection: {GCSettings.LatencyMode}");
+        Logger.Information("");
+
+        Logger.Information($"ImGui.Net - version({ImGui.GetVersion()}) UI scale({scale}) fontSize({fontSize})");
         Logger.Information($"{vendor} {rendererGl}");
-        Logger.Information($"gl version - {version}");
-        Logger.Information($"gl lang version - {glslString}");
+        Logger.Information($"gl version({version}) lang version({glslString})");
+    }
+
+    private float GetKeyValue(IKeyboard keyboard, Key primaryKey, Key secondaryKey)
+    {
+        return keyboard.IsKeyPressed(primaryKey) || keyboard.IsKeyPressed(secondaryKey) ? 1.0f : -1.0f;
     }
 
     private void UpdateKeyboard(float dt)
@@ -415,17 +438,17 @@ public class RecastDemo : IRecastDemoChannel
         // keyboard input
         foreach (var keyboard in _input.Keyboards)
         {
-            var tempMoveFront = keyboard.IsKeyPressed(Key.W) || keyboard.IsKeyPressed(Key.Up) ? 1.0f : -1f;
-            var tempMoveLeft = keyboard.IsKeyPressed(Key.A) || keyboard.IsKeyPressed(Key.Left) ? 1.0f : -1f;
-            var tempMoveBack = keyboard.IsKeyPressed(Key.S) || keyboard.IsKeyPressed(Key.Down) ? 1.0f : -1f;
-            var tempMoveRight = keyboard.IsKeyPressed(Key.D) || keyboard.IsKeyPressed(Key.Right) ? 1.0f : -1f;
-            var tempMoveUp = keyboard.IsKeyPressed(Key.Q) || keyboard.IsKeyPressed(Key.PageUp) ? 1.0f : -1f;
-            var tempMoveDown = keyboard.IsKeyPressed(Key.E) || keyboard.IsKeyPressed(Key.PageDown) ? 1.0f : -1f;
-            var tempMoveAccel = keyboard.IsKeyPressed(Key.ShiftLeft) || keyboard.IsKeyPressed(Key.ShiftRight) ? 1.0f : -1f;
-            var tempControl = keyboard.IsKeyPressed(Key.ControlLeft) || keyboard.IsKeyPressed(Key.ControlRight);
+            var tempMoveFront = GetKeyValue(keyboard, Key.W, Key.Up);
+            var tempMoveLeft = GetKeyValue(keyboard, Key.A, Key.Left);
+            var tempMoveBack = GetKeyValue(keyboard, Key.S, Key.Down);
+            var tempMoveRight = GetKeyValue(keyboard, Key.D, Key.Right);
+            var tempMoveUp = GetKeyValue(keyboard, Key.Q, Key.PageUp);
+            var tempMoveDown = GetKeyValue(keyboard, Key.E, Key.PageDown);
+            var tempMoveAccel = GetKeyValue(keyboard, Key.ShiftLeft, Key.ShiftRight);
+            var tempControl = GetKeyValue(keyboard, Key.ControlLeft, Key.ControlRight);
 
-            _modState |= tempControl ? (int)KeyModState.Control : (int)KeyModState.None;
-            _modState |= 0 < tempMoveAccel ? (int)KeyModState.Shift : (int)KeyModState.None;
+            _modState |= 0 < tempControl ? KeyModState.Control : KeyModState.None;
+            _modState |= 0 < tempMoveAccel ? KeyModState.Shift : KeyModState.None;
 
             //Logger.Information($"{_modState}");
             _moveFront = Math.Clamp(_moveFront + tempMoveFront * dt * 4.0f, 0, 2.0f);
@@ -449,7 +472,7 @@ public class RecastDemo : IRecastDemoChannel
             var settings = _sample.GetSettings();
             RcVec3f bmin = _sample.GetInputGeom().GetMeshBoundsMin();
             RcVec3f bmax = _sample.GetInputGeom().GetMeshBoundsMax();
-            RcCommons.CalcGridSize(bmin, bmax, settings.cellSize, out var gw, out var gh);
+            RcRecast.CalcGridSize(bmin, bmax, settings.cellSize, out var gw, out var gh);
             settingsView.SetVoxels(gw, gh);
             settingsView.SetTiles(tileNavMeshBuilder.GetTiles(_sample.GetInputGeom(), settings.cellSize, settings.tileSize));
             settingsView.SetMaxTiles(tileNavMeshBuilder.GetMaxTiles(_sample.GetInputGeom(), settings.cellSize, settings.tileSize));
@@ -492,7 +515,7 @@ public class RecastDemo : IRecastDemoChannel
             timeAcc -= DELTA_TIME;
             if (simIter < 5 && _sample != null)
             {
-                var tool = toolset.GetTool();
+                var tool = _toolsetView.GetTool();
                 if (null != tool)
                 {
                     tool.HandleUpdate(DELTA_TIME);
@@ -524,6 +547,7 @@ public class RecastDemo : IRecastDemoChannel
             bool hasBound = false;
             RcVec3f bminN = RcVec3f.Zero;
             RcVec3f bmaxN = RcVec3f.Zero;
+
             if (_sample.GetInputGeom() != null)
             {
                 bminN = _sample.GetInputGeom().GetMeshBoundsMin();
@@ -539,7 +563,7 @@ public class RecastDemo : IRecastDemoChannel
             {
                 foreach (RcBuilderResult result in _sample.GetRecastResults())
                 {
-                    if (result.GetSolidHeightfield() != null)
+                    if (result.CompactHeightfield != null)
                     {
                         if (!hasBound)
                         {
@@ -548,15 +572,15 @@ public class RecastDemo : IRecastDemoChannel
                         }
 
                         bminN = new RcVec3f(
-                            Math.Min(bminN.X, result.GetSolidHeightfield().bmin.X),
-                            Math.Min(bminN.Y, result.GetSolidHeightfield().bmin.Y),
-                            Math.Min(bminN.Z, result.GetSolidHeightfield().bmin.Z)
+                            Math.Min(bminN.X, result.CompactHeightfield.bmin.X),
+                            Math.Min(bminN.Y, result.CompactHeightfield.bmin.Y),
+                            Math.Min(bminN.Z, result.CompactHeightfield.bmin.Z)
                         );
 
                         bmaxN = new RcVec3f(
-                            Math.Max(bmaxN.X, result.GetSolidHeightfield().bmax.X),
-                            Math.Max(bmaxN.Y, result.GetSolidHeightfield().bmax.Y),
-                            Math.Max(bmaxN.Z, result.GetSolidHeightfield().bmax.Z)
+                            Math.Max(bmaxN.X, result.CompactHeightfield.bmax.X),
+                            Math.Max(bmaxN.Y, result.CompactHeightfield.bmax.Y),
+                            Math.Max(bmaxN.Z, result.CompactHeightfield.bmax.Z)
                         );
 
                         hasBound = true;
@@ -564,12 +588,15 @@ public class RecastDemo : IRecastDemoChannel
                 }
             }
 
+            // Reset camera and fog to match the mesh bounds.
             if (hasBound)
             {
                 RcVec3f bmin = bminN;
                 RcVec3f bmax = bmaxN;
 
-                camr = (float)(Math.Sqrt(RcMath.Sqr(bmax.X - bmin.X) + RcMath.Sqr(bmax.Y - bmin.Y) + RcMath.Sqr(bmax.Z - bmin.Z)) / 2);
+                camr = (float)(Math.Sqrt(RcMath.Sqr(bmax.X - bmin.X) +
+                                         RcMath.Sqr(bmax.Y - bmin.Y) +
+                                         RcMath.Sqr(bmax.Z - bmin.Z)) / 2);
                 cameraPos.X = (bmax.X + bmin.X) / 2 + camr;
                 cameraPos.Y = (bmax.Y + bmin.Y) / 2 + camr;
                 cameraPos.Z = (bmax.Z + bmin.Z) / 2 + camr;
@@ -579,7 +606,7 @@ public class RecastDemo : IRecastDemoChannel
             }
 
             _sample.SetChanged(false);
-            toolset.SetSample(_sample);
+            _toolsetView.SetSample(_sample);
         }
 
         if (_messages.TryDequeue(out var msg))
@@ -608,7 +635,7 @@ public class RecastDemo : IRecastDemoChannel
         dd.Fog(camr * 0.1f, camr * 1.25f);
         renderer.Render(_sample, settingsView.GetDrawMode());
 
-        ISampleTool sampleTool = toolset.GetTool();
+        ISampleTool sampleTool = _toolsetView.GetTool();
         if (sampleTool != null)
         {
             sampleTool.HandleRender(renderer);
@@ -657,7 +684,7 @@ public class RecastDemo : IRecastDemoChannel
     {
         var geom = LoadInputMesh(args.FilePath);
 
-        _sample.Update(geom, ImmutableArray<RcBuilderResult>.Empty, null);
+        _sample.Update(geom, null, ImmutableArray<RcBuilderResult>.Empty, null);
     }
 
     private void OnNavMeshBuildBegan(NavMeshBuildBeganEvent args)
@@ -675,14 +702,15 @@ public class RecastDemo : IRecastDemoChannel
 
         NavMeshBuildResult buildResult;
 
+        var geom = _sample.GetInputGeom();
         var settings = _sample.GetSettings();
         if (settings.tiled)
         {
-            buildResult = tileNavMeshBuilder.Build(_sample.GetInputGeom(), settings);
+            buildResult = tileNavMeshBuilder.Build(geom, settings);
         }
         else
         {
-            buildResult = soloNavMeshBuilder.Build(_sample.GetInputGeom(), settings);
+            buildResult = soloNavMeshBuilder.Build(geom, settings);
         }
 
         if (!buildResult.Success)
@@ -691,16 +719,16 @@ public class RecastDemo : IRecastDemoChannel
             return;
         }
 
-        _sample.Update(_sample.GetInputGeom(), buildResult.RecastBuilderResults, buildResult.NavMesh);
+        _sample.Update(_sample.GetInputGeom(), buildResult.Cfg, buildResult.RecastBuilderResults, buildResult.NavMesh);
         _sample.SetChanged(false);
         settingsView.SetBuildTime((RcFrequency.Ticks - t) / TimeSpan.TicksPerMillisecond);
         //settingsUI.SetBuildTelemetry(buildResult.Item1.Select(x => x.GetTelemetry()).ToList());
-        toolset.SetSample(_sample);
+        _toolsetView.SetSample(_sample);
 
         Logger.Information($"build times");
         Logger.Information($"-----------------------------------------");
         var telemetries = buildResult.RecastBuilderResults
-            .Select(x => x.GetTelemetry())
+            .Select(x => x.Context)
             .SelectMany(x => x.ToList())
             .GroupBy(x => x.Key)
             .ToImmutableSortedDictionary(x => x.Key, x => x.Sum(y => y.Millis));
@@ -788,7 +816,7 @@ public class RecastDemo : IRecastDemoChannel
         RcVec3f rayDir = new RcVec3f(rayEnd.X - rayStart.X, rayEnd.Y - rayStart.Y, rayEnd.Z - rayStart.Z);
         rayDir = RcVec3f.Normalize(rayDir);
 
-        ISampleTool raySampleTool = toolset.GetTool();
+        ISampleTool raySampleTool = _toolsetView.GetTool();
 
         if (raySampleTool != null)
         {

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -160,15 +160,11 @@ public class ConvexVolumeSampleTool : ISampleTool
         var geom = _sample.GetInputGeom();
         if (shift)
         {
-            _tool.RemoveByPos(geom, p);
+            _tool.TryRemove(geom, p, out var volume);
         }
         else
         {
-            if (_tool.PlottingShape(p, out var pts, out var hull))
-            {
-                var vol = RcConvexVolumeTool.CreateConvexVolume(pts, hull, _areaType, _boxDescent, _boxHeight, _polyOffset);
-                _tool.Add(geom, vol);
-            }
+            _tool.TryAdd(geom, p, _areaType, _boxDescent, _boxHeight, _polyOffset, out var volume);
         }
     }
 

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

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -18,12 +18,9 @@ freely, subject to the following restrictions:
 */
 
 using System;
-using System.Collections.Generic;
-using System.Linq;
 using DotRecast.Core.Numerics;
 using DotRecast.Detour;
 using DotRecast.Detour.Crowd;
-using DotRecast.Recast.Toolset.Builder;
 using DotRecast.Recast.Demo.Draw;
 using DotRecast.Recast.Toolset;
 using DotRecast.Recast.Toolset.Tools;
@@ -98,6 +95,11 @@ public class CrowdAgentProfilingSampleTool : ISampleTool
         ImGui.SliderInt("Max Iterations", ref toolCfg.maxIterations, 0, 4000);
         ImGui.NewLine();
 
+        ImGui.Text("Debug Draw");
+        ImGui.Separator();
+        ImGui.Checkbox("Show Agents", ref toolCfg.showAgents);
+        ImGui.NewLine();
+
         if (ImGui.Button("Start Crowd Profiling"))
         {
             var settings = _sample.GetSettings();
@@ -118,7 +120,11 @@ public class CrowdAgentProfilingSampleTool : ISampleTool
                 ImGui.Text($"{rtt.Key}: {rtt.Micros} us");
             }
 
-            ImGui.Text($"Update Time: {_tool.GetCrowdUpdateTime()} ms");
+            ImGui.Text($"Sampling Time: {_tool.GetCrowdUpdateSamplingTime():0.00} ms");
+            ImGui.Text($"Current Update Time: {_tool.GetCrowdUpdateTime():0.00} ms");
+            ImGui.Text($"Avg Update Time: {_tool.GetCrowdUpdateAvgTime():0.00} ms");
+            ImGui.Text($"Max Update Time: {_tool.GetCrowdUpdateMaxTime():0.00} ms");
+            ImGui.Text($"Min Update Time: {_tool.GetCrowdUpdateMinTime():0.00} ms");
         }
     }
 
@@ -128,7 +134,7 @@ public class CrowdAgentProfilingSampleTool : ISampleTool
         dd.DepthMask(false);
 
         var crowd = _tool.GetCrowd();
-        if (crowd != null)
+        if (crowd != null && _tool.GetToolConfig().showAgents)
         {
             foreach (DtCrowdAgent ag in crowd.GetActiveAgents())
             {

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -234,7 +234,7 @@ public class CrowdSampleTool : ISampleTool
                 dd.Vertex(prev.X, prev.Y + 0.1f, prev.Z, DuRGBA(0, 0, 0, (int)(128 * preva)));
                 dd.Vertex(trail.trail[v], trail.trail[v + 1] + 0.1f, trail.trail[v + 2], DuRGBA(0, 0, 0, (int)(128 * a)));
                 preva = a;
-                prev = RcVecUtils.Create(trail.trail, v);
+                prev = RcVec.Create(trail.trail, v);
             }
 
             dd.End();
@@ -251,10 +251,10 @@ public class CrowdSampleTool : ISampleTool
 
             if (_showCorners)
             {
-                if (0 < ag.corners.Count)
+                if (0 < ag.ncorners)
                 {
                     dd.Begin(LINES, 2.0f);
-                    for (int j = 0; j < ag.corners.Count; ++j)
+                    for (int j = 0; j < ag.ncorners; ++j)
                     {
                         RcVec3f va = j == 0 ? pos : ag.corners[j - 1].pos;
                         RcVec3f vb = ag.corners[j].pos;
@@ -262,10 +262,10 @@ public class CrowdSampleTool : ISampleTool
                         dd.Vertex(vb.X, vb.Y + radius, vb.Z, DuRGBA(128, 0, 0, 192));
                     }
 
-                    if ((ag.corners[ag.corners.Count - 1].flags
+                    if ((ag.corners[ag.ncorners - 1].flags
                          & DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0)
                     {
-                        RcVec3f v = ag.corners[ag.corners.Count - 1].pos;
+                        RcVec3f v = ag.corners[ag.ncorners - 1].pos;
                         dd.Vertex(v.X, v.Y, v.Z, DuRGBA(192, 0, 0, 192));
                         dd.Vertex(v.X, v.Y + radius * 2, v.Z, DuRGBA(192, 0, 0, 192));
                     }
@@ -325,7 +325,7 @@ public class CrowdSampleTool : ISampleTool
                     2.0f);
 
                 dd.Begin(LINES, 2.0f);
-                for (int j = 0; j < ag.neis.Count; ++j)
+                for (int j = 0; j < ag.nneis; ++j)
                 {
                     DtCrowdAgent nei = ag.neis[j].agent;
                     if (nei != null)

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

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -25,6 +25,7 @@ using DotRecast.Core;
 using DotRecast.Core.Collections;
 using DotRecast.Core.Numerics;
 using DotRecast.Detour.Dynamic;
+using DotRecast.Detour.Dynamic.Io;
 using DotRecast.Recast.Toolset;
 using DotRecast.Recast.Toolset.Tools;
 using DotRecast.Recast.Demo.Draw;
@@ -91,7 +92,7 @@ public class DynamicUpdateSampleTool : ISampleTool
         var bridgeGeom = DemoInputGeomProvider.LoadFile("bridge.obj");
         var houseGeom = DemoInputGeomProvider.LoadFile("house.obj");
         var convexGeom = DemoInputGeomProvider.LoadFile("convex.obj");
-        _tool = new(Random.Shared, bridgeGeom, houseGeom, convexGeom);
+        _tool = new(new RcRand(Random.Shared), bridgeGeom, houseGeom, convexGeom);
         executor = Task.Factory;
     }
 
@@ -116,8 +117,17 @@ public class DynamicUpdateSampleTool : ISampleTool
 
         if (mode == RcDynamicUpdateToolMode.BUILD)
         {
-            var loadVoxelPopupStrId = "Load Voxels Popup";
+            const string loadVoxelPopupStrId = "Load Voxels Popup";
+
             bool isLoadVoxelPopup = true;
+            if (_sample.GetRecastResults() != null && _sample.GetRecastConfig() != null)
+            {
+                if (ImGui.Button("Import Voxels"))
+                {
+                    Copy();
+                }
+            }
+
             if (ImGui.Button("Load Voxels..."))
             {
                 ImGui.OpenPopup(loadVoxelPopupStrId);
@@ -135,7 +145,7 @@ public class DynamicUpdateSampleTool : ISampleTool
                 ImGui.EndPopup();
             }
 
-            var saveVoxelPopupStrId = "Save Voxels Popup";
+            const string saveVoxelPopupStrId = "Save Voxels Popup";
             bool isSaveVoxelPopup = true;
 
             var dynaMesh = _tool.GetDynamicNavMesh();
@@ -144,7 +154,7 @@ public class DynamicUpdateSampleTool : ISampleTool
                 ImGui.Checkbox("Compression", ref compression);
                 if (ImGui.Button("Save Voxels..."))
                 {
-                    ImGui.BeginPopup(saveVoxelPopupStrId);
+                    ImGui.OpenPopup(saveVoxelPopupStrId);
                 }
 
                 if (ImGui.BeginPopupModal(saveVoxelPopupStrId, ref isSaveVoxelPopup, ImGuiWindowFlags.NoTitleBar))
@@ -152,9 +162,7 @@ public class DynamicUpdateSampleTool : ISampleTool
                     var picker = ImFilePicker.GetFilePicker(saveVoxelPopupStrId, Path.Combine(Environment.CurrentDirectory), ".voxels");
                     if (picker.Draw())
                     {
-                        if (string.IsNullOrEmpty(picker.SelectedFile))
                         Save(picker.SelectedFile);
-
                         ImFilePicker.RemoveFilePicker(saveVoxelPopupStrId);
                     }
 
@@ -406,12 +414,12 @@ public class DynamicUpdateSampleTool : ISampleTool
         long t = RcFrequency.Ticks;
         try
         {
-            bool updated = _tool.UpdateDynaMesh(executor);
+            bool updated = _tool.Update(executor);
             if (updated)
             {
                 buildTime = (RcFrequency.Ticks - t) / TimeSpan.TicksPerMillisecond;
                 var dynaMesh = _tool.GetDynamicNavMesh();
-                _sample.Update(null, dynaMesh.RecastResults(), dynaMesh.NavMesh());
+                _sample.Update(null, null, dynaMesh.RecastResults(), dynaMesh.NavMesh());
                 _sample.SetChanged(false);
             }
         }
@@ -421,6 +429,15 @@ public class DynamicUpdateSampleTool : ISampleTool
         }
     }
 
+    private void Copy()
+    {
+        if (_sample.GetRecastResults() != null && _sample.GetRecastConfig() != null)
+        {
+            var dynaMesh = _tool.Copy(_sample.GetRecastConfig(), _sample.GetRecastResults());
+            UpdateFrom(dynaMesh.config);
+            BuildDynaMesh();
+        }
+    }
 
     private void Load(string filename)
     {
@@ -450,7 +467,7 @@ public class DynamicUpdateSampleTool : ISampleTool
         long t = RcFrequency.Ticks;
         try
         {
-            var _ = dynaMesh.Build(executor).Result;
+            var _ = dynaMesh.Build(executor);
         }
         catch (Exception e)
         {
@@ -458,7 +475,7 @@ public class DynamicUpdateSampleTool : ISampleTool
         }
 
         buildTime = (RcFrequency.Ticks - t) / TimeSpan.TicksPerMillisecond;
-        _sample.Update(null, dynaMesh.RecastResults(), dynaMesh.NavMesh());
+        _sample.Update(null, null, dynaMesh.RecastResults(), dynaMesh.NavMesh());
     }
 
     private void UpdateTo(DtDynamicNavMeshConfig config)

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

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

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

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

@@ -16,6 +16,7 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using System.Linq;
 using DotRecast.Core.Numerics;
 using DotRecast.Detour.Extras.Jumplink;
 using DotRecast.Recast.Demo.Draw;
@@ -96,13 +97,25 @@ public class JumpLinkBuilderSampleTool : ISampleTool
 
         if (build || _cfg.buildOffMeshConnections)
         {
-            if (0 < _sample.GetRecastResults().Count)
+            do
             {
+                if (0 >= _sample.GetRecastResults().Count)
+                {
+                    Logger.Error("build navmesh");
+                    break;
+                }
+
+                if (_sample.GetRecastResults().Any(x => null == x.SolidHeightfiled))
+                {
+                    Logger.Error("Tick 'Keep Itermediate Results' option");
+                    break;
+                }
+
                 var geom = _sample.GetInputGeom();
                 var settings = _sample.GetSettings();
 
                 _tool.Build(geom, settings, _sample.GetRecastResults(), _cfg);
-            }
+            } while (false);
         }
 
         ImGui.NewLine();
@@ -404,7 +417,7 @@ public class JumpLinkBuilderSampleTool : ISampleTool
     }
 
 
-    private void DrawTrajectory(RecastDebugDraw dd, JumpLink link, RcVec3f pa, RcVec3f pb, Trajectory tra, int cola)
+    private void DrawTrajectory(RecastDebugDraw dd, JumpLink link, RcVec3f pa, RcVec3f pb, ITrajectory tra, int cola)
     {
     }
 

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

@@ -1,4 +1,4 @@
-using DotRecast.Core;
+using DotRecast.Core;
 using DotRecast.Core.Numerics;
 using DotRecast.Detour.TileCache;
 using DotRecast.Detour.TileCache.Io.Compress;
@@ -32,8 +32,7 @@ public class ObstacleSampleTool : ISampleTool
             var buildResult = _tool.Build(geom, settings, RcByteOrder.LITTLE_ENDIAN, true);
             if (buildResult.Success)
             {
-                _sample.Update(_sample.GetInputGeom(), buildResult.RecastBuilderResults, buildResult.NavMesh);
-                _sample.SetChanged(false);
+                _sample.Update(_sample.GetInputGeom(), buildResult.Cfg, buildResult.RecastBuilderResults, buildResult.NavMesh);
             }
         }
 

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

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

@@ -57,7 +57,8 @@ public class TestNavmeshSampleTool : ISampleTool
     private bool m_hitResult;
 
     private float m_distanceToWall;
-    private List<DtStraightPath> m_straightPath;
+    private DtStraightPath[] m_straightPath;
+    private int m_straightPathCount;
     private List<long> m_polys;
     private List<long> m_parent;
     private float m_neighbourhoodRadius;
@@ -77,6 +78,8 @@ public class TestNavmeshSampleTool : ISampleTool
             SampleAreaModifications.SAMPLE_POLYFLAGS_DISABLED,
             new float[] { 1f, 1f, 1f, 1f, 2f, 1.5f }
         );
+        m_straightPath = new DtStraightPath[MAX_POLYS];
+        m_straightPathCount = 0;
     }
 
     public void Layout()
@@ -137,22 +140,22 @@ public class TestNavmeshSampleTool : ISampleTool
         ImGui.Text("Common");
         ImGui.Separator();
 
-        ImGui.Text("Include Flags");
+        ImGui.Text("+ Include Flags");
         ImGui.Separator();
-        ImGui.CheckboxFlags("Walk", ref _includeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_WALK);
-        ImGui.CheckboxFlags("Swim", ref _includeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_SWIM);
-        ImGui.CheckboxFlags("Door", ref _includeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_DOOR);
-        ImGui.CheckboxFlags("Jump", ref _includeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_JUMP);
+        ImGui.CheckboxFlags("+ Walk", ref _includeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_WALK);
+        ImGui.CheckboxFlags("+ Swim", ref _includeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_SWIM);
+        ImGui.CheckboxFlags("+ Door", ref _includeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_DOOR);
+        ImGui.CheckboxFlags("+ Jump", ref _includeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_JUMP);
         ImGui.NewLine();
 
         m_filter.SetIncludeFlags(_includeFlags);
 
-        ImGui.Text("Exclude Flags");
+        ImGui.Text("- Exclude Flags");
         ImGui.Separator();
-        ImGui.CheckboxFlags("Walk", ref _excludeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_WALK);
-        ImGui.CheckboxFlags("Swim", ref _excludeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_SWIM);
-        ImGui.CheckboxFlags("Door", ref _excludeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_DOOR);
-        ImGui.CheckboxFlags("Jump", ref _excludeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_JUMP);
+        ImGui.CheckboxFlags("- Walk", ref _excludeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_WALK);
+        ImGui.CheckboxFlags("- Swim", ref _excludeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_SWIM);
+        ImGui.CheckboxFlags("- Door", ref _excludeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_DOOR);
+        ImGui.CheckboxFlags("- Jump", ref _excludeFlags, SampleAreaModifications.SAMPLE_POLYFLAGS_JUMP);
         ImGui.NewLine();
 
         m_filter.SetExcludeFlags(_excludeFlags);
@@ -284,7 +287,7 @@ public class TestNavmeshSampleTool : ISampleTool
                 int spathCol = DuRGBA(64, 16, 0, 220);
                 int offMeshCol = DuRGBA(128, 96, 0, 220);
                 dd.Begin(LINES, 2.0f);
-                for (int i = 0; i < m_straightPath.Count - 1; ++i)
+                for (int i = 0; i < m_straightPathCount - 1; ++i)
                 {
                     DtStraightPath straightPathItem = m_straightPath[i];
                     DtStraightPath straightPathItem2 = m_straightPath[i + 1];
@@ -304,7 +307,7 @@ public class TestNavmeshSampleTool : ISampleTool
 
                 dd.End();
                 dd.Begin(POINTS, 6.0f);
-                for (int i = 0; i < m_straightPath.Count; ++i)
+                for (int i = 0; i < m_straightPathCount; ++i)
                 {
                     DtStraightPath straightPathItem = m_straightPath[i];
                     int col;
@@ -349,7 +352,7 @@ public class TestNavmeshSampleTool : ISampleTool
                 dd.DepthMask(false);
                 int spathCol = m_hitResult ? DuRGBA(64, 16, 0, 220) : DuRGBA(240, 240, 240, 220);
                 dd.Begin(LINES, 2.0f);
-                for (int i = 0; i < m_straightPath.Count - 1; ++i)
+                for (int i = 0; i < m_straightPathCount - 1; ++i)
                 {
                     DtStraightPath straightPathItem = m_straightPath[i];
                     DtStraightPath straightPathItem2 = m_straightPath[i + 1];
@@ -359,7 +362,7 @@ public class TestNavmeshSampleTool : ISampleTool
 
                 dd.End();
                 dd.Begin(POINTS, 4.0f);
-                for (int i = 0; i < m_straightPath.Count; ++i)
+                for (int i = 0; i < m_straightPathCount; ++i)
                 {
                     DtStraightPath straightPathItem = m_straightPath[i];
                     dd.Vertex(straightPathItem.pos.X, straightPathItem.pos.Y + 0.4f, straightPathItem.pos.Z, spathCol);
@@ -469,8 +472,9 @@ public class TestNavmeshSampleTool : ISampleTool
         {
             if (m_polys != null)
             {
-                var segmentVerts = new List<RcSegmentVert>();
-                var segmentRefs = new List<long>();
+                const int MAX_SEGS = DtDetour.DT_VERTS_PER_POLYGON * 4;
+                Span<RcSegmentVert> segs = stackalloc RcSegmentVert[MAX_SEGS];
+                Span<long> refs = stackalloc long[MAX_SEGS];
 
                 for (int i = 0; i < m_polys.Count; i++)
                 {
@@ -488,18 +492,20 @@ public class TestNavmeshSampleTool : ISampleTool
                     dd.DepthMask(true);
                     if (_sample.GetNavMeshQuery() != null)
                     {
+                        int nsegs = 0;
                         var result = _sample
                             .GetNavMeshQuery()
-                            .GetPolyWallSegments(m_polys[i], false, m_filter, ref segmentVerts, ref segmentRefs);
+                            .GetPolyWallSegments(m_polys[i], m_filter, segs, refs, ref nsegs, MAX_SEGS);
 
                         if (result.Succeeded())
                         {
                             dd.Begin(LINES, 2.0f);
-                            for (int j = 0; j < segmentVerts.Count; ++j)
+                            for (int j = 0; j < nsegs; ++j)
                             {
-                                RcSegmentVert s = segmentVerts[j];
+                                ref RcSegmentVert s = ref segs[j];
                                 var v0 = s.vmin;
                                 var s3 = s.vmax;
+                                
                                 // Skip too distant segments.
                                 var distSqr = DtUtils.DistancePtSegSqr2D(m_spos, v0, s3, out var tseg);
                                 if (distSqr > RcMath.Sqr(m_neighbourhoodRadius))
@@ -508,12 +514,13 @@ public class TestNavmeshSampleTool : ISampleTool
                                 }
 
                                 RcVec3f delta = RcVec3f.Subtract(s3, s.vmin);
-                                RcVec3f p0 = RcVecUtils.Mad(s.vmin, delta, 0.5f);
+                                RcVec3f p0 = RcVec.Mad(s.vmin, delta, 0.5f);
                                 RcVec3f norm = new RcVec3f(delta.Z, 0, -delta.X);
                                 norm = RcVec3f.Normalize(norm);
-                                RcVec3f p1 = RcVecUtils.Mad(p0, norm, agentRadius * 0.5f);
+                                RcVec3f p1 = RcVec.Mad(p0, norm, agentRadius * 0.5f);
+                                
                                 // Skip backfacing segments.
-                                if (segmentRefs[j] != 0)
+                                if (refs[j] != 0)
                                 {
                                     int col = DuRGBA(255, 255, 255, 32);
                                     dd.Vertex(s.vmin.X, s.vmin.Y + agentClimb, s.vmin.Z, col);
@@ -661,23 +668,23 @@ public class TestNavmeshSampleTool : ISampleTool
         if (_mode == RcTestNavmeshToolMode.PATHFIND_FOLLOW)
         {
             _tool.FindFollowPath(navMesh, navQuery, m_startRef, m_endRef, m_spos, m_epos, m_filter, _enableRaycast,
-                ref m_polys, ref m_smoothPath);
+                ref m_polys, m_polys?.Count ?? 0, ref m_smoothPath);
         }
         else if (_mode == RcTestNavmeshToolMode.PATHFIND_STRAIGHT)
         {
             _tool.FindStraightPath(navQuery, m_startRef, m_endRef, m_spos, m_epos, m_filter, _enableRaycast,
-                ref m_polys, ref m_straightPath, _straightPathOption);
+                ref m_polys, m_straightPath, out m_straightPathCount, MAX_POLYS, _straightPathOption);
         }
         else if (_mode == RcTestNavmeshToolMode.PATHFIND_SLICED)
         {
             m_polys?.Clear();
-            m_straightPath?.Clear();
+            m_straightPathCount = 0;
             m_pathFindStatus = _tool.InitSlicedFindPath(navQuery, m_startRef, m_endRef, m_spos, m_epos, m_filter, _enableRaycast);
         }
         else if (_mode == RcTestNavmeshToolMode.RAYCAST)
         {
             _tool.Raycast(navQuery, m_startRef, m_endRef, m_spos, m_epos, m_filter,
-                ref m_polys, ref m_straightPath, ref m_hitPos, ref m_hitNormal, ref m_hitResult);
+                ref m_polys, m_straightPath, out m_straightPathCount, MAX_POLYS, ref m_hitPos, ref m_hitNormal, ref m_hitResult);
         }
         else if (_mode == RcTestNavmeshToolMode.DISTANCE_TO_WALL)
         {
@@ -698,6 +705,7 @@ public class TestNavmeshSampleTool : ISampleTool
         }
         else if (_mode == RcTestNavmeshToolMode.RANDOM_POINTS_IN_CIRCLE)
         {
+            _randomPoints.Clear();
             _tool.FindRandomPointAroundCircle(navQuery, m_startRef, m_endRef, m_spos, m_epos, m_filter, _constrainByCircle, _randomPointCount, ref _randomPoints);
         }
     }
@@ -711,7 +719,7 @@ public class TestNavmeshSampleTool : ISampleTool
 
             if (m_pathFindStatus.InProgress())
             {
-                m_pathFindStatus = _tool.UpdateSlicedFindPath(navQuery, 1, m_endRef, m_spos, m_epos, ref m_polys, ref m_straightPath);
+                m_pathFindStatus = _tool.UpdateSlicedFindPath(navQuery, 1, m_endRef, m_spos, m_epos, ref m_polys, m_straightPath, out m_straightPathCount, MAX_POLYS);
             }
         }
     }

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

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

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

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

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

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

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

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

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

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

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

@@ -0,0 +1,59 @@
+using DotRecast.Core;
+using ImGuiNET;
+
+namespace DotRecast.Recast.Demo.UI;
+
+public class RcMenuView : IRcView
+{
+    private RcCanvas _canvas;
+
+    public void Bind(RcCanvas canvas)
+    {
+        _canvas = canvas;
+    }
+
+    public bool IsHovered()
+    {
+        //throw new System.NotImplementedException();
+        return false;
+    }
+
+    public void Update(double dt)
+    {
+        //throw new System.NotImplementedException();
+    }
+
+    public void Draw(double dt)
+    {
+        if (ImGui.BeginMainMenuBar())
+        {
+            if (ImGui.BeginMenu("Help"))
+            {
+                if (ImGui.MenuItem("Repository"))
+                {
+                    RcProcess.OpenUrl("https://github.com/ikpil/DotRecast");
+                }
+                
+                if (ImGui.MenuItem("Nuget"))
+                {
+                    RcProcess.OpenUrl("https://www.nuget.org/packages/DotRecast.Core/");
+                }
+
+                ImGui.Separator();
+                if (ImGui.MenuItem("Issue Tracker"))
+                {
+                    RcProcess.OpenUrl("https://github.com/ikpil/DotRecast/issues");
+                }
+
+                if (ImGui.MenuItem("Release Notes"))
+                {
+                    RcProcess.OpenUrl("https://github.com/ikpil/DotRecast/blob/main/CHANGELOG.md");
+                }
+
+                ImGui.EndMenu();
+            }
+
+            ImGui.EndMainMenuBar();
+        }
+    }
+}

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

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -123,7 +124,7 @@ public class RcSettingsView : IRcView
         ImGui.Text("Agent");
         ImGui.Separator();
         ImGui.SliderFloat("Height", ref settings.agentHeight, 0.1f, 5f, "%.1f");
-        ImGui.SliderFloat("Radius", ref settings.agentRadius, 0.1f, 5f, "%.1f");
+        ImGui.SliderFloat("Radius", ref settings.agentRadius, 0.0f, 5f, "%.1f");
         ImGui.SliderFloat("Max Climb", ref settings.agentMaxClimb, 0.1f, 5f, "%.1f");
         ImGui.SliderFloat("Max Slope", ref settings.agentMaxSlope, 1f, 90f, "%.0f");
         ImGui.SliderFloat("Max Acceleration", ref settings.agentMaxAcceleration, 8f, 999f, "%.1f");
@@ -166,6 +167,10 @@ public class RcSettingsView : IRcView
         ImGui.SliderFloat("Max Sample Error", ref settings.detailSampleMaxError, 0f, 16f, "%.1f");
         ImGui.NewLine();
 
+        ImGui.Checkbox("Keep Itermediate Results", ref settings.keepInterResults);
+        ImGui.Checkbox("Build All Tiles", ref settings.buildAll);
+        ImGui.NewLine();
+
         ImGui.Text("Tiling");
         ImGui.Separator();
         ImGui.Checkbox("Enable", ref settings.tiled);
@@ -228,6 +233,12 @@ public class RcSettingsView : IRcView
         DrawMode.Values.ForEach(dm => { ImGui.RadioButton(dm.Text, ref drawMode, dm.Idx); });
         ImGui.NewLine();
 
+        ImGui.Separator();
+        ImGui.Text("Tick 'Keep Itermediate Results'");
+        ImGui.Text("rebuild some tiles to see");
+        ImGui.Text("more debug mode options.");
+        ImGui.NewLine();
+
         ImGui.End();
     }
 

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

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

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

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

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

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

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

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -34,12 +34,12 @@ namespace DotRecast.Recast.Toolset.Builder
         public const int SAMPLE_POLYAREA_TYPE_JUMP_AUTO = 0x6;
         public const int SAMPLE_POLYAREA_TYPE_WALKABLE = 0x3f;
 
-        public static readonly int SAMPLE_POLYFLAGS_WALK = 0x01; // Ability to walk (ground, grass, road)
-        public static readonly int SAMPLE_POLYFLAGS_SWIM = 0x02; // Ability to swim (water).
-        public static readonly int SAMPLE_POLYFLAGS_DOOR = 0x04; // Ability to move through doors.
-        public static readonly int SAMPLE_POLYFLAGS_JUMP = 0x08; // Ability to jump.
-        public static readonly int SAMPLE_POLYFLAGS_DISABLED = 0x10; // Disabled polygon
-        public static readonly int SAMPLE_POLYFLAGS_ALL = 0xffff; // All abilities.
+        public const int SAMPLE_POLYFLAGS_WALK = 0x01; // Ability to walk (ground, grass, road)
+        public const int SAMPLE_POLYFLAGS_SWIM = 0x02; // Ability to swim (water).
+        public const int SAMPLE_POLYFLAGS_DOOR = 0x04; // Ability to move through doors.
+        public const int SAMPLE_POLYFLAGS_JUMP = 0x08; // Ability to jump.
+        public const int SAMPLE_POLYFLAGS_DISABLED = 0x10; // Disabled polygon
+        public const int SAMPLE_POLYFLAGS_ALL = 0xffff; // All abilities.
 
         public static readonly RcAreaModification SAMPLE_AREAMOD_WALKABLE = new RcAreaModification(SAMPLE_POLYAREA_TYPE_WALKABLE);
         public static readonly RcAreaModification SAMPLE_AREAMOD_GROUND = new RcAreaModification(SAMPLE_POLYAREA_TYPE_GROUND);

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

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -34,7 +35,8 @@ namespace DotRecast.Recast.Toolset.Builder
                 settings.edgeMaxLen, settings.edgeMaxError,
                 settings.vertsPerPoly,
                 settings.detailSampleDist, settings.detailSampleMaxError,
-                settings.filterLowHangingObstacles, settings.filterLedgeSpans, settings.filterWalkableLowHeightSpans);
+                settings.filterLowHangingObstacles, settings.filterLedgeSpans, settings.filterWalkableLowHeightSpans,
+                settings.keepInterResults);
         }
 
         public NavMeshBuildResult Build(DemoInputGeomProvider geom,
@@ -45,7 +47,8 @@ namespace DotRecast.Recast.Toolset.Builder
             float edgeMaxLen, float edgeMaxError,
             int vertsPerPoly,
             float detailSampleDist, float detailSampleMaxError,
-            bool filterLowHangingObstacles, bool filterLedgeSpans, bool filterWalkableLowHeightSpans)
+            bool filterLowHangingObstacles, bool filterLedgeSpans, bool filterWalkableLowHeightSpans,
+            bool keepInterResults)
         {
             RcConfig cfg = new RcConfig(
                 partitionType,
@@ -58,7 +61,7 @@ namespace DotRecast.Recast.Toolset.Builder
                 filterLowHangingObstacles, filterLedgeSpans, filterWalkableLowHeightSpans,
                 SampleAreaModifications.SAMPLE_AREAMOD_WALKABLE, true);
 
-            RcBuilderResult rcResult = BuildRecastResult(geom, cfg);
+            RcBuilderResult rcResult = BuildRecastResult(geom, cfg, keepInterResults);
             var meshData = BuildMeshData(geom, cellSize, cellHeight, agentHeight, agentRadius, agentMaxClimb, rcResult);
             if (null == meshData)
             {
@@ -66,19 +69,26 @@ namespace DotRecast.Recast.Toolset.Builder
             }
 
             var navMesh = BuildNavMesh(meshData, vertsPerPoly);
-            return new NavMeshBuildResult(RcImmutableArray.Create(rcResult), navMesh);
+            return new NavMeshBuildResult(cfg, RcImmutableArray.Create(rcResult), navMesh);
         }
 
         private DtNavMesh BuildNavMesh(DtMeshData meshData, int vertsPerPoly)
         {
-            return new DtNavMesh(meshData, vertsPerPoly, 0);
+            var mesh = new DtNavMesh();
+            var status = mesh.Init(meshData, vertsPerPoly, 0);
+            if (status.Failed())
+            {
+                return null;
             }
             
-        private RcBuilderResult BuildRecastResult(DemoInputGeomProvider geom, RcConfig cfg)
+            return mesh;
+        }
+
+        private RcBuilderResult BuildRecastResult(DemoInputGeomProvider geom, RcConfig cfg, bool keepInterResults)
         {
             RcBuilderConfig bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax());
             RcBuilder rcBuilder = new RcBuilder();
-            return rcBuilder.Build(geom, bcfg);
+            return rcBuilder.Build(geom, bcfg, keepInterResults);
         }
 
         public DtMeshData BuildMeshData(DemoInputGeomProvider geom,

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

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -41,7 +42,8 @@ namespace DotRecast.Recast.Toolset.Builder
                 settings.minRegionSize, settings.mergedRegionSize,
                 settings.edgeMaxLen, settings.edgeMaxError,
                 settings.vertsPerPoly, settings.detailSampleDist, settings.detailSampleMaxError,
-                settings.filterLowHangingObstacles, settings.filterLedgeSpans, settings.filterWalkableLowHeightSpans);
+                settings.filterLowHangingObstacles, settings.filterLedgeSpans, settings.filterWalkableLowHeightSpans,
+                settings.keepInterResults, settings.buildAll);
         }
 
         public NavMeshBuildResult Build(IInputGeomProvider geom,
@@ -53,9 +55,10 @@ namespace DotRecast.Recast.Toolset.Builder
             float edgeMaxLen, float edgeMaxError,
             int vertsPerPoly,
             float detailSampleDist, float detailSampleMaxError,
-            bool filterLowHangingObstacles, bool filterLedgeSpans, bool filterWalkableLowHeightSpans)
+            bool filterLowHangingObstacles, bool filterLedgeSpans, bool filterWalkableLowHeightSpans,
+            bool keepInterResults, bool buildAll)
         {
-            List<RcBuilderResult> results = BuildRecastResult(
+            NavMeshBuildResult result = BuildRecastResult(
                 geom,
                 tileSize,
                 partitionType,
@@ -65,15 +68,16 @@ namespace DotRecast.Recast.Toolset.Builder
                 edgeMaxLen, edgeMaxError,
                 vertsPerPoly,
                 detailSampleDist, detailSampleMaxError,
-                filterLowHangingObstacles, filterLedgeSpans, filterWalkableLowHeightSpans
+                filterLowHangingObstacles, filterLedgeSpans, filterWalkableLowHeightSpans,
+                keepInterResults, buildAll
             );
 
-            var tileMeshData = BuildMeshData(geom, cellSize, cellHeight, agentHeight, agentRadius, agentMaxClimb, results);
+            var tileMeshData = BuildMeshData(geom, cellSize, cellHeight, agentHeight, agentRadius, agentMaxClimb, result.RecastBuilderResults);
             var tileNavMesh = BuildNavMesh(geom, tileMeshData, cellSize, tileSize, vertsPerPoly);
-            return new NavMeshBuildResult(results, tileNavMesh);
+            return new NavMeshBuildResult(result.Cfg, result.RecastBuilderResults, tileNavMesh);
         }
 
-        public List<RcBuilderResult> BuildRecastResult(IInputGeomProvider geom,
+        public NavMeshBuildResult BuildRecastResult(IInputGeomProvider geom,
             int tileSize,
             RcPartition partitionType,
             float cellSize, float cellHeight,
@@ -82,7 +86,8 @@ namespace DotRecast.Recast.Toolset.Builder
             float edgeMaxLen, float edgeMaxError,
             int vertsPerPoly,
             float detailSampleDist, float detailSampleMaxError,
-            bool filterLowHangingObstacles, bool filterLedgeSpans, bool filterWalkableLowHeightSpans)
+            bool filterLowHangingObstacles, bool filterLedgeSpans, bool filterWalkableLowHeightSpans,
+            bool keepInterResults, bool buildAll)
 
         {
             RcConfig cfg = new RcConfig(true, tileSize, tileSize,
@@ -97,7 +102,8 @@ namespace DotRecast.Recast.Toolset.Builder
                 filterLowHangingObstacles, filterLedgeSpans, filterWalkableLowHeightSpans,
                 SampleAreaModifications.SAMPLE_AREAMOD_WALKABLE, true);
             RcBuilder rcBuilder = new RcBuilder();
-            return rcBuilder.BuildTiles(geom, cfg, Task.Factory);
+            var results = rcBuilder.BuildTiles(geom, cfg, keepInterResults, buildAll, Environment.ProcessorCount + 1, Task.Factory);
+            return new NavMeshBuildResult(cfg, results);
         }
 
         public DtNavMesh BuildNavMesh(IInputGeomProvider geom, List<DtMeshData> meshData, float cellSize, int tileSize, int vertsPerPoly)
@@ -111,8 +117,9 @@ namespace DotRecast.Recast.Toolset.Builder
 
             navMeshParams.maxTiles = GetMaxTiles(geom, cellSize, tileSize);
             navMeshParams.maxPolys = GetMaxPolysPerTile(geom, cellSize, tileSize);
-            DtNavMesh navMesh = new DtNavMesh(navMeshParams, vertsPerPoly);
-            meshData.ForEach(md => navMesh.AddTile(md, 0, 0));
+            DtNavMesh navMesh = new DtNavMesh();
+            navMesh.Init(navMeshParams, vertsPerPoly);
+            meshData.ForEach(md => navMesh.AddTile(md, 0, 0, out _));
             return navMesh;
         }
 
@@ -123,10 +130,9 @@ namespace DotRecast.Recast.Toolset.Builder
             List<DtMeshData> meshData = new List<DtMeshData>();
             foreach (RcBuilderResult result in results)
             {
-                int x = result.tileX;
-                int z = result.tileZ;
-                DtNavMeshCreateParams option = DemoNavMeshBuilder
-                    .GetNavMeshCreateParams(geom, cellSize, cellHeight, agentHeight, agentRadius, agentMaxClimb, result);
+                int x = result.TileX;
+                int z = result.TileZ;
+                DtNavMeshCreateParams option = DemoNavMeshBuilder.GetNavMeshCreateParams(geom, cellSize, cellHeight, agentHeight, agentRadius, agentMaxClimb, result);
 
                 option.tileX = x;
                 option.tileZ = z;
@@ -155,7 +161,7 @@ namespace DotRecast.Recast.Toolset.Builder
 
         private int GetTileBits(IInputGeomProvider geom, float cellSize, int tileSize)
         {
-            RcCommons.CalcGridSize(geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), cellSize, out var gw, out var gh);
+            RcRecast.CalcGridSize(geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), cellSize, out var gw, out var gh);
             int tw = (gw + tileSize - 1) / tileSize;
             int th = (gh + tileSize - 1) / tileSize;
             int tileBits = Math.Min(DtUtils.Ilog2(DtUtils.NextPow2(tw * th)), 14);
@@ -164,7 +170,7 @@ namespace DotRecast.Recast.Toolset.Builder
 
         public int[] GetTiles(DemoInputGeomProvider geom, float cellSize, int tileSize)
         {
-            RcCommons.CalcGridSize(geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), cellSize, out var gw, out var gh);
+            RcRecast.CalcGridSize(geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), cellSize, out var gw, out var gh);
             int tw = (gw + tileSize - 1) / tileSize;
             int th = (gh + tileSize - 1) / tileSize;
             return new int[] { tw, th };

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

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

src/DotRecast.Recast.Toolset/DotRecast.Recast.Toolset.csproj

@@ -1,15 +1,16 @@
 <Project Sdk="Microsoft.NET.Sdk">
 
   <PropertyGroup>
-    <TargetFrameworks>netstandard2.1;net6.0;net7.0</TargetFrameworks>
+    <TargetFrameworks>netstandard2.1;net6.0;net7.0;net8.0</TargetFrameworks>
     <PackageId>DotRecast.Recast.Toolset</PackageId>
     <PackageReadmeFile>README.md</PackageReadmeFile>
     <Authors>ikpil</Authors>
-    <Description>DotRecast - a port of Recast Detour, navigation mesh toolset for games, Unity3D, servers, C#</Description>
+    <Description>DotRecast - a port of Recast Detour, Industry-standard navigation mesh toolset for .NET, C#, Unity3D, games, servers</Description>
     <RepositoryType>git</RepositoryType>
     <PackageProjectUrl>https://github.com/ikpil/DotRecast</PackageProjectUrl>
     <RepositoryUrl>https://github.com/ikpil/DotRecast</RepositoryUrl>
     <PackageTags>game gamedev ai csharp server unity navigation game-development unity3d pathfinding pathfinder recast detour navmesh crowd-simulation recastnavigation</PackageTags>
+    <PackageReleaseNotes>https://github.com/ikpil/DotRecast/blob/main/CHANGELOG.md</PackageReleaseNotes>
   </PropertyGroup>
 
   <ItemGroup>

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

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

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -41,7 +41,7 @@ namespace DotRecast.Recast.Toolset.Geom
 
         public static DemoInputGeomProvider LoadFile(string objFilePath)
         {
-            byte[] chunk = RcResources.Load(objFilePath);
+            byte[] chunk = RcIO.ReadFileIfFound(objFilePath);
             var context = RcObjImporter.LoadContext(chunk);
             return new DemoInputGeomProvider(context.vertexPositions, context.meshFaces);
         }
@@ -57,12 +57,12 @@ namespace DotRecast.Recast.Toolset.Geom
             this.faces = faces;
             normals = new float[faces.Length];
             CalculateNormals();
-            bmin = RcVecUtils.Create(vertices);
-            bmax = RcVecUtils.Create(vertices);
+            bmin = new RcVec3f(vertices);
+            bmax = new RcVec3f(vertices);
             for (int i = 1; i < vertices.Length / 3; i++)
             {
-                bmin = RcVecUtils.Min(bmin, vertices, i * 3);
-                bmax = RcVecUtils.Max(bmax, vertices, i * 3);
+                bmin = RcVec3f.Min(bmin, RcVec.Create(vertices, i * 3));
+                bmax = RcVec3f.Max(bmax, RcVec.Create(vertices, i * 3));
             }
 
             _mesh = new RcTriMesh(vertices, faces);
@@ -87,11 +87,11 @@ namespace DotRecast.Recast.Toolset.Geom
         {
             for (int i = 0; i < faces.Length; i += 3)
             {
-                int v0 = faces[i] * 3;
-                int v1 = faces[i + 1] * 3;
-                int v2 = faces[i + 2] * 3;
-                var e0 = RcVecUtils.Subtract(vertices, v1, v0);
-                var e1 = RcVecUtils.Subtract(vertices, v2, v0);
+                RcVec3f v0 = RcVec.Create(vertices, faces[i] * 3);
+                RcVec3f v1 = RcVec.Create(vertices, faces[i + 1] * 3);
+                RcVec3f v2 = RcVec.Create(vertices, faces[i + 2] * 3);
+                RcVec3f e0 = v1 - v0;
+                RcVec3f e1 = v2 - v0;
 
                 normals[i] = e0.Y * e1.Z - e0.Z * e1.Y;
                 normals[i + 1] = e0.Z * e1.X - e0.X * e1.Z;
@@ -150,7 +150,7 @@ namespace DotRecast.Recast.Toolset.Geom
             q.X = src.X + (dst.X - src.X) * btmax;
             q.Y = src.Z + (dst.Z - src.Z) * btmax;
 
-            List<RcChunkyTriMeshNode> chunks = _mesh.chunkyTriMesh.GetChunksOverlappingSegment(p, q);
+            List<RcChunkyTriMeshNode> chunks = RcChunkyTriMeshs.GetChunksOverlappingSegment(_mesh.chunkyTriMesh, p, q);
             if (0 == chunks.Count)
             {
                 return false;

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

src/DotRecast.Recast.Toolset/IRcToolable.cs

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

src/DotRecast.Recast.Toolset/RcNavMeshBuildSettings.cs

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

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

@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Collections.Generic;
 using DotRecast.Core;
 using DotRecast.Core.Numerics;
@@ -74,7 +74,7 @@ namespace DotRecast.Recast.Toolset.Tools
         }
 
 
-        public RcConvexVolume RemoveByPos(IInputGeomProvider geom, RcVec3f pos)
+        public bool TryRemove(IInputGeomProvider geom, RcVec3f pos, out RcConvexVolume volume)
         {
             // Delete
             int nearestIndex = -1;
@@ -90,26 +90,57 @@ namespace DotRecast.Recast.Toolset.Tools
 
             // If end point close enough, delete it.
             if (nearestIndex == -1)
-                return null;
+            {
+                volume = null;
+                return false;
+            }
 
             var removal = geom.ConvexVolumes()[nearestIndex];
             geom.ConvexVolumes().RemoveAt(nearestIndex);
-            return removal;
+            volume = removal;
+            return null != volume;
         }
 
-        public void Add(IInputGeomProvider geom, RcConvexVolume volume)
+        public bool TryAdd(IInputGeomProvider geom, RcVec3f p, RcAreaModification areaType, float boxDescent, float boxHeight, float polyOffset, out RcConvexVolume volume)
         {
+            // Create
+
+            // If clicked on that last pt, create the shape.
+            if (_pts.Count > 0 && RcVec3f.DistanceSquared(p, _pts[^1]) < 0.2f * 0.2f)
+            {
+                // 
+                if (_hull.Count > 2)
+                {
+                    volume = CreateConvexVolume(_pts, _hull, areaType, boxDescent, boxHeight, polyOffset);
                     geom.AddConvexVolume(volume);
                 }
 
+                _pts.Clear();
+                _hull.Clear();
+            }
+            else
+            {
+                // Add new point
+                _pts.Add(p);
+
+                // Update hull.
+                if (_pts.Count > 1)
+                {
+                    _hull.Clear();
+                    _hull.AddRange(RcConvexUtils.Convexhull(_pts));
+                }
+                else
+                {
+                    _hull.Clear();
+                }
+            }
+
+            volume = null;
+            return false;
+        }
+
         public static RcConvexVolume CreateConvexVolume(List<RcVec3f> pts, List<int> hull, RcAreaModification areaType, float boxDescent, float boxHeight, float polyOffset)
         {
-            // 
-            if (hull.Count <= 2)
-            {
-                return null;
-            }
-
             // Create shape.
             float[] verts = new float[hull.Count * 3];
             for (int i = 0; i < hull.Count; ++i)
@@ -134,7 +165,7 @@ namespace DotRecast.Recast.Toolset.Tools
                 int noffset = RcAreas.OffsetPoly(verts, hull.Count, polyOffset, offset, offset.Length);
                 if (noffset > 0)
                 {
-                    verts = RcArrayUtils.CopyOf(offset, 0, noffset * 3);
+                    verts = RcArrays.CopyOf(offset, 0, noffset * 3);
                 }
             }
 

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

@@ -1,6 +1,9 @@
-using System;
+using System;
 using System.Collections.Generic;
+using System.Linq;
+using System.Numerics;
 using DotRecast.Core;
+using DotRecast.Core.Buffers;
 using DotRecast.Core.Collections;
 using DotRecast.Core.Numerics;
 using DotRecast.Detour;
@@ -14,20 +17,28 @@ namespace DotRecast.Recast.Toolset.Tools
         private RcCrowdAgentProfilingToolConfig _cfg;
 
         private DtCrowdConfig _crowdCfg;
-        private DtCrowd crowd;
+        private DtCrowd _crowd;
         private readonly DtCrowdAgentConfig _agCfg;
 
-        private DtNavMesh navMesh;
+        private DtNavMesh _navMesh;
 
-        private RcRand rnd;
+        private IRcRand _rand;
         private readonly List<DtPolyPoint> _polyPoints;
-        private long crowdUpdateTime;
+
+        private const int SamplingCount = 500;
+        private double _samplingUpdateTime;
+        private readonly RcCyclicBuffer<long> _updateTimes;
+        private double _curUpdateTime;
+        private double _avgUpdateTime;
+        private double _minUpdateTime;
+        private double _maxUpdateTime;
 
         public RcCrowdAgentProfilingTool()
         {
             _cfg = new RcCrowdAgentProfilingToolConfig();
             _agCfg = new DtCrowdAgentConfig();
             _polyPoints = new List<DtPolyPoint>();
+            _updateTimes = new RcCyclicBuffer<long>(SamplingCount);
         }
 
         public string GetName()
@@ -47,12 +58,12 @@ namespace DotRecast.Recast.Toolset.Tools
 
         public DtCrowd GetCrowd()
         {
-            return crowd;
+            return _crowd;
         }
 
         public void Setup(float maxAgentRadius, DtNavMesh nav)
         {
-            navMesh = nav;
+            _navMesh = nav;
             if (nav != null)
             {
                 _crowdCfg = new DtCrowdConfig(maxAgentRadius);
@@ -76,7 +87,7 @@ namespace DotRecast.Recast.Toolset.Tools
 
         private DtStatus GetMobPosition(DtNavMeshQuery navquery, IDtQueryFilter filter, out RcVec3f randomPt)
         {
-            return navquery.FindRandomPoint(filter, rnd, out var randomRef, out randomPt);
+            return navquery.FindRandomPoint(filter, _rand, out var randomRef, out randomPt);
         }
 
         private DtStatus GetVillagerPosition(DtNavMeshQuery navquery, IDtQueryFilter filter, out RcVec3f randomPt)
@@ -86,8 +97,8 @@ namespace DotRecast.Recast.Toolset.Tools
             if (0 >= _polyPoints.Count)
                 return DtStatus.DT_FAILURE;
 
-            int zone = (int)(rnd.Next() * _polyPoints.Count);
-            return navquery.FindRandomPointWithinCircle(_polyPoints[zone].refs, _polyPoints[zone].pt, _cfg.zoneRadius, filter, rnd,
+            int zone = (int)(_rand.Next() * _polyPoints.Count);
+            return navquery.FindRandomPointWithinCircle(_polyPoints[zone].refs, _polyPoints[zone].pt, _cfg.zoneRadius, filter, _rand,
                 out var randomRef, out randomPt);
         }
 
@@ -95,13 +106,13 @@ namespace DotRecast.Recast.Toolset.Tools
         {
             _polyPoints.Clear();
             IDtQueryFilter filter = new DtQueryDefaultFilter();
-            DtNavMeshQuery navquery = new DtNavMeshQuery(navMesh);
+            DtNavMeshQuery navquery = new DtNavMeshQuery(_navMesh);
             for (int i = 0; i < _cfg.numberOfZones; i++)
             {
                 float zoneSeparation = _cfg.zoneRadius * _cfg.zoneRadius * 16;
                 for (int k = 0; k < 100; k++)
                 {
-                    var status = navquery.FindRandomPoint(filter, rnd, out var randomRef, out var randomPt);
+                    var status = navquery.FindRandomPoint(filter, _rand, out var randomRef, out var randomPt);
                     if (status.Succeeded())
                     {
                         bool valid = true;
@@ -126,57 +137,65 @@ namespace DotRecast.Recast.Toolset.Tools
 
         private void CreateCrowd()
         {
-            crowd = new DtCrowd(_crowdCfg, navMesh, __ => new DtQueryDefaultFilter(
+            _crowd = new DtCrowd(_crowdCfg, _navMesh, __ => new DtQueryDefaultFilter(
                 SampleAreaModifications.SAMPLE_POLYFLAGS_ALL,
                 SampleAreaModifications.SAMPLE_POLYFLAGS_DISABLED,
                 new float[] { 1f, 10f, 1f, 1f, 2f, 1.5f })
             );
 
-            DtObstacleAvoidanceParams option = new DtObstacleAvoidanceParams(crowd.GetObstacleAvoidanceParams(0));
+            DtObstacleAvoidanceParams option = new DtObstacleAvoidanceParams(_crowd.GetObstacleAvoidanceParams(0));
             // Low (11)
             option.velBias = 0.5f;
             option.adaptiveDivs = 5;
             option.adaptiveRings = 2;
             option.adaptiveDepth = 1;
-            crowd.SetObstacleAvoidanceParams(0, option);
+            _crowd.SetObstacleAvoidanceParams(0, option);
             // Medium (22)
             option.velBias = 0.5f;
             option.adaptiveDivs = 5;
             option.adaptiveRings = 2;
             option.adaptiveDepth = 2;
-            crowd.SetObstacleAvoidanceParams(1, option);
+            _crowd.SetObstacleAvoidanceParams(1, option);
             // Good (45)
             option.velBias = 0.5f;
             option.adaptiveDivs = 7;
             option.adaptiveRings = 2;
             option.adaptiveDepth = 3;
-            crowd.SetObstacleAvoidanceParams(2, option);
+            _crowd.SetObstacleAvoidanceParams(2, option);
             // High (66)
             option.velBias = 0.5f;
             option.adaptiveDivs = 7;
             option.adaptiveRings = 3;
             option.adaptiveDepth = 3;
-            crowd.SetObstacleAvoidanceParams(3, option);
+            _crowd.SetObstacleAvoidanceParams(3, option);
         }
 
         public void StartProfiling(float agentRadius, float agentHeight, float agentMaxAcceleration, float agentMaxSpeed)
         {
-            if (null == navMesh)
+            if (null == _navMesh)
                 return;
 
-            rnd = new RcRand(_cfg.randomSeed);
+            // for benchmark
+            _updateTimes.Clear();
+            _samplingUpdateTime = 0;
+            _curUpdateTime = 0;
+            _avgUpdateTime = 0;
+            _minUpdateTime = 0;
+            _maxUpdateTime = 0;
+
+            _rand = new RcRand(_cfg.randomSeed);
             CreateCrowd();
             CreateZones();
-            DtNavMeshQuery navquery = new DtNavMeshQuery(navMesh);
+            DtNavMeshQuery navquery = new DtNavMeshQuery(_navMesh);
             IDtQueryFilter filter = new DtQueryDefaultFilter();
             for (int i = 0; i < _cfg.agents; i++)
             {
-                float tr = rnd.Next();
+                float tr = _rand.Next();
                 RcCrowdAgentType type = RcCrowdAgentType.MOB;
                 float mobsPcnt = _cfg.percentMobs / 100f;
                 if (tr > mobsPcnt)
                 {
-                    tr = rnd.Next();
+                    tr = _rand.Next();
                     float travellerPcnt = _cfg.percentTravellers / 100f;
                     if (tr > travellerPcnt)
                     {
@@ -213,19 +232,19 @@ namespace DotRecast.Recast.Toolset.Tools
         public void Update(float dt)
         {
             long startTime = RcFrequency.Ticks;
-            if (crowd != null)
+            if (_crowd != null)
             {
-                crowd.Config().pathQueueSize = _cfg.pathQueueSize;
-                crowd.Config().maxFindPathIterations = _cfg.maxIterations;
-                crowd.Update(dt, null);
+                _crowd.Config().pathQueueSize = _cfg.pathQueueSize;
+                _crowd.Config().maxFindPathIterations = _cfg.maxIterations;
+                _crowd.Update(dt, null);
             }
 
             long endTime = RcFrequency.Ticks;
-            if (crowd != null)
+            if (_crowd != null)
             {
-                DtNavMeshQuery navquery = new DtNavMeshQuery(navMesh);
+                DtNavMeshQuery navquery = new DtNavMeshQuery(_navMesh);
                 IDtQueryFilter filter = new DtQueryDefaultFilter();
-                foreach (DtCrowdAgent ag in crowd.GetActiveAgents())
+                foreach (DtCrowdAgent ag in _crowd.GetActiveAgents())
                 {
                     if (NeedsNewTarget(ag))
                     {
@@ -246,20 +265,28 @@ namespace DotRecast.Recast.Toolset.Tools
                 }
             }
 
-            crowdUpdateTime = (endTime - startTime) / TimeSpan.TicksPerMillisecond;
+            var currentTime = endTime - startTime;
+            _updateTimes.PushBack(currentTime);
+
+            // for benchmark
+            _samplingUpdateTime = _updateTimes.Sum() / (double)TimeSpan.TicksPerMillisecond;
+            _curUpdateTime = currentTime / (double)TimeSpan.TicksPerMillisecond;
+            _avgUpdateTime = (_updateTimes.Average() / (double)TimeSpan.TicksPerMillisecond);
+            _minUpdateTime = _updateTimes.Min() / (double)TimeSpan.TicksPerMillisecond;
+            _maxUpdateTime = _updateTimes.Max() / (double)TimeSpan.TicksPerMillisecond;
         }
 
         private void MoveMob(DtNavMeshQuery navquery, IDtQueryFilter filter, DtCrowdAgent ag, RcCrowdAgentData crowAgentData)
         {
             // Move somewhere
-            var status = navquery.FindNearestPoly(ag.npos, crowd.GetQueryExtents(), filter, out var nearestRef, out var nearestPt, out var _);
+            var status = navquery.FindNearestPoly(ag.npos, _crowd.GetQueryExtents(), filter, out var nearestRef, out var nearestPt, out var _);
             if (status.Succeeded())
             {
-                status = navquery.FindRandomPointAroundCircle(nearestRef, crowAgentData.home, _cfg.zoneRadius * 2f, filter, rnd,
+                status = navquery.FindRandomPointAroundCircle(nearestRef, crowAgentData.home, _cfg.zoneRadius * 2f, filter, _rand,
                     out var randomRef, out var randomPt);
                 if (status.Succeeded())
                 {
-                    crowd.RequestMoveTarget(ag, randomRef, randomPt);
+                    _crowd.RequestMoveTarget(ag, randomRef, randomPt);
                 }
             }
         }
@@ -267,14 +294,14 @@ namespace DotRecast.Recast.Toolset.Tools
         private void MoveVillager(DtNavMeshQuery navquery, IDtQueryFilter filter, DtCrowdAgent ag, RcCrowdAgentData crowAgentData)
         {
             // Move somewhere close
-            var status = navquery.FindNearestPoly(ag.npos, crowd.GetQueryExtents(), filter, out var nearestRef, out var nearestPt, out var _);
+            var status = navquery.FindNearestPoly(ag.npos, _crowd.GetQueryExtents(), filter, out var nearestRef, out var nearestPt, out var _);
             if (status.Succeeded())
             {
-                status = navquery.FindRandomPointAroundCircle(nearestRef, crowAgentData.home, _cfg.zoneRadius * 0.2f, filter, rnd,
+                status = navquery.FindRandomPointAroundCircle(nearestRef, crowAgentData.home, _cfg.zoneRadius * 0.2f, filter, _rand,
                     out var randomRef, out var randomPt);
                 if (status.Succeeded())
                 {
-                    crowd.RequestMoveTarget(ag, randomRef, randomPt);
+                    _crowd.RequestMoveTarget(ag, randomRef, randomPt);
                 }
             }
         }
@@ -294,7 +321,7 @@ namespace DotRecast.Recast.Toolset.Tools
             if (0 < potentialTargets.Count)
             {
                 potentialTargets.Shuffle();
-                crowd.RequestMoveTarget(ag, potentialTargets[0].refs, potentialTargets[0].pt);
+                _crowd.RequestMoveTarget(ag, potentialTargets[0].refs, potentialTargets[0].pt);
             }
         }
 
@@ -321,14 +348,14 @@ namespace DotRecast.Recast.Toolset.Tools
         {
             DtCrowdAgentParams ap = GetAgentParams(agentRadius, agentHeight, agentMaxAcceleration, agentMaxSpeed);
             ap.userData = new RcCrowdAgentData(type, p);
-            return crowd.AddAgent(p, ap);
+            return _crowd.AddAgent(p, ap);
         }
 
         public void UpdateAgentParams()
         {
-            if (crowd != null)
+            if (_crowd != null)
             {
-                foreach (DtCrowdAgent ag in crowd.GetActiveAgents())
+                foreach (DtCrowdAgent ag in _crowd.GetActiveAgents())
                 {
                     DtCrowdAgentParams option = new DtCrowdAgentParams();
                     option.radius = ag.option.radius;
@@ -342,14 +369,34 @@ namespace DotRecast.Recast.Toolset.Tools
                     option.updateFlags = _agCfg.GetUpdateFlags();
                     option.obstacleAvoidanceType = _agCfg.obstacleAvoidanceType;
                     option.separationWeight = _agCfg.separationWeight;
-                    crowd.UpdateAgentParameters(ag, option);
+                    _crowd.UpdateAgentParameters(ag, option);
                 }
             }
         }
 
-        public long GetCrowdUpdateTime()
+        public double GetCrowdUpdateSamplingTime()
         {
-            return crowdUpdateTime;
+            return _samplingUpdateTime;
+        }
+
+        public double GetCrowdUpdateTime()
+        {
+            return _curUpdateTime;
+        }
+
+        public double GetCrowdUpdateAvgTime()
+        {
+            return _avgUpdateTime;
+        }
+
+        public double GetCrowdUpdateMinTime()
+        {
+            return _minUpdateTime;
+        }
+
+        public double GetCrowdUpdateMaxTime()
+        {
+            return _maxUpdateTime;
         }
     }
 }

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

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

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

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

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

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

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

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

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

@@ -1,4 +1,4 @@
-using DotRecast.Core.Collections;
+using DotRecast.Core.Collections;
 
 namespace DotRecast.Recast.Toolset.Tools
 {
@@ -16,8 +16,8 @@ namespace DotRecast.Recast.Toolset.Tools
             TOGGLE_POLYS
         );
 
-        public int Idx { get; }
-        public string Label { get; }
+        public readonly int Idx;
+        public readonly string Label;
 
         private RcCrowdToolMode(int idx, string label)
         {

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

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

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

@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Collections.Generic;
 using System.IO;
 using System.Threading.Tasks;
@@ -18,12 +18,12 @@ namespace DotRecast.Recast.Toolset.Tools
         private DtDynamicNavMesh dynaMesh;
         private readonly Dictionary<long, RcGizmo> colliderGizmos;
 
-        private readonly Random random;
+        private readonly IRcRand random;
         private readonly DemoInputGeomProvider bridgeGeom;
         private readonly DemoInputGeomProvider houseGeom;
         private readonly DemoInputGeomProvider convexGeom;
 
-        public RcDynamicUpdateTool(Random rand, DemoInputGeomProvider bridgeGeom, DemoInputGeomProvider houseGeom, DemoInputGeomProvider convexGeom)
+        public RcDynamicUpdateTool(IRcRand rand, DemoInputGeomProvider bridgeGeom, DemoInputGeomProvider houseGeom, DemoInputGeomProvider convexGeom)
         {
             this.colliderGizmos = new Dictionary<long, RcGizmo>();
             this.random = rand;
@@ -141,6 +141,16 @@ namespace DotRecast.Recast.Toolset.Tools
             return colliderWithGizmo;
         }
 
+        public DtDynamicNavMesh Copy(RcConfig cfg, IList<RcBuilderResult> results)
+        {
+            var voxelFile = DtVoxelFile.From(cfg, results);
+            dynaMesh = new DtDynamicNavMesh(voxelFile);
+            dynaMesh.config.keepIntermediateResults = true;
+            colliderGizmos.Clear();
+
+            return dynaMesh;
+        }
+
         public DtDynamicNavMesh Load(string filename, IRcCompressor compressor)
         {
             using var fs = new FileStream(filename, FileMode.Open, FileAccess.Read, FileShare.Read);
@@ -159,7 +169,7 @@ namespace DotRecast.Recast.Toolset.Tools
         public void Save(string filename, bool compression, IRcCompressor compressor)
         {
             DtVoxelFile voxelFile = DtVoxelFile.From(dynaMesh);
-            using var fs = new FileStream(filename, FileMode.CreateNew, FileAccess.Write);
+            using var fs = new FileStream(filename, FileMode.OpenOrCreate, FileAccess.Write, FileShare.ReadWrite);
             using var bw = new BinaryWriter(fs);
             DtVoxelFileWriter writer = new DtVoxelFileWriter(compressor);
             writer.Write(bw, voxelFile, compression);
@@ -339,20 +349,14 @@ namespace DotRecast.Recast.Toolset.Tools
             return resultvector;
         }
 
-        public bool UpdateDynaMesh(TaskFactory executor)
+        public bool Update(TaskFactory executor)
         {
             if (dynaMesh == null)
             {
                 return false;
             }
 
-            bool updated = dynaMesh.Update(executor).Result;
-            if (updated)
-            {
-                return false;
-            }
-
-            return true;
+            return dynaMesh.Update(executor);
         }
 
         public bool Raycast(RcVec3f spos, RcVec3f epos, out float hitPos, out RcVec3f raycastHitPos)

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

@@ -1,4 +1,4 @@
-using DotRecast.Core.Collections;
+using DotRecast.Core.Collections;
 
 namespace DotRecast.Recast.Toolset.Tools
 {
@@ -12,8 +12,8 @@ namespace DotRecast.Recast.Toolset.Tools
             BUILD, COLLIDERS, RAYCAST
         );
 
-        public int Idx { get; }
-        public string Label { get; }
+        public readonly int Idx;
+        public readonly string Label;
 
         private RcDynamicUpdateToolMode(int idx, string label)
         {

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

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

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

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

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

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

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

@@ -1,4 +1,4 @@
-using System;
+using System;
 using System.Collections.Generic;
 using DotRecast.Core;
 using DotRecast.Core.Numerics;
@@ -11,7 +11,6 @@ namespace DotRecast.Recast.Toolset.Tools
         public const int MAX_POLYS = 256;
         public const int MAX_SMOOTH = 2048;
 
-
         public RcTestNavMeshTool()
         {
         }
@@ -22,45 +21,52 @@ 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> polys, ref List<RcVec3f> smoothPath)
+            ref List<long> pathIterPolys, int pathIterPolyCount, ref List<RcVec3f> smoothPath)
         {
             if (startRef == 0 || endRef == 0)
             {
-                polys?.Clear();
+                pathIterPolys?.Clear();
                 smoothPath?.Clear();
 
                 return DtStatus.DT_FAILURE;
             }
 
-            polys ??= new List<long>();
+            pathIterPolys ??= new List<long>();
             smoothPath ??= new List<RcVec3f>();
 
-            polys.Clear();
+            pathIterPolys.Clear();
+            pathIterPolyCount = 0;
+
             smoothPath.Clear();
 
             var opt = new DtFindPathOption(enableRaycast ? DtFindPathOptions.DT_FINDPATH_ANY_ANGLE : 0, float.MaxValue);
-            navQuery.FindPath(startRef, endRef, startPt, endPt, filter, ref polys, opt);
-            if (0 >= polys.Count)
+            navQuery.FindPath(startRef, endRef, startPt, endPt, filter, ref pathIterPolys, opt);
+            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(polys[polys.Count - 1], endPt, out var targetPos, out var _);
+            navQuery.ClosestPointOnPoly(pathIterPolys[pathIterPolys.Count - 1], endPt, out var targetPos, out var _);
 
-            float STEP_SIZE = 0.5f;
-            float SLOP = 0.01f;
+            const float STEP_SIZE = 0.5f;
+            const float SLOP = 0.01f;
 
             smoothPath.Clear();
             smoothPath.Add(iterPos);
-            var visited = new List<long>();
+
+            Span<long> visited = stackalloc long[16];
+            int nvisited = 0;
+
 
             // Move towards target a small advancement at a time until target reached or
             // when ran out of memory to store the path.
-            while (0 < polys.Count && smoothPath.Count < MAX_SMOOTH)
+            while (0 < pathIterPolyCount && smoothPath.Count < MAX_SMOOTH)
             {
                 // Find location to steer towards.
                 if (!DtPathUtils.GetSteerTarget(navQuery, iterPos, targetPos, SLOP,
-                        polys, out var steerPos, out var steerPosFlag, out var steerPosRef))
+                        pathIterPolys, pathIterPolyCount, out var steerPos, out var steerPosFlag, out var steerPosRef))
                 {
                     break;
                 }
@@ -85,17 +91,17 @@ namespace DotRecast.Recast.Toolset.Tools
                     len = STEP_SIZE / len;
                 }
 
-                RcVec3f moveTgt = RcVecUtils.Mad(iterPos, delta, len);
+                RcVec3f moveTgt = RcVec.Mad(iterPos, delta, len);
 
                 // Move
-                navQuery.MoveAlongSurface(polys[0], iterPos, moveTgt, filter, out var result, ref visited);
+                navQuery.MoveAlongSurface(pathIterPolys[0], iterPos, moveTgt, filter, out var result, visited, out nvisited, 16);
 
                 iterPos = result;
 
-                polys = DtPathUtils.MergeCorridorStartMoved(polys, visited);
-                polys = DtPathUtils.FixupShortcuts(polys, navQuery);
+                pathIterPolyCount = DtPathUtils.MergeCorridorStartMoved(pathIterPolys, pathIterPolyCount, MAX_POLYS, visited, nvisited);
+                pathIterPolyCount = DtPathUtils.FixupShortcuts(ref pathIterPolys, pathIterPolyCount, navQuery);
 
-                var status = navQuery.GetPolyHeight(polys[0], result, out var h);
+                var status = navQuery.GetPolyHeight(pathIterPolys[0], result, out var h);
                 if (status.Succeeded())
                 {
                     iterPos.Y = h;
@@ -121,16 +127,17 @@ namespace DotRecast.Recast.Toolset.Tools
 
                     // Advance the path up to and over the off-mesh connection.
                     long prevRef = 0;
-                    long polyRef = polys[0];
+                    long polyRef = pathIterPolys[0];
                     int npos = 0;
-                    while (npos < polys.Count && polyRef != steerPosRef)
+                    while (npos < pathIterPolyCount && polyRef != steerPosRef)
                     {
                         prevRef = polyRef;
-                        polyRef = polys[npos];
+                        polyRef = pathIterPolys[npos];
                         npos++;
                     }
 
-                    polys = polys.GetRange(npos, polys.Count - npos);
+                    pathIterPolys = pathIterPolys.GetRange(npos, pathIterPolys.Count - npos);
+                    pathIterPolyCount -= npos;
 
                     // Handle the connection.
                     var status2 = navMesh.GetOffMeshConnectionPolyEndPoints(prevRef, polyRef, ref startPos, ref endPos);
@@ -148,7 +155,7 @@ namespace DotRecast.Recast.Toolset.Tools
 
                         // Move position at the other side of the off-mesh link.
                         iterPos = endPos;
-                        navQuery.GetPolyHeight(polys[0], iterPos, out var eh);
+                        navQuery.GetPolyHeight(pathIterPolys[0], iterPos, out var eh);
                         iterPos.Y = eh;
                     }
                 }
@@ -160,19 +167,19 @@ namespace DotRecast.Recast.Toolset.Tools
                 }
             }
 
-            return DtStatus.DT_SUCCSESS;
+            return DtStatus.DT_SUCCESS;
         }
 
         public DtStatus FindStraightPath(DtNavMeshQuery navQuery, long startRef, long endRef, RcVec3f startPt, RcVec3f endPt, IDtQueryFilter filter, bool enableRaycast,
-            ref List<long> polys, ref List<DtStraightPath> straightPath, int straightPathOptions)
+            ref List<long> polys, Span<DtStraightPath> straightPath, out int straightPathCount, int maxStraightPath, int straightPathOptions)
         {
+            straightPathCount = 0;
             if (startRef == 0 || endRef == 0)
             {
                 return DtStatus.DT_FAILURE;
             }
 
             polys ??= new List<long>();
-            straightPath ??= new List<DtStraightPath>();
 
             polys.Clear();
             straightPath.Clear();
@@ -194,9 +201,9 @@ namespace DotRecast.Recast.Toolset.Tools
                 }
             }
 
-            navQuery.FindStraightPath(startPt, epos, polys, ref straightPath, MAX_POLYS, straightPathOptions);
+            navQuery.FindStraightPath(startPt, epos, polys, polys.Count, straightPath, out straightPathCount, maxStraightPath, straightPathOptions);
 
-            return DtStatus.DT_SUCCSESS;
+            return DtStatus.DT_SUCCESS;
         }
 
         public DtStatus InitSlicedFindPath(DtNavMeshQuery navQuery, long startRef, long endRef, RcVec3f startPos, RcVec3f endPos, IDtQueryFilter filter, bool enableRaycast)
@@ -213,8 +220,9 @@ namespace DotRecast.Recast.Toolset.Tools
         }
 
         public DtStatus UpdateSlicedFindPath(DtNavMeshQuery navQuery, int maxIter, long endRef, RcVec3f startPos, RcVec3f endPos,
-            ref List<long> path, ref List<DtStraightPath> straightPath)
+            ref List<long> path, Span<DtStraightPath> straightPath, out int straightPathCount, int maxStraightPath)
         {
+            straightPathCount = 0;
             var status = navQuery.UpdateSlicedFindPath(maxIter, out _);
 
             if (!status.Succeeded())
@@ -224,7 +232,6 @@ namespace DotRecast.Recast.Toolset.Tools
 
             navQuery.FinalizeSlicedFindPath(ref path);
 
-            straightPath?.Clear();
             if (path != null)
             {
                 // In case of partial path, make sure the end point is clamped to the last polygon.
@@ -238,35 +245,34 @@ namespace DotRecast.Recast.Toolset.Tools
                     }
                 }
 
-                straightPath = new List<DtStraightPath>(MAX_POLYS);
-                navQuery.FindStraightPath(startPos, epos, path, ref straightPath, MAX_POLYS, DtStraightPathOptions.DT_STRAIGHTPATH_ALL_CROSSINGS);
+                navQuery.FindStraightPath(startPos, epos, path, path.Count, straightPath, out straightPathCount, maxStraightPath, DtStraightPathOptions.DT_STRAIGHTPATH_ALL_CROSSINGS);
             }
 
-            return DtStatus.DT_SUCCSESS;
+            return DtStatus.DT_SUCCESS;
         }
 
 
         public DtStatus Raycast(DtNavMeshQuery navQuery, long startRef, long endRef, RcVec3f startPos, RcVec3f endPos, IDtQueryFilter filter,
-            ref List<long> polys, ref List<DtStraightPath> straightPath, ref RcVec3f hitPos, ref RcVec3f hitNormal, ref bool hitResult)
+            ref List<long> polys, Span<DtStraightPath> straightPath, out int straightPathCount, int maxStraightPath, ref RcVec3f hitPos, ref RcVec3f hitNormal, ref bool hitResult)
         {
+            straightPathCount = 0;
             if (startRef == 0 || endRef == 0)
             {
                 polys?.Clear();
-                straightPath?.Clear();
-
                 return DtStatus.DT_FAILURE;
             }
 
-            var status = navQuery.Raycast(startRef, startPos, endPos, filter, 0, 0, out var rayHit);
+            var path = new List<long>();
+            var status = navQuery.Raycast(startRef, startPos, endPos, filter, out var t, out var hitNormal2, ref path);
             if (!status.Succeeded())
             {
                 return status;
             }
 
             // results ...
-            polys = rayHit.path;
+            polys = path;
 
-            if (rayHit.t > 1)
+            if (t >= 1)
             {
                 // No hit
                 hitPos = endPos;
@@ -275,25 +281,23 @@ namespace DotRecast.Recast.Toolset.Tools
             else
             {
                 // Hit
-                hitPos = RcVec3f.Lerp(startPos, endPos, rayHit.t);
-                hitNormal = rayHit.hitNormal;
+                hitPos = RcVec3f.Lerp(startPos, endPos, t);
+                hitNormal = hitNormal2;
                 hitResult = true;
             }
 
             // Adjust height.
-            if (rayHit.path.Count > 0)
+            if (path.Count > 0)
             {
-                var result = navQuery.GetPolyHeight(rayHit.path[rayHit.path.Count - 1], hitPos, out var h);
+                var result = navQuery.GetPolyHeight(path[path.Count - 1], hitPos, out var h);
                 if (result.Succeeded())
                 {
                     hitPos.Y = h;
                 }
             }
 
-            straightPath ??= new List<DtStraightPath>();
-            straightPath.Clear();
-            straightPath.Add(new DtStraightPath(startPos, 0, 0));
-            straightPath.Add(new DtStraightPath(hitPos, 0, 0));
+            straightPath[straightPathCount++] = new DtStraightPath(startPos, 0, 0);
+            straightPath[straightPathCount++] = new DtStraightPath(hitPos, 0, 0);
 
             return status;
         }
@@ -376,7 +380,7 @@ namespace DotRecast.Recast.Toolset.Tools
             float nx = (epos.Z - spos.Z) * 0.25f;
             float nz = -(epos.X - spos.X) * 0.25f;
 
-            var tempQueryPoly = new RcVec3f[4];
+            RcVec3f[] tempQueryPoly = new RcVec3f[4];
             tempQueryPoly[0].X = spos.X + nx * 1.2f;
             tempQueryPoly[0].Y = spos.Y + agentHeight / 2;
             tempQueryPoly[0].Z = spos.Z + nz * 1.2f;
@@ -438,7 +442,7 @@ namespace DotRecast.Recast.Toolset.Tools
                 }
             }
 
-            return DtStatus.DT_SUCCSESS;
+            return DtStatus.DT_SUCCESS;
         }
     }
 }

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

@@ -1,4 +1,4 @@
-using DotRecast.Core.Collections;
+using DotRecast.Core.Collections;
 
 namespace DotRecast.Recast.Toolset.Tools
 {
@@ -27,8 +27,8 @@ namespace DotRecast.Recast.Toolset.Tools
         );
 
 
-        public int Idx { get; }
-        public string Label { get; }
+        public readonly int Idx;
+        public readonly string Label;
 
         private RcTestNavmeshToolMode(int idx, string label)
         {

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

@@ -1,4 +1,4 @@
-using System.Linq;
+using System.Linq;
 using DotRecast.Core;
 using DotRecast.Core.Collections;
 using DotRecast.Core.Numerics;
@@ -23,7 +23,7 @@ namespace DotRecast.Recast.Toolset.Tools
             var bmin = geom.GetMeshBoundsMin();
             var bmax = geom.GetMeshBoundsMax();
             int gw = 0, gh = 0;
-            RcCommons.CalcGridSize(bmin, bmax, settings.cellSize, out gw, out gh);
+            RcRecast.CalcGridSize(bmin, bmax, settings.cellSize, out gw, out gh);
 
             int ts = settings.tileSize;
             int tw = (gw + ts - 1) / ts;
@@ -47,7 +47,7 @@ namespace DotRecast.Recast.Toolset.Tools
             var bmin = geom.GetMeshBoundsMin();
             var bmax = geom.GetMeshBoundsMax();
             int gw = 0, gh = 0;
-            RcCommons.CalcGridSize(bmin, bmax, settings.cellSize, out gw, out gh);
+            RcRecast.CalcGridSize(bmin, bmax, settings.cellSize, out gw, out gh);
 
             int ts = settings.tileSize;
             int tw = (gw + ts - 1) / ts;
@@ -68,8 +68,8 @@ namespace DotRecast.Recast.Toolset.Tools
             tileTriCount = 0; // ...
             tileMemUsage = 0; // ...
 
-            var availableTileCount = navMesh.GetAvailableTileCount();
-            if (0 >= availableTileCount)
+            var availableTile = navMesh.IsAvailableTileCount();
+            if (!availableTile)
             {
                 return false;
             }
@@ -94,7 +94,7 @@ namespace DotRecast.Recast.Toolset.Tools
 
             var beginTick = RcFrequency.Ticks;
             var rb = new RcBuilder();
-            var result = rb.BuildTile(geom, cfg, bmin, bmax, tx, ty, new RcAtomicInteger(0), 1);
+            var result = rb.BuildTile(geom, cfg, bmin, bmax, tx, ty, new RcAtomicInteger(0), 1, settings.keepInterResults);
 
             var tb = new TileNavMeshBuilder();
             var meshData = tb.BuildMeshData(geom, settings.cellSize, settings.cellHeight, settings.agentHeight, settings.agentRadius, settings.agentMaxClimb, RcImmutableArray.Create(result)

src/DotRecast.Recast/DotRecast.Recast.asmdef

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

src/DotRecast.Recast/DotRecast.Recast.csproj

@@ -1,15 +1,16 @@
 <Project Sdk="Microsoft.NET.Sdk">
 
   <PropertyGroup>
-    <TargetFrameworks>netstandard2.1;net6.0;net7.0</TargetFrameworks>
+    <TargetFrameworks>netstandard2.1;net6.0;net7.0;net8.0</TargetFrameworks>
     <PackageId>DotRecast.Recast</PackageId>
     <PackageReadmeFile>README.md</PackageReadmeFile>
     <Authors>ikpil</Authors>
-    <Description>DotRecast - a port of Recast Detour, navigation mesh toolset for games, Unity3D, servers, C#</Description>
+    <Description>DotRecast - a port of Recast Detour, Industry-standard navigation mesh toolset for .NET, C#, Unity3D, games, servers</Description>
     <RepositoryType>git</RepositoryType>
     <PackageProjectUrl>https://github.com/ikpil/DotRecast</PackageProjectUrl>
     <RepositoryUrl>https://github.com/ikpil/DotRecast</RepositoryUrl>
     <PackageTags>game gamedev ai csharp server unity navigation game-development unity3d pathfinding pathfinder recast detour navmesh crowd-simulation recastnavigation</PackageTags>
+    <PackageReleaseNotes>https://github.com/ikpil/DotRecast/blob/main/CHANGELOG.md</PackageReleaseNotes>
   </PropertyGroup>
 
   <ItemGroup>

src/DotRecast.Recast/EdgeValues.cs

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

src/DotRecast.Recast/Geom/BoundsItem.cs

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

src/DotRecast.Recast/Geom/BoundsItemXComparer.cs

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

src/DotRecast.Recast/Geom/BoundsItemYComparer.cs

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

src/DotRecast.Recast/Geom/IInputGeomProvider.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

src/DotRecast.Recast/Geom/RcChunkyTriMesh.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -18,278 +18,14 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-using System;
 using System.Collections.Generic;
-using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast.Geom
 {
     public class RcChunkyTriMesh
     {
-        private List<RcChunkyTriMeshNode> nodes;
-        private int ntris;
-        private int maxTrisPerChunk;
-
-        private void CalcExtends(BoundsItem[] items, int imin, int imax, ref RcVec2f bmin, ref RcVec2f bmax)
-        {
-            bmin.X = items[imin].bmin.X;
-            bmin.Y = items[imin].bmin.Y;
-
-            bmax.X = items[imin].bmax.X;
-            bmax.Y = items[imin].bmax.Y;
-
-            for (int i = imin + 1; i < imax; ++i)
-            {
-                BoundsItem it = items[i];
-                if (it.bmin.X < bmin.X)
-                {
-                    bmin.X = it.bmin.X;
-                }
-
-                if (it.bmin.Y < bmin.Y)
-                {
-                    bmin.Y = it.bmin.Y;
-                }
-
-                if (it.bmax.X > bmax.X)
-                {
-                    bmax.X = it.bmax.X;
-                }
-
-                if (it.bmax.Y > bmax.Y)
-                {
-                    bmax.Y = it.bmax.Y;
-                }
-            }
-        }
-
-        private int LongestAxis(float x, float y)
-        {
-            return y > x ? 1 : 0;
-        }
-
-        private void Subdivide(BoundsItem[] items, int imin, int imax, int trisPerChunk, List<RcChunkyTriMeshNode> nodes, int[] inTris)
-        {
-            int inum = imax - imin;
-
-            RcChunkyTriMeshNode node = new RcChunkyTriMeshNode();
-            nodes.Add(node);
-
-            if (inum <= trisPerChunk)
-            {
-                // Leaf
-                CalcExtends(items, imin, imax, ref node.bmin, ref node.bmax);
-
-                // Copy triangles.
-                node.i = nodes.Count;
-                node.tris = new int[inum * 3];
-
-                int dst = 0;
-                for (int i = imin; i < imax; ++i)
-                {
-                    int src = items[i].i * 3;
-                    node.tris[dst++] = inTris[src];
-                    node.tris[dst++] = inTris[src + 1];
-                    node.tris[dst++] = inTris[src + 2];
-                }
-            }
-            else
-            {
-                // Split
-                CalcExtends(items, imin, imax, ref node.bmin, ref node.bmax);
-
-                int axis = LongestAxis(node.bmax.X - node.bmin.X, node.bmax.Y - node.bmin.Y);
-
-                if (axis == 0)
-                {
-                    Array.Sort(items, imin, imax - imin, BoundsItemXComparer.Shared);
-                    // Sort along x-axis
-                }
-                else if (axis == 1)
-                {
-                    Array.Sort(items, imin, imax - imin, BoundsItemYComparer.Shared);
-                    // Sort along y-axis
-                }
-
-                int isplit = imin + inum / 2;
-
-                // Left
-                Subdivide(items, imin, isplit, trisPerChunk, nodes, inTris);
-                // Right
-                Subdivide(items, isplit, imax, trisPerChunk, nodes, inTris);
-
-                // Negative index means escape.
-                node.i = -nodes.Count;
-            }
-        }
-
-        public RcChunkyTriMesh(float[] verts, int[] tris, int ntris, int trisPerChunk)
-        {
-            int nchunks = (ntris + trisPerChunk - 1) / trisPerChunk;
-
-            nodes = new List<RcChunkyTriMeshNode>(nchunks);
-            this.ntris = ntris;
-
-            // Build tree
-            BoundsItem[] items = new BoundsItem[ntris];
-
-            for (int i = 0; i < ntris; i++)
-            {
-                int t = i * 3;
-                BoundsItem it = items[i] = new BoundsItem();
-                it.i = i;
-                // Calc triangle XZ bounds.
-                it.bmin.X = it.bmax.X = verts[tris[t] * 3 + 0];
-                it.bmin.Y = it.bmax.Y = verts[tris[t] * 3 + 2];
-                for (int j = 1; j < 3; ++j)
-                {
-                    int v = tris[t + j] * 3;
-                    if (verts[v] < it.bmin.X)
-                    {
-                        it.bmin.X = verts[v];
-                    }
-
-                    if (verts[v + 2] < it.bmin.Y)
-                    {
-                        it.bmin.Y = verts[v + 2];
-                    }
-
-                    if (verts[v] > it.bmax.X)
-                    {
-                        it.bmax.X = verts[v];
-                    }
-
-                    if (verts[v + 2] > it.bmax.Y)
-                    {
-                        it.bmax.Y = verts[v + 2];
-                    }
-                }
-            }
-
-            Subdivide(items, 0, ntris, trisPerChunk, nodes, tris);
-
-            // Calc max tris per node.
-            maxTrisPerChunk = 0;
-            foreach (RcChunkyTriMeshNode node in nodes)
-            {
-                bool isLeaf = node.i >= 0;
-                if (!isLeaf)
-                {
-                    continue;
-                }
-
-                if (node.tris.Length / 3 > maxTrisPerChunk)
-                {
-                    maxTrisPerChunk = node.tris.Length / 3;
-                }
-            }
-        }
-
-        private bool CheckOverlapRect(float[] amin, float[] amax, RcVec2f bmin, RcVec2f bmax)
-        {
-            bool overlap = true;
-            overlap = (amin[0] > bmax.X || amax[0] < bmin.X) ? false : overlap;
-            overlap = (amin[1] > bmax.Y || amax[1] < bmin.Y) ? false : overlap;
-            return overlap;
-        }
-
-        public List<RcChunkyTriMeshNode> GetChunksOverlappingRect(float[] bmin, float[] bmax)
-        {
-            // Traverse tree
-            List<RcChunkyTriMeshNode> ids = new List<RcChunkyTriMeshNode>();
-            int i = 0;
-            while (i < nodes.Count)
-            {
-                RcChunkyTriMeshNode node = nodes[i];
-                bool overlap = CheckOverlapRect(bmin, bmax, node.bmin, node.bmax);
-                bool isLeafNode = node.i >= 0;
-
-                if (isLeafNode && overlap)
-                {
-                    ids.Add(node);
-                }
-
-                if (overlap || isLeafNode)
-                {
-                    i++;
-                }
-                else
-                {
-                    i = -node.i;
-                }
-            }
-
-            return ids;
-        }
-
-        public List<RcChunkyTriMeshNode> GetChunksOverlappingSegment(RcVec2f p, RcVec2f q)
-        {
-            // Traverse tree
-            List<RcChunkyTriMeshNode> ids = new List<RcChunkyTriMeshNode>();
-            int i = 0;
-            while (i < nodes.Count)
-            {
-                RcChunkyTriMeshNode node = nodes[i];
-                bool overlap = CheckOverlapSegment(p, q, node.bmin, node.bmax);
-                bool isLeafNode = node.i >= 0;
-
-                if (isLeafNode && overlap)
-                {
-                    ids.Add(node);
-                }
-
-                if (overlap || isLeafNode)
-                {
-                    i++;
-                }
-                else
-                {
-                    i = -node.i;
-                }
-            }
-
-            return ids;
-        }
-
-        private bool CheckOverlapSegment(RcVec2f p, RcVec2f q, RcVec2f bmin, RcVec2f bmax)
-        {
-            const float EPSILON = 1e-6f;
-
-            float tmin = 0;
-            float tmax = 1;
-            var d = new RcVec2f();
-            d.X = q.X - p.X;
-            d.Y = q.Y - p.Y;
-
-            for (int i = 0; i < 2; i++)
-            {
-                if (MathF.Abs(d.Get(i)) < EPSILON)
-                {
-                    // Ray is parallel to slab. No hit if origin not within slab
-                    if (p.Get(i) < bmin.Get(i) || p.Get(i) > bmax.Get(i))
-                        return false;
-                }
-                else
-                {
-                    // Compute intersection t value of ray with near and far plane of slab
-                    float ood = 1.0f / d.Get(i);
-                    float t1 = (bmin.Get(i) - p.Get(i)) * ood;
-                    float t2 = (bmax.Get(i) - p.Get(i)) * ood;
-                    if (t1 > t2)
-                    {
-                        (t1, t2) = (t2, t1);
-                    }
-
-                    if (t1 > tmin)
-                        tmin = t1;
-                    if (t2 < tmax)
-                        tmax = t2;
-                    if (tmin > tmax)
-                        return false;
-                }
-            }
-
-            return true;
-        }
+        public List<RcChunkyTriMeshNode> nodes;
+        public int ntris;
+        public int maxTrisPerChunk;
     }
 }

src/DotRecast.Recast/Geom/RcChunkyTriMeshNode.cs

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

src/DotRecast.Recast/Geom/RcChunkyTriMeshs.cs

@@ -0,0 +1,305 @@
+/*
+Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
+recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
+
+This software is provided 'as-is', without any express or implied
+warranty.  In no event will the authors be held liable for any damages
+arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it
+freely, subject to the following restrictions:
+1. The origin of this software must not be misrepresented; you must not
+ claim that you wrote the original software. If you use this software
+ in a product, an acknowledgment in the product documentation would be
+ appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be
+ misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+using System;
+using System.Collections.Generic;
+using DotRecast.Core.Numerics;
+
+namespace DotRecast.Recast.Geom
+{
+    public static class RcChunkyTriMeshs
+    {
+        /// Creates partitioned triangle mesh (AABB tree),
+        /// where each node contains at max trisPerChunk triangles.
+        public static bool CreateChunkyTriMesh(float[] verts, int[] tris, int ntris, int trisPerChunk, RcChunkyTriMesh cm)
+        {
+            int nchunks = (ntris + trisPerChunk - 1) / trisPerChunk;
+
+            cm.nodes = new List<RcChunkyTriMeshNode>(nchunks);
+            cm.ntris = ntris;
+
+            // Build tree
+            BoundsItem[] items = new BoundsItem[ntris];
+            for (int i = 0; i < ntris; ++i)
+            {
+                items[i] = new BoundsItem();
+            }
+
+            for (int i = 0; i < ntris; i++)
+            {
+                int t = i * 3;
+                BoundsItem it = items[i];
+                it.i = i;
+                // Calc triangle XZ bounds.
+                it.bmin.X = it.bmax.X = verts[tris[t] * 3 + 0];
+                it.bmin.Y = it.bmax.Y = verts[tris[t] * 3 + 2];
+                for (int j = 1; j < 3; ++j)
+                {
+                    int v = tris[t + j] * 3;
+                    if (verts[v] < it.bmin.X)
+                    {
+                        it.bmin.X = verts[v];
+                    }
+
+                    if (verts[v + 2] < it.bmin.Y)
+                    {
+                        it.bmin.Y = verts[v + 2];
+                    }
+
+                    if (verts[v] > it.bmax.X)
+                    {
+                        it.bmax.X = verts[v];
+                    }
+
+                    if (verts[v + 2] > it.bmax.Y)
+                    {
+                        it.bmax.Y = verts[v + 2];
+                    }
+                }
+            }
+
+            Subdivide(items, 0, ntris, trisPerChunk, cm.nodes, tris);
+
+            items = null;
+
+            // Calc max tris per node.
+            cm.maxTrisPerChunk = 0;
+            foreach (RcChunkyTriMeshNode node in cm.nodes)
+            {
+                bool isLeaf = node.i >= 0;
+                if (!isLeaf)
+                {
+                    continue;
+                }
+
+                if (node.tris.Length / 3 > cm.maxTrisPerChunk)
+                {
+                    cm.maxTrisPerChunk = node.tris.Length / 3;
+                }
+            }
+
+            return true;
+        }
+
+        /// Returns the chunk indices which overlap the input rectable.
+        public static List<RcChunkyTriMeshNode> GetChunksOverlappingRect(RcChunkyTriMesh cm, RcVec2f bmin, RcVec2f bmax)
+        {
+            // Traverse tree
+            List<RcChunkyTriMeshNode> ids = new List<RcChunkyTriMeshNode>();
+            int i = 0;
+            while (i < cm.nodes.Count)
+            {
+                RcChunkyTriMeshNode node = cm.nodes[i];
+                bool overlap = CheckOverlapRect(bmin, bmax, node.bmin, node.bmax);
+                bool isLeafNode = node.i >= 0;
+
+                if (isLeafNode && overlap)
+                {
+                    ids.Add(node);
+                }
+
+                if (overlap || isLeafNode)
+                {
+                    i++;
+                }
+                else
+                {
+                    i = -node.i;
+                }
+            }
+
+            return ids;
+        }
+
+        /// Returns the chunk indices which overlap the input segment.
+        public static List<RcChunkyTriMeshNode> GetChunksOverlappingSegment(RcChunkyTriMesh cm, RcVec2f p, RcVec2f q)
+        {
+            // Traverse tree
+            List<RcChunkyTriMeshNode> ids = new List<RcChunkyTriMeshNode>();
+            int i = 0;
+            while (i < cm.nodes.Count)
+            {
+                RcChunkyTriMeshNode node = cm.nodes[i];
+                bool overlap = CheckOverlapSegment(p, q, node.bmin, node.bmax);
+                bool isLeafNode = node.i >= 0;
+
+                if (isLeafNode && overlap)
+                {
+                    ids.Add(node);
+                }
+
+                if (overlap || isLeafNode)
+                {
+                    i++;
+                }
+                else
+                {
+                    i = -node.i;
+                }
+            }
+
+            return ids;
+        }
+
+
+        private static void CalcExtends(BoundsItem[] items, int imin, int imax, ref RcVec2f bmin, ref RcVec2f bmax)
+        {
+            bmin.X = items[imin].bmin.X;
+            bmin.Y = items[imin].bmin.Y;
+
+            bmax.X = items[imin].bmax.X;
+            bmax.Y = items[imin].bmax.Y;
+
+            for (int i = imin + 1; i < imax; ++i)
+            {
+                BoundsItem it = items[i];
+                if (it.bmin.X < bmin.X)
+                {
+                    bmin.X = it.bmin.X;
+                }
+
+                if (it.bmin.Y < bmin.Y)
+                {
+                    bmin.Y = it.bmin.Y;
+                }
+
+                if (it.bmax.X > bmax.X)
+                {
+                    bmax.X = it.bmax.X;
+                }
+
+                if (it.bmax.Y > bmax.Y)
+                {
+                    bmax.Y = it.bmax.Y;
+                }
+            }
+        }
+
+        private static int LongestAxis(float x, float y)
+        {
+            return y > x ? 1 : 0;
+        }
+
+        private static void Subdivide(BoundsItem[] items, int imin, int imax, int trisPerChunk, List<RcChunkyTriMeshNode> nodes, int[] inTris)
+        {
+            int inum = imax - imin;
+
+            RcChunkyTriMeshNode node = new RcChunkyTriMeshNode();
+            nodes.Add(node);
+
+            if (inum <= trisPerChunk)
+            {
+                // Leaf
+                CalcExtends(items, imin, imax, ref node.bmin, ref node.bmax);
+
+                // Copy triangles.
+                node.i = nodes.Count;
+                node.tris = new int[inum * 3];
+
+                int dst = 0;
+                for (int i = imin; i < imax; ++i)
+                {
+                    int src = items[i].i * 3;
+                    node.tris[dst++] = inTris[src];
+                    node.tris[dst++] = inTris[src + 1];
+                    node.tris[dst++] = inTris[src + 2];
+                }
+            }
+            else
+            {
+                // Split
+                CalcExtends(items, imin, imax, ref node.bmin, ref node.bmax);
+
+                int axis = LongestAxis(node.bmax.X - node.bmin.X, node.bmax.Y - node.bmin.Y);
+
+                if (axis == 0)
+                {
+                    Array.Sort(items, imin, imax - imin, BoundsItemXComparer.Shared);
+                    // Sort along x-axis
+                }
+                else if (axis == 1)
+                {
+                    Array.Sort(items, imin, imax - imin, BoundsItemYComparer.Shared);
+                    // Sort along y-axis
+                }
+
+                int isplit = imin + inum / 2;
+
+                // Left
+                Subdivide(items, imin, isplit, trisPerChunk, nodes, inTris);
+                // Right
+                Subdivide(items, isplit, imax, trisPerChunk, nodes, inTris);
+
+                // Negative index means escape.
+                node.i = -nodes.Count;
+            }
+        }
+
+        private static bool CheckOverlapRect(RcVec2f amin, RcVec2f amax, RcVec2f bmin, RcVec2f bmax)
+        {
+            bool overlap = true;
+            overlap = (amin.X > bmax.X || amax.X < bmin.X) ? false : overlap;
+            overlap = (amin.Y > bmax.Y || amax.Y < bmin.Y) ? false : overlap;
+            return overlap;
+        }
+
+
+        private static bool CheckOverlapSegment(RcVec2f p, RcVec2f q, RcVec2f bmin, RcVec2f bmax)
+        {
+            const float EPSILON = 1e-6f;
+
+            float tmin = 0;
+            float tmax = 1;
+            var d = new RcVec2f();
+            d.X = q.X - p.X;
+            d.Y = q.Y - p.Y;
+
+            for (int i = 0; i < 2; i++)
+            {
+                if (MathF.Abs(d.Get(i)) < EPSILON)
+                {
+                    // Ray is parallel to slab. No hit if origin not within slab
+                    if (p.Get(i) < bmin.Get(i) || p.Get(i) > bmax.Get(i))
+                        return false;
+                }
+                else
+                {
+                    // Compute intersection t value of ray with near and far plane of slab
+                    float ood = 1.0f / d.Get(i);
+                    float t1 = (bmin.Get(i) - p.Get(i)) * ood;
+                    float t2 = (bmax.Get(i) - p.Get(i)) * ood;
+                    if (t1 > t2)
+                    {
+                        (t1, t2) = (t2, t1);
+                    }
+
+                    if (t1 > tmin)
+                        tmin = t1;
+                    if (t2 < tmax)
+                        tmax = t2;
+                    if (tmin > tmax)
+                        return false;
+                }
+            }
+
+            return true;
+        }
+    }
+}

src/DotRecast.Recast/Geom/RcOffMeshConnection.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -33,7 +33,7 @@ namespace DotRecast.Recast.Geom
         public readonly int flags;
         public readonly int userId;
 
-        public RcOffMeshConnection(RcVec3f start, RcVec3f end, float radius, bool bidir, int area, int flags)
+        public RcOffMeshConnection(RcVec3f start, RcVec3f end, float radius, bool bidir, int area, int flags, int userId = 0)
         {
             verts = new float[6];
             verts[0] = start.X;
@@ -46,6 +46,7 @@ namespace DotRecast.Recast.Geom
             this.bidir = bidir;
             this.area = area;
             this.flags = flags;
+            this.userId = userId;
         }
     }
 }

src/DotRecast.Recast/Geom/RcTriMesh.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -19,6 +19,7 @@ freely, subject to the following restrictions:
 */
 
 using System.Collections.Generic;
+using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast.Geom
 {
@@ -32,7 +33,8 @@ namespace DotRecast.Recast.Geom
         {
             this.vertices = vertices;
             this.faces = faces;
-            chunkyTriMesh = new RcChunkyTriMesh(vertices, faces, faces.Length / 3, 32);
+            chunkyTriMesh = new RcChunkyTriMesh();
+            RcChunkyTriMeshs.CreateChunkyTriMesh(vertices, faces, faces.Length / 3, 32, chunkyTriMesh);
         }
 
         public int[] GetTris()
@@ -45,9 +47,9 @@ namespace DotRecast.Recast.Geom
             return vertices;
         }
 
-        public List<RcChunkyTriMeshNode> GetChunksOverlappingRect(float[] bmin, float[] bmax)
+        public List<RcChunkyTriMeshNode> GetChunksOverlappingRect(RcVec2f bmin, RcVec2f bmax)
         {
-            return chunkyTriMesh.GetChunksOverlappingRect(bmin, bmax);
+            return RcChunkyTriMeshs.GetChunksOverlappingRect(chunkyTriMesh, bmin, bmax);
         }
     }
 }

src/DotRecast.Recast/Geom/SimpleInputGeomProvider.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -39,7 +39,7 @@ namespace DotRecast.Recast.Geom
 
         public static SimpleInputGeomProvider LoadFile(string objFilePath)
         {
-            byte[] chunk = RcResources.Load(objFilePath);
+            byte[] chunk = RcIO.ReadFileIfFound(objFilePath);
             var context = RcObjImporter.LoadContext(chunk);
             return new SimpleInputGeomProvider(context.vertexPositions, context.meshFaces);
         }
@@ -77,12 +77,12 @@ namespace DotRecast.Recast.Geom
             this.faces = faces;
             normals = new float[faces.Length];
             CalculateNormals();
-            bmin = RcVecUtils.Create(vertices);
-            bmax = RcVecUtils.Create(vertices);
+            bmin = new RcVec3f(vertices);
+            bmax = new RcVec3f(vertices);
             for (int i = 1; i < vertices.Length / 3; i++)
             {
-                bmin = RcVecUtils.Min(bmin, vertices, i * 3);
-                bmax = RcVecUtils.Max(bmax, vertices, i * 3);
+                bmin = RcVec3f.Min(bmin, RcVec.Create(vertices, i * 3));
+                bmax = RcVec3f.Max(bmax, RcVec.Create(vertices, i * 3));
             }
 
             _mesh = new RcTriMesh(vertices, faces);

src/DotRecast.Recast/IRcBuilderProgressListener.cs

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

src/DotRecast.Recast/RcAreaModification.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

src/DotRecast.Recast/RcAreas.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -25,8 +25,7 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast
 {
-    using static RcConstants;
-    using static RcCommons;
+    using static RcRecast;
 
     public static class RcAreas
     {
@@ -44,7 +43,7 @@ namespace DotRecast.Recast
         /// @param[in]		erosionRadius		The radius of erosion. [Limits: 0 < value < 255] [Units: vx]
         /// @param[in,out]	compactHeightfield	The populated compact heightfield to erode.
         /// @returns True if the operation completed successfully.
-        public static void ErodeWalkableArea(RcTelemetry context, int erosionRadius, RcCompactHeightfield compactHeightfield)
+        public static void ErodeWalkableArea(RcContext context, int erosionRadius, RcCompactHeightfield compactHeightfield)
         {
             int xSize = compactHeightfield.width;
             int zSize = compactHeightfield.height;
@@ -60,7 +59,7 @@ namespace DotRecast.Recast
             {
                 for (int x = 0; x < xSize; ++x)
                 {
-                    RcCompactCell cell = compactHeightfield.cells[x + z * zStride];
+                    ref RcCompactCell cell = ref compactHeightfield.cells[x + z * zStride];
                     for (int spanIndex = cell.index, maxSpanIndex = cell.index + cell.count; spanIndex < maxSpanIndex; ++spanIndex)
                     {
                         if (compactHeightfield.areas[spanIndex] == RC_NULL_AREA)
@@ -69,13 +68,13 @@ namespace DotRecast.Recast
                         }
                         else
                         {
-                            RcCompactSpan span = compactHeightfield.spans[spanIndex];
+                            ref RcCompactSpan span = ref compactHeightfield.spans[spanIndex];
 
                             // Check that there is a non-null adjacent span in each of the 4 cardinal directions.
                             int neighborCount = 0;
                             for (int direction = 0; direction < 4; ++direction)
                             {
-                                int neighborConnection = GetCon(span, direction);
+                                int neighborConnection = GetCon(ref span, direction);
                                 if (neighborConnection == RC_NOT_CONNECTED)
                                 {
                                     break;
@@ -83,7 +82,7 @@ namespace DotRecast.Recast
 
                                 int neighborX = x + GetDirOffsetX(direction);
                                 int neighborZ = z + GetDirOffsetY(direction);
-                                int neighborSpanIndex = compactHeightfield.cells[neighborX + neighborZ * zStride].index + GetCon(span, direction);
+                                int neighborSpanIndex = compactHeightfield.cells[neighborX + neighborZ * zStride].index + GetCon(ref span, direction);
                                 if (compactHeightfield.areas[neighborSpanIndex] == RC_NULL_AREA)
                                 {
                                     break;
@@ -109,19 +108,19 @@ namespace DotRecast.Recast
             {
                 for (int x = 0; x < xSize; ++x)
                 {
-                    RcCompactCell cell = compactHeightfield.cells[x + z * zStride];
+                    ref RcCompactCell cell = ref compactHeightfield.cells[x + z * zStride];
                     int maxSpanIndex = cell.index + cell.count;
                     for (int spanIndex = cell.index; spanIndex < maxSpanIndex; ++spanIndex)
                     {
-                        RcCompactSpan span = compactHeightfield.spans[spanIndex];
+                        ref RcCompactSpan span = ref compactHeightfield.spans[spanIndex];
 
-                        if (GetCon(span, 0) != RC_NOT_CONNECTED)
+                        if (GetCon(ref span, 0) != RC_NOT_CONNECTED)
                         {
                             // (-1,0)
                             int aX = x + GetDirOffsetX(0);
                             int aY = z + GetDirOffsetY(0);
-                            int aIndex = compactHeightfield.cells[aX + aY * xSize].index + GetCon(span, 0);
-                            RcCompactSpan aSpan = compactHeightfield.spans[aIndex];
+                            int aIndex = compactHeightfield.cells[aX + aY * xSize].index + GetCon(ref span, 0);
+                            ref RcCompactSpan aSpan = ref compactHeightfield.spans[aIndex];
                             newDistance = Math.Min(distanceToBoundary[aIndex] + 2, 255);
                             if (newDistance < distanceToBoundary[spanIndex])
                             {
@@ -129,11 +128,11 @@ namespace DotRecast.Recast
                             }
 
                             // (-1,-1)
-                            if (GetCon(aSpan, 3) != RC_NOT_CONNECTED)
+                            if (GetCon(ref aSpan, 3) != RC_NOT_CONNECTED)
                             {
                                 int bX = aX + GetDirOffsetX(3);
                                 int bY = aY + GetDirOffsetY(3);
-                                int bIndex = compactHeightfield.cells[bX + bY * xSize].index + GetCon(aSpan, 3);
+                                int bIndex = compactHeightfield.cells[bX + bY * xSize].index + GetCon(ref aSpan, 3);
                                 newDistance = Math.Min(distanceToBoundary[bIndex] + 3, 255);
                                 if (newDistance < distanceToBoundary[spanIndex])
                                 {
@@ -142,13 +141,13 @@ namespace DotRecast.Recast
                             }
                         }
 
-                        if (GetCon(span, 3) != RC_NOT_CONNECTED)
+                        if (GetCon(ref span, 3) != RC_NOT_CONNECTED)
                         {
                             // (0,-1)
                             int aX = x + GetDirOffsetX(3);
                             int aY = z + GetDirOffsetY(3);
-                            int aIndex = compactHeightfield.cells[aX + aY * xSize].index + GetCon(span, 3);
-                            RcCompactSpan aSpan = compactHeightfield.spans[aIndex];
+                            int aIndex = compactHeightfield.cells[aX + aY * xSize].index + GetCon(ref span, 3);
+                            ref RcCompactSpan aSpan = ref compactHeightfield.spans[aIndex];
                             newDistance = Math.Min(distanceToBoundary[aIndex] + 2, 255);
                             if (newDistance < distanceToBoundary[spanIndex])
                             {
@@ -156,11 +155,11 @@ namespace DotRecast.Recast
                             }
 
                             // (1,-1)
-                            if (GetCon(aSpan, 2) != RC_NOT_CONNECTED)
+                            if (GetCon(ref aSpan, 2) != RC_NOT_CONNECTED)
                             {
                                 int bX = aX + GetDirOffsetX(2);
                                 int bY = aY + GetDirOffsetY(2);
-                                int bIndex = compactHeightfield.cells[bX + bY * xSize].index + GetCon(aSpan, 2);
+                                int bIndex = compactHeightfield.cells[bX + bY * xSize].index + GetCon(ref aSpan, 2);
                                 newDistance = Math.Min(distanceToBoundary[bIndex] + 3, 255);
                                 if (newDistance < distanceToBoundary[spanIndex])
                                 {
@@ -177,19 +176,19 @@ namespace DotRecast.Recast
             {
                 for (int x = xSize - 1; x >= 0; --x)
                 {
-                    RcCompactCell cell = compactHeightfield.cells[x + z * zStride];
+                    ref RcCompactCell cell = ref compactHeightfield.cells[x + z * zStride];
                     int maxSpanIndex = cell.index + cell.count;
                     for (int i = cell.index; i < maxSpanIndex; ++i)
                     {
-                        RcCompactSpan span = compactHeightfield.spans[i];
+                        ref RcCompactSpan span = ref compactHeightfield.spans[i];
 
-                        if (GetCon(span, 2) != RC_NOT_CONNECTED)
+                        if (GetCon(ref span, 2) != RC_NOT_CONNECTED)
                         {
                             // (1,0)
                             int aX = x + GetDirOffsetX(2);
                             int aY = z + GetDirOffsetY(2);
-                            int aIndex = compactHeightfield.cells[aX + aY * xSize].index + GetCon(span, 2);
-                            RcCompactSpan aSpan = compactHeightfield.spans[aIndex];
+                            int aIndex = compactHeightfield.cells[aX + aY * xSize].index + GetCon(ref span, 2);
+                            ref RcCompactSpan aSpan = ref compactHeightfield.spans[aIndex];
                             newDistance = Math.Min(distanceToBoundary[aIndex] + 2, 255);
                             if (newDistance < distanceToBoundary[i])
                             {
@@ -197,11 +196,11 @@ namespace DotRecast.Recast
                             }
 
                             // (1,1)
-                            if (GetCon(aSpan, 1) != RC_NOT_CONNECTED)
+                            if (GetCon(ref aSpan, 1) != RC_NOT_CONNECTED)
                             {
                                 int bX = aX + GetDirOffsetX(1);
                                 int bY = aY + GetDirOffsetY(1);
-                                int bIndex = compactHeightfield.cells[bX + bY * xSize].index + GetCon(aSpan, 1);
+                                int bIndex = compactHeightfield.cells[bX + bY * xSize].index + GetCon(ref aSpan, 1);
                                 newDistance = Math.Min(distanceToBoundary[bIndex] + 3, 255);
                                 if (newDistance < distanceToBoundary[i])
                                 {
@@ -210,13 +209,13 @@ namespace DotRecast.Recast
                             }
                         }
 
-                        if (GetCon(span, 1) != RC_NOT_CONNECTED)
+                        if (GetCon(ref span, 1) != RC_NOT_CONNECTED)
                         {
                             // (0,1)
                             int aX = x + GetDirOffsetX(1);
                             int aY = z + GetDirOffsetY(1);
-                            int aIndex = compactHeightfield.cells[aX + aY * xSize].index + GetCon(span, 1);
-                            RcCompactSpan aSpan = compactHeightfield.spans[aIndex];
+                            int aIndex = compactHeightfield.cells[aX + aY * xSize].index + GetCon(ref span, 1);
+                            ref RcCompactSpan aSpan = ref compactHeightfield.spans[aIndex];
                             newDistance = Math.Min(distanceToBoundary[aIndex] + 2, 255);
                             if (newDistance < distanceToBoundary[i])
                             {
@@ -224,11 +223,11 @@ namespace DotRecast.Recast
                             }
 
                             // (-1,1)
-                            if (GetCon(aSpan, 0) != RC_NOT_CONNECTED)
+                            if (GetCon(ref aSpan, 0) != RC_NOT_CONNECTED)
                             {
                                 int bX = aX + GetDirOffsetX(0);
                                 int bY = aY + GetDirOffsetY(0);
-                                int bIndex = compactHeightfield.cells[bX + bY * xSize].index + GetCon(aSpan, 0);
+                                int bIndex = compactHeightfield.cells[bX + bY * xSize].index + GetCon(ref aSpan, 0);
                                 newDistance = Math.Min(distanceToBoundary[bIndex] + 3, 255);
                                 if (newDistance < distanceToBoundary[i])
                                 {
@@ -261,7 +260,7 @@ namespace DotRecast.Recast
         /// @param[in,out]	context		The build context to use during the operation.
         /// @param[in,out]	compactHeightfield		A populated compact heightfield.
         /// @returns True if the operation completed successfully.
-        public static bool MedianFilterWalkableArea(RcTelemetry context, RcCompactHeightfield compactHeightfield)
+        public static bool MedianFilterWalkableArea(RcContext context, RcCompactHeightfield compactHeightfield)
         {
             int xSize = compactHeightfield.width;
             int zSize = compactHeightfield.height;
@@ -275,11 +274,11 @@ namespace DotRecast.Recast
             {
                 for (int x = 0; x < xSize; ++x)
                 {
-                    RcCompactCell cell = compactHeightfield.cells[x + z * zStride];
+                    ref RcCompactCell cell = ref compactHeightfield.cells[x + z * zStride];
                     int maxSpanIndex = cell.index + cell.count;
                     for (int spanIndex = cell.index; spanIndex < maxSpanIndex; ++spanIndex)
                     {
-                        RcCompactSpan span = compactHeightfield.spans[spanIndex];
+                        ref RcCompactSpan span = ref compactHeightfield.spans[spanIndex];
                         if (compactHeightfield.areas[spanIndex] == RC_NULL_AREA)
                         {
                             areas[spanIndex] = compactHeightfield.areas[spanIndex];
@@ -294,27 +293,27 @@ namespace DotRecast.Recast
 
                         for (int dir = 0; dir < 4; ++dir)
                         {
-                            if (GetCon(span, dir) == RC_NOT_CONNECTED)
+                            if (GetCon(ref span, dir) == RC_NOT_CONNECTED)
                             {
                                 continue;
                             }
 
                             int aX = x + GetDirOffsetX(dir);
                             int aZ = z + GetDirOffsetY(dir);
-                            int aIndex = compactHeightfield.cells[aX + aZ * zStride].index + GetCon(span, dir);
+                            int aIndex = compactHeightfield.cells[aX + aZ * zStride].index + GetCon(ref span, dir);
                             if (compactHeightfield.areas[aIndex] != RC_NULL_AREA)
                             {
                                 neighborAreas[dir * 2 + 0] = compactHeightfield.areas[aIndex];
                             }
 
-                            RcCompactSpan aSpan = compactHeightfield.spans[aIndex];
+                            ref RcCompactSpan aSpan = ref compactHeightfield.spans[aIndex];
                             int dir2 = (dir + 1) & 0x3;
-                            int neighborConnection2 = GetCon(aSpan, dir2);
+                            int neighborConnection2 = GetCon(ref aSpan, dir2);
                             if (neighborConnection2 != RC_NOT_CONNECTED)
                             {
                                 int bX = aX + GetDirOffsetX(dir2);
                                 int bZ = aZ + GetDirOffsetY(dir2);
-                                int bIndex = compactHeightfield.cells[bX + bZ * zStride].index + GetCon(aSpan, dir2);
+                                int bIndex = compactHeightfield.cells[bX + bZ * zStride].index + GetCon(ref aSpan, dir2);
                                 if (compactHeightfield.areas[bIndex] != RC_NULL_AREA)
                                 {
                                     neighborAreas[dir * 2 + 1] = compactHeightfield.areas[bIndex];
@@ -344,7 +343,7 @@ namespace DotRecast.Recast
         /// @param[in]		boxMaxBounds		The maximum extents of the bounding box. [(x, y, z)] [Units: wu]
         /// @param[in]		areaId				The area id to apply. [Limit: <= #RC_WALKABLE_AREA]
         /// @param[in,out]	compactHeightfield	A populated compact heightfield.
-        public static void MarkBoxArea(RcTelemetry context, float[] boxMinBounds, float[] boxMaxBounds, RcAreaModification areaId, RcCompactHeightfield compactHeightfield)
+        public static void MarkBoxArea(RcContext context, float[] boxMinBounds, float[] boxMaxBounds, RcAreaModification areaId, RcCompactHeightfield compactHeightfield)
         {
             using var timer = context.ScopedTimer(RcTimerLabel.RC_TIMER_MARK_BOX_AREA);
 
@@ -404,11 +403,11 @@ namespace DotRecast.Recast
             {
                 for (int x = minX; x <= maxX; ++x)
                 {
-                    RcCompactCell cell = compactHeightfield.cells[x + z * zStride];
+                    ref RcCompactCell cell = ref compactHeightfield.cells[x + z * zStride];
                     int maxSpanIndex = cell.index + cell.count;
                     for (int spanIndex = cell.index; spanIndex < maxSpanIndex; ++spanIndex)
                     {
-                        RcCompactSpan span = compactHeightfield.spans[spanIndex];
+                        ref RcCompactSpan span = ref compactHeightfield.spans[spanIndex];
 
                         // Skip if the span is outside the box extents.
                         if (span.y < minY || span.y > maxY)
@@ -446,7 +445,7 @@ namespace DotRecast.Recast
         /// @param[in]		maxY				The height of the top of the polygon. [Units: wu]
         /// @param[in]		areaId				The area id to apply. [Limit: <= #RC_WALKABLE_AREA]
         /// @param[in,out]	compactHeightfield	A populated compact heightfield.
-        public static void MarkConvexPolyArea(RcTelemetry context, float[] verts,
+        public static void MarkConvexPolyArea(RcContext context, float[] verts,
             float minY, float maxY, RcAreaModification areaId,
             RcCompactHeightfield compactHeightfield)
         {
@@ -457,12 +456,12 @@ namespace DotRecast.Recast
             int zStride = xSize; // For readability
 
             // Compute the bounding box of the polygon
-            RcVec3f bmin = RcVecUtils.Create(verts);
-            RcVec3f bmax = RcVecUtils.Create(verts);
+            RcVec3f bmin = new RcVec3f(verts);
+            RcVec3f bmax = new RcVec3f(verts);
             for (int i = 3; i < verts.Length; i += 3)
             {
-                bmin = RcVecUtils.Min(bmin, verts, i);
-                bmax = RcVecUtils.Max(bmax, verts, i);
+                bmin = RcVec3f.Min(bmin, RcVec.Create(verts, i));
+                bmax = RcVec3f.Max(bmax, RcVec.Create(verts, i));
             }
 
             bmin.Y = minY;
@@ -523,11 +522,11 @@ namespace DotRecast.Recast
             {
                 for (int x = minx; x <= maxx; ++x)
                 {
-                    RcCompactCell cell = compactHeightfield.cells[x + z * zStride];
+                    ref RcCompactCell cell = ref compactHeightfield.cells[x + z * zStride];
                     int maxSpanIndex = cell.index + cell.count;
                     for (int spanIndex = cell.index; spanIndex < maxSpanIndex; ++spanIndex)
                     {
-                        RcCompactSpan span = compactHeightfield.spans[spanIndex];
+                        ref RcCompactSpan span = ref compactHeightfield.spans[spanIndex];
 
                         // Skip if span is removed.
                         if (compactHeightfield.areas[spanIndex] == RC_NULL_AREA)
@@ -567,7 +566,7 @@ namespace DotRecast.Recast
         /// @param[in]		height				The height of the cylinder. [Units: wu] [Limit: > 0]
         /// @param[in]		areaId				The area id to apply. [Limit: <= #RC_WALKABLE_AREA]
         /// @param[in,out]	compactHeightfield	A populated compact heightfield.
-        public static void MarkCylinderArea(RcTelemetry context, float[] position, float radius, float height,
+        public static void MarkCylinderArea(RcContext context, float[] position, float radius, float height,
             RcAreaModification areaId, RcCompactHeightfield compactHeightfield)
         {
             using var timer = context.ScopedTimer(RcTimerLabel.RC_TIMER_MARK_CYLINDER_AREA);
@@ -644,7 +643,7 @@ namespace DotRecast.Recast
             {
                 for (int x = minx; x <= maxx; ++x)
                 {
-                    RcCompactCell cell = compactHeightfield.cells[x + z * zStride];
+                    ref RcCompactCell cell = ref compactHeightfield.cells[x + z * zStride];
                     int maxSpanIndex = cell.index + cell.count;
 
                     float cellX = compactHeightfield.bmin.X + ((float)x + 0.5f) * compactHeightfield.cs;
@@ -661,7 +660,7 @@ namespace DotRecast.Recast
                     // Mark all overlapping spans
                     for (int spanIndex = cell.index; spanIndex < maxSpanIndex; ++spanIndex)
                     {
-                        RcCompactSpan span = compactHeightfield.spans[spanIndex];
+                        ref RcCompactSpan span = ref compactHeightfield.spans[spanIndex];
 
                         // Skip if span is removed.
                         if (compactHeightfield.areas[spanIndex] == RC_NULL_AREA)
@@ -753,19 +752,19 @@ namespace DotRecast.Recast
                 int vertIndexB = vertIndex;
                 int vertIndexC = (vertIndex + 1) % numVerts;
 
-                RcVec3f vertA = RcVecUtils.Create(verts, vertIndexA * 3);
-                RcVec3f vertB = RcVecUtils.Create(verts, vertIndexB * 3);
-                RcVec3f vertC = RcVecUtils.Create(verts, vertIndexC * 3);
+                RcVec3f vertA = RcVec.Create(verts, vertIndexA * 3);
+                RcVec3f vertB = RcVec.Create(verts, vertIndexB * 3);
+                RcVec3f vertC = RcVec.Create(verts, vertIndexC * 3);
 
                 // From A to B on the x/z plane
                 RcVec3f prevSegmentDir = RcVec3f.Subtract(vertB, vertA);
                 prevSegmentDir.Y = 0; // Squash onto x/z plane
-                prevSegmentDir = RcVecUtils.SafeNormalize(prevSegmentDir);
+                prevSegmentDir = RcVec.SafeNormalize(prevSegmentDir);
 
                 // From B to C on the x/z plane
                 RcVec3f currSegmentDir = RcVec3f.Subtract(vertC, vertB);
                 currSegmentDir.Y = 0; // Squash onto x/z plane
-                currSegmentDir = RcVecUtils.SafeNormalize(currSegmentDir);
+                currSegmentDir = RcVec.SafeNormalize(currSegmentDir);
 
                 // The y component of the cross product of the two normalized segment directions.
                 // The X and Z components of the cross product are both zero because the two
@@ -792,7 +791,7 @@ namespace DotRecast.Recast
                 bool bevel = cornerMiterSqMag * MITER_LIMIT * MITER_LIMIT < 1.0f;
 
                 // Scale the corner miter so it's proportional to how much the corner should be offset compared to the edges.
-                if (cornerMiterSqMag > RcVecUtils.EPSILON)
+                if (cornerMiterSqMag > RcVec.EPSILON)
                 {
                     float scale = 1.0f / cornerMiterSqMag;
                     cornerMiterX *= scale;

src/DotRecast.Recast/RcAxis.cs

@@ -0,0 +1,9 @@
+namespace DotRecast.Recast
+{
+    public static class RcAxis
+    {
+        public const int RC_AXIS_X = 0;
+        public const int RC_AXIS_Y = 1;
+        public const int RC_AXIS_Z = 2;
+    };
+}

src/DotRecast.Recast/RcBuildContoursFlags.cs

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

src/DotRecast.Recast/RcBuilder.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -19,7 +19,9 @@ freely, subject to the following restrictions:
 */
 
 using System;
+using System.Collections.Concurrent;
 using System.Collections.Generic;
+using System.Linq;
 using System.Threading;
 using System.Threading.Tasks;
 using DotRecast.Core;
@@ -28,7 +30,7 @@ using DotRecast.Recast.Geom;
 
 namespace DotRecast.Recast
 {
-    using static RcCommons;
+    using static RcRecast;
     using static RcAreas;
 
     public class RcBuilder
@@ -45,183 +47,162 @@ namespace DotRecast.Recast
             _progressListener = progressListener;
         }
 
-        public List<RcBuilderResult> BuildTiles(IInputGeomProvider geom, RcConfig cfg, TaskFactory taskFactory)
+        public List<RcBuilderResult> BuildTiles(IInputGeomProvider geom, RcConfig cfg, bool keepInterResults, bool buildAll,
+            int threads = 0, TaskFactory taskFactory = null, CancellationToken cancellation = default)
         {
             RcVec3f bmin = geom.GetMeshBoundsMin();
             RcVec3f bmax = geom.GetMeshBoundsMax();
             CalcTileCount(bmin, bmax, cfg.Cs, cfg.TileSizeX, cfg.TileSizeZ, out var tw, out var th);
-            List<RcBuilderResult> results = new List<RcBuilderResult>();
-            if (null != taskFactory)
+
+            if (1 < threads)
             {
-                BuildMultiThreadAsync(geom, cfg, bmin, bmax, tw, th, results, taskFactory, default);
+                return BuildMultiThread(geom, cfg, bmin, bmax, tw, th, threads, taskFactory ?? Task.Factory, cancellation, keepInterResults, buildAll);
             }
-            else
+
+            return BuildSingleThread(geom, cfg, bmin, bmax, tw, th, keepInterResults, buildAll);
+        }
+
+        private List<RcBuilderResult> BuildSingleThread(IInputGeomProvider geom, RcConfig cfg, RcVec3f bmin, RcVec3f bmax, int tw, int th,
+            bool keepInterResults, bool buildAll)
         {
-                BuildSingleThreadAsync(geom, cfg, bmin, bmax, tw, th, results);
+            var results = new List<RcBuilderResult>(th * tw);
+            RcAtomicInteger counter = new RcAtomicInteger(0);
+
+            for (int y = 0; y < th; ++y)
+            {
+                for (int x = 0; x < tw; ++x)
+                {
+                    var result = BuildTile(geom, cfg, bmin, bmax, x, y, counter, tw * th, keepInterResults);
+                    results.Add(result);
+                }
             }
 
             return results;
         }
 
+        private List<RcBuilderResult> BuildMultiThread(IInputGeomProvider geom, RcConfig cfg, RcVec3f bmin, RcVec3f bmax, int tw, int th,
+            int threads, TaskFactory taskFactory, CancellationToken cancellation,
+            bool keepInterResults, bool buildAll)
+        {
+            var results = new ConcurrentQueue<RcBuilderResult>();
+            RcAtomicInteger progress = new RcAtomicInteger(0);
 
-        public Task BuildTilesAsync(IInputGeomProvider geom, RcConfig cfg, int threads, List<RcBuilderResult> results, TaskFactory taskFactory, CancellationToken cancellationToken)
-        {
-            RcVec3f bmin = geom.GetMeshBoundsMin();
-            RcVec3f bmax = geom.GetMeshBoundsMax();
-            CalcTileCount(bmin, bmax, cfg.Cs, cfg.TileSizeX, cfg.TileSizeZ, out var tw, out var th);
-            Task task;
-            if (1 < threads)
-            {
-                task = BuildMultiThreadAsync(geom, cfg, bmin, bmax, tw, th, results, taskFactory, cancellationToken);
-            }
-            else
-            {
-                task = BuildSingleThreadAsync(geom, cfg, bmin, bmax, tw, th, results);
-            }
-
-            return task;
-        }
-
-        private Task BuildSingleThreadAsync(IInputGeomProvider geom, RcConfig cfg, RcVec3f bmin, RcVec3f bmax,
-            int tw, int th, List<RcBuilderResult> results)
-        {
-            RcAtomicInteger counter = new RcAtomicInteger(0);
-            for (int y = 0; y < th; ++y)
-            {
-                for (int x = 0; x < tw; ++x)
-                {
-                    results.Add(BuildTile(geom, cfg, bmin, bmax, x, y, counter, tw * th));
-                }
-            }
-
-            return Task.CompletedTask;
-        }
-
-        private Task BuildMultiThreadAsync(IInputGeomProvider geom, RcConfig cfg, RcVec3f bmin, RcVec3f bmax,
-            int tw, int th, List<RcBuilderResult> results, TaskFactory taskFactory, CancellationToken cancellationToken)
-        {
-            RcAtomicInteger counter = new RcAtomicInteger(0);
-            CountdownEvent latch = new CountdownEvent(tw * th);
-            List<Task> tasks = new List<Task>();
-
+            List<Task> limits = new List<Task>(threads);
             for (int x = 0; x < tw; ++x)
             {
                 for (int y = 0; y < th; ++y)
                 {
                     int tx = x;
                     int ty = y;
-                    var task = taskFactory.StartNew(() =>
+                    var task = taskFactory.StartNew(state =>
                     {
-                        if (cancellationToken.IsCancellationRequested)
+                        if (cancellation.IsCancellationRequested)
                             return;
 
                         try
                         {
-                            RcBuilderResult tile = BuildTile(geom, cfg, bmin, bmax, tx, ty, counter, tw * th);
-                            lock (results)
-                            {
-                                results.Add(tile);
-                            }
+                            RcBuilderResult result = BuildTile(geom, cfg, bmin, bmax, tx, ty, progress, tw * th, keepInterResults);
+                            results.Enqueue(result);
                         }
                         catch (Exception e)
                         {
                             Console.WriteLine(e);
                         }
+                    }, null, cancellation);
 
-
-                        latch.Signal();
-                    }, cancellationToken);
-
-                    tasks.Add(task);
-                }
-            }
-
-            try
+                    limits.Add(task);
+                    if (threads <= limits.Count)
                     {
-                latch.Wait();
+                        Task.WaitAll(limits.ToArray());
+                        limits.Clear();
+                    }
                 }
-            catch (ThreadInterruptedException)
-            {
             }
 
-            return Task.WhenAll(tasks.ToArray());
+            if (0 < limits.Count)
+            {
+                Task.WaitAll(limits.ToArray());
+                limits.Clear();
             }
 
-        public RcBuilderResult BuildTile(IInputGeomProvider geom, RcConfig cfg, RcVec3f bmin, RcVec3f bmax, int tx,
-            int ty, RcAtomicInteger counter, int total)
+            var list = results.ToList();
+            return list;
+        }
+
+        public RcBuilderResult BuildTile(IInputGeomProvider geom, RcConfig cfg, RcVec3f bmin, RcVec3f bmax, int tx, int ty, RcAtomicInteger progress, int total, bool keepInterResults)
         {
-            RcBuilderResult result = Build(geom, new RcBuilderConfig(cfg, bmin, bmax, tx, ty));
+            var bcfg = new RcBuilderConfig(cfg, bmin, bmax, tx, ty);
+            RcBuilderResult result = Build(geom, bcfg, keepInterResults);
             if (_progressListener != null)
             {
-                _progressListener.OnProgress(counter.IncrementAndGet(), total);
+                _progressListener.OnProgress(progress.IncrementAndGet(), total);
             }
 
+
             return result;
         }
 
-        public RcBuilderResult Build(IInputGeomProvider geom, RcBuilderConfig builderCfg)
+        public RcBuilderResult Build(IInputGeomProvider geom, RcBuilderConfig bcfg, bool keepInterResults)
         {
-            RcConfig cfg = builderCfg.cfg;
-            RcTelemetry ctx = new RcTelemetry();
+            RcConfig cfg = bcfg.cfg;
+            RcContext ctx = new RcContext();
             //
             // Step 1. Rasterize input polygon soup.
             //
-            RcHeightfield solid = RcVoxelizations.BuildSolidHeightfield(geom, builderCfg, ctx);
-            return Build(builderCfg.tileX, builderCfg.tileZ, geom, cfg, solid, ctx);
+            RcHeightfield solid = RcVoxelizations.BuildSolidHeightfield(ctx, geom, bcfg);
+            return Build(ctx, bcfg.tileX, bcfg.tileZ, geom, cfg, solid, keepInterResults);
         }
 
-        public RcBuilderResult Build(int tileX, int tileZ, IInputGeomProvider geom, RcConfig cfg, RcHeightfield solid, RcTelemetry ctx)
+        public RcBuilderResult Build(RcContext ctx, int tileX, int tileZ, IInputGeomProvider geom, RcConfig cfg, RcHeightfield solid, bool keepInterResults)
         {
-            FilterHeightfield(solid, cfg, ctx);
-            RcCompactHeightfield chf = BuildCompactHeightfield(geom, cfg, ctx, solid);
+            FilterHeightfield(ctx, solid, cfg);
+            RcCompactHeightfield chf = BuildCompactHeightfield(ctx, geom, cfg, solid);
 
-            // Partition the heightfield so that we can use simple algorithm later
-            // to triangulate the walkable areas.
+            // Partition the heightfield so that we can use simple algorithm later to triangulate the walkable areas.
             // There are 3 partitioning methods, each with some pros and cons:
             // 1) Watershed partitioning
             //   - the classic Recast partitioning
             //   - creates the nicest tessellation
             //   - usually slowest
-            // - partitions the heightfield into nice regions without holes or
-            // overlaps
-            // - the are some corner cases where this method creates produces holes
-            // and overlaps
-            // - holes may appear when a small obstacles is close to large open area
-            // (triangulation can handle this)
-            // - overlaps may occur if you have narrow spiral corridors (i.e
-            // stairs), this make triangulation to fail
-            // * generally the best choice if you precompute the navmesh, use this
-            // if you have large open areas
-            // 2) Monotone partioning
+            //   - partitions the heightfield into nice regions without holes or overlaps
+            //   - the are some corner cases where this method creates produces holes and overlaps
+            //      - holes may appear when a small obstacles is close to large open area (triangulation can handle this)
+            //      - overlaps may occur if you have narrow spiral corridors (i.e stairs), this make triangulation to fail
+            //   * generally the best choice if you precompute the navmesh, use this if you have large open areas
+            // 2) Monotone partitioning
             //   - fastest
-            // - partitions the heightfield into regions without holes and overlaps
-            // (guaranteed)
-            // - creates long thin polygons, which sometimes causes paths with
-            // detours
+            //   - partitions the heightfield into regions without holes and overlaps (guaranteed)
+            //   - creates long thin polygons, which sometimes causes paths with detours
             //   * use this if you want fast navmesh generation
             // 3) Layer partitoining
             //   - quite fast
             //   - partitions the heighfield into non-overlapping regions
-            // - relies on the triangulation code to cope with holes (thus slower
-            // than monotone partitioning)
+            //   - relies on the triangulation code to cope with holes (thus slower than monotone partitioning)
             //   - produces better triangles than monotone partitioning
             //   - does not have the corner cases of watershed partitioning
-            // - can be slow and create a bit ugly tessellation (still better than
-            // monotone)
-            // if you have large open areas with small obstacles (not a problem if
-            // you use tiles)
-            // * good choice to use for tiled navmesh with medium and small sized
-            // tiles
+            //   - can be slow and create a bit ugly tessellation (still better than monotone)
+            //     if you have large open areas with small obstacles (not a problem if you use tiles)
+            //   * good choice to use for tiled navmesh with medium and small sized tiles
 
             if (cfg.Partition == RcPartitionType.WATERSHED.Value)
             {
-                // Prepare for region partitioning, by calculating distance field
-                // along the walkable surface.
+                // Prepare for region partitioning, by calculating distance field along the walkable surface.
                 RcRegions.BuildDistanceField(ctx, chf);
-            }
 
                 // Partition the walkable surface into simple regions without holes.
-            RcRegions.BuildRegions(ctx, chf, cfg.MinRegionArea, cfg.MergeRegionArea, RcPartitionType.OfValue(cfg.Partition));
+                RcRegions.BuildRegions(ctx, chf, cfg.MinRegionArea, cfg.MergeRegionArea);
+            }
+            else if (cfg.Partition == RcPartitionType.MONOTONE.Value)
+            {
+                // Partition the walkable surface into simple regions without holes.
+                // Monotone partitioning does not need distancefield.
+                RcRegions.BuildRegionsMonotone(ctx, chf, cfg.MinRegionArea, cfg.MergeRegionArea);
+            }
+            else
+            {
+                // Partition the walkable surface into simple regions without holes.
+                RcRegions.BuildLayerRegions(ctx, chf, cfg.MinRegionArea);
+            }
 
             //
             // Step 5. Trace and simplify region contours.
@@ -243,13 +224,23 @@ 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
+            );
         }
 
         /*
          * Step 2. Filter walkable surfaces.
          */
-        private void FilterHeightfield(RcHeightfield solid, RcConfig cfg, RcTelemetry ctx)
+        private void FilterHeightfield(RcContext ctx, RcHeightfield solid, RcConfig cfg)
         {
             // Once all geometry is rasterized, we do initial pass of filtering to
             // remove unwanted overhangs caused by the conservative rasterization
@@ -273,7 +264,7 @@ namespace DotRecast.Recast
         /*
          * Step 3. Partition walkable surface to simple regions.
          */
-        private RcCompactHeightfield BuildCompactHeightfield(IInputGeomProvider geom, RcConfig cfg, RcTelemetry ctx, RcHeightfield solid)
+        private RcCompactHeightfield BuildCompactHeightfield(RcContext ctx, IInputGeomProvider geom, RcConfig cfg, RcHeightfield solid)
         {
             // Compact the heightfield so that it is faster to handle from now on.
             // This will result more cache coherent data as well as the neighbours
@@ -296,11 +287,13 @@ namespace DotRecast.Recast
 
         public RcHeightfieldLayerSet BuildLayers(IInputGeomProvider geom, RcBuilderConfig builderCfg)
         {
-            RcTelemetry ctx = new RcTelemetry();
-            RcHeightfield solid = RcVoxelizations.BuildSolidHeightfield(geom, builderCfg, ctx);
-            FilterHeightfield(solid, builderCfg.cfg, ctx);
-            RcCompactHeightfield chf = BuildCompactHeightfield(geom, builderCfg.cfg, ctx, solid);
-            return RcLayers.BuildHeightfieldLayers(ctx, chf, builderCfg.cfg.WalkableHeight);
+            RcContext ctx = new RcContext();
+            RcHeightfield solid = RcVoxelizations.BuildSolidHeightfield(ctx, geom, builderCfg);
+            FilterHeightfield(ctx, solid, builderCfg.cfg);
+            RcCompactHeightfield chf = BuildCompactHeightfield(ctx, geom, builderCfg.cfg, solid);
+
+            RcLayers.BuildHeightfieldLayers(ctx, chf, builderCfg.cfg.BorderSize, builderCfg.cfg.WalkableHeight, out var lset);
+            return lset;
         }
     }
 }

src/DotRecast.Recast/RcBuilderConfig.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -92,7 +92,7 @@ namespace DotRecast.Recast
             }
             else
             {
-                RcCommons.CalcGridSize(this.bmin, this.bmax, cfg.Cs, out width, out height);
+                RcRecast.CalcGridSize(this.bmin, this.bmax, cfg.Cs, out width, out height);
             }
         }
     }

src/DotRecast.Recast/RcBuilderResult.cs

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

src/DotRecast.Recast/RcCompactCell.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

src/DotRecast.Recast/RcCompactHeightfield.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

src/DotRecast.Recast/RcCompactSpan.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -21,18 +21,26 @@ freely, subject to the following restrictions:
 namespace DotRecast.Recast
 {
     /** Represents a span of unobstructed space within a compact heightfield. */
-    public struct RcCompactSpan
+    public readonly struct RcCompactSpan
     {
         /** The lower extent of the span. (Measured from the heightfield's base.) */
-        public int y;
+        public readonly int y;
 
         /** The id of the region the span belongs to. (Or zero if not in a region.) */
-        public int reg;
+        public readonly int reg;
 
         /** Packed neighbor connection data. */
-        public int con;
+        public readonly int con;
 
         /** The height of the span. (Measured from #y.) */
-        public int h;
+        public readonly int h;
+
+        public RcCompactSpan(RcCompactSpanBuilder span)
+        {
+            y = span.y;
+            reg = span.reg;
+            con = span.con;
+            h = span.h;
+        }
     }
 }

src/DotRecast.Recast/RcCompactSpanBuilder.cs

@@ -0,0 +1,40 @@
+namespace DotRecast.Recast
+{
+    public class RcCompactSpanBuilder
+    {
+        public int y;
+        public int reg;
+        public int con;
+        public int h;
+
+        public static RcCompactSpanBuilder NewBuilder(ref RcCompactSpan span)
+        {
+            var builder = NewBuilder();
+            builder.y = span.y;
+            builder.reg = span.reg;
+            builder.con = span.con;
+            builder.h = span.h;
+            return builder;
+        }
+        
+        public static RcCompactSpanBuilder NewBuilder()
+        {
+            return new RcCompactSpanBuilder();
+        }
+
+        private RcCompactSpanBuilder()
+        {
+        }
+
+        public RcCompactSpanBuilder WithReg(int reg)
+        {
+            this.reg = reg;
+            return this;
+        }
+
+        public RcCompactSpan Build()
+        {
+            return new RcCompactSpan(this);
+        }
+    }
+}

src/DotRecast.Recast/RcCompacts.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -18,21 +18,22 @@ freely, subject to the following restrictions:
 */
 
 using System;
+using System.Linq;
 using DotRecast.Core;
-using static DotRecast.Recast.RcConstants;
-
 
 namespace DotRecast.Recast
 {
-    using static RcCommons;
-
+    using static RcRecast;
 
     public static class RcCompacts
     {
-        private const int MAX_LAYERS = RC_NOT_CONNECTED - 1;
-        private const int MAX_HEIGHT = RcConstants.SPAN_MAX_HEIGHT;
+        private const int MAX_HEIGHT = RC_SPAN_MAX_HEIGHT;
 
-        /// @par
+        /// @}
+        /// @name Compact Heightfield Functions
+        /// @see rcCompactHeightfield
+        /// @{
+        /// Builds a compact heightfield representing open space, from a heightfield representing solid space.
         ///
         /// This is just the beginning of the process of fully building a compact heightfield.
         /// Various filters may be applied, then the distance field and regions built.
@@ -41,113 +42,123 @@ namespace DotRecast.Recast
         /// See the #rcConfig documentation for more information on the configuration parameters.
         ///
         /// @see rcAllocCompactHeightfield, rcHeightfield, rcCompactHeightfield, rcConfig
-        public static RcCompactHeightfield BuildCompactHeightfield(RcTelemetry ctx, int walkableHeight, int walkableClimb,
-            RcHeightfield hf)
+        /// @ingroup recast
+        /// 
+        /// @param[in,out]	context				The build context to use during the operation.
+        /// @param[in]		walkableHeight		Minimum floor to 'ceiling' height that will still allow the floor area 
+        /// 									to be considered walkable. [Limit: >= 3] [Units: vx]
+        /// @param[in]		walkableClimb		Maximum ledge height that is considered to still be traversable. 
+        /// 									[Limit: >=0] [Units: vx]
+        /// @param[in]		heightfield			The heightfield to be compacted.
+        /// @param[out]		compactHeightfield	The resulting compact heightfield. (Must be pre-allocated.)
+        /// @returns True if the operation completed successfully.
+        public static RcCompactHeightfield BuildCompactHeightfield(RcContext context, int walkableHeight, int walkableClimb, RcHeightfield heightfield)
         {
-            using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_BUILD_COMPACTHEIGHTFIELD);
+            using var timer = context.ScopedTimer(RcTimerLabel.RC_TIMER_BUILD_COMPACTHEIGHTFIELD);
 
-            RcCompactHeightfield chf = new RcCompactHeightfield();
-            int w = hf.width;
-            int h = hf.height;
-            int spanCount = GetHeightFieldSpanCount(hf);
+            int xSize = heightfield.width;
+            int zSize = heightfield.height;
+            int spanCount = GetHeightFieldSpanCount(context, heightfield);
 
             // Fill in header.
-            chf.width = w;
-            chf.height = h;
-            chf.borderSize = hf.borderSize;
-            chf.spanCount = spanCount;
-            chf.walkableHeight = walkableHeight;
-            chf.walkableClimb = walkableClimb;
-            chf.maxRegions = 0;
-            chf.bmin = hf.bmin;
-            chf.bmax = hf.bmax;
-            chf.bmax.Y += walkableHeight * hf.ch;
-            chf.cs = hf.cs;
-            chf.ch = hf.ch;
-            chf.cells = new RcCompactCell[w * h];
-            chf.spans = new RcCompactSpan[spanCount];
-            chf.areas = new int[spanCount];
+            RcCompactHeightfield compactHeightfield = new RcCompactHeightfield();
+            compactHeightfield.width = xSize;
+            compactHeightfield.height = zSize;
+            compactHeightfield.borderSize = heightfield.borderSize;
+            compactHeightfield.spanCount = spanCount;
+            compactHeightfield.walkableHeight = walkableHeight;
+            compactHeightfield.walkableClimb = walkableClimb;
+            compactHeightfield.maxRegions = 0;
+            compactHeightfield.bmin = heightfield.bmin;
+            compactHeightfield.bmax = heightfield.bmax;
+            compactHeightfield.bmax.Y += walkableHeight * heightfield.ch;
+            compactHeightfield.cs = heightfield.cs;
+            compactHeightfield.ch = heightfield.ch;
+            compactHeightfield.cells = new RcCompactCell[xSize * zSize];
+            //chf.spans = new RcCompactSpan[spanCount];
+            compactHeightfield.areas = new int[spanCount];
 
-            for (int i = 0; i < chf.spans.Length; i++)
-            {
-                chf.spans[i] = new RcCompactSpan();
-            }
+            var tempSpans = Enumerable
+                .Range(0, spanCount)
+                .Select(x => RcCompactSpanBuilder.NewBuilder())
+                .ToArray();
 
             // Fill in cells and spans.
-            int idx = 0;
-            for (int y = 0; y < h; ++y)
+            int currentCellIndex = 0;
+            int numColumns = xSize * zSize;
+            for (int columnIndex = 0; columnIndex < numColumns; ++columnIndex)
             {
-                for (int x = 0; x < w; ++x)
-                {
-                    RcSpan s = hf.spans[x + y * w];
+                RcSpan span = heightfield.spans[columnIndex];
+
                 // If there are no spans at this cell, just leave the data to index=0, count=0.
-                    if (s == null)
+                if (span == null)
                     continue;
 
-                    int tmpIdx = idx;
+                int tmpIdx = currentCellIndex;
                 int tmpCount = 0;
-                    while (s != null)
+                for (; span != null; span = span.next)
                 {
-                        if (s.area != RC_NULL_AREA)
+                    if (span.area != RC_NULL_AREA)
                     {
-                            int bot = s.smax;
-                            int top = s.next != null ? (int)s.next.smin : MAX_HEIGHT;
-                            chf.spans[idx].y = Math.Clamp(bot, 0, MAX_HEIGHT);
-                            chf.spans[idx].h = Math.Clamp(top - bot, 0, MAX_HEIGHT);
-                            chf.areas[idx] = s.area;
-                            idx++;
+                        int bot = span.smax;
+                        int top = span.next != null ? (int)span.next.smin : MAX_HEIGHT;
+                        tempSpans[currentCellIndex].y = Math.Clamp(bot, 0, MAX_HEIGHT);
+                        tempSpans[currentCellIndex].h = Math.Clamp(top - bot, 0, MAX_HEIGHT);
+                        compactHeightfield.areas[currentCellIndex] = span.area;
+                        currentCellIndex++;
                         tmpCount++;
                     }
-
-                        s = s.next;
                 }
 
-                    chf.cells[x + y * w] = new RcCompactCell(tmpIdx, tmpCount);
-                }
+                compactHeightfield.cells[columnIndex] = new RcCompactCell(tmpIdx, tmpCount);
             }
 
             // Find neighbour connections.
-            int tooHighNeighbour = 0;
-            for (int y = 0; y < h; ++y)
+            const int MAX_LAYERS = RC_NOT_CONNECTED - 1;
+            int maxLayerIndex = 0;
+            int zStride = xSize; // for readability
+            for (int z = 0; z < zSize; ++z)
             {
-                for (int x = 0; x < w; ++x)
+                for (int x = 0; x < xSize; ++x)
                 {
-                    RcCompactCell c = chf.cells[x + y * w];
-                    for (int i = c.index, ni = c.index + c.count; i < ni; ++i)
+                    ref RcCompactCell cell = ref compactHeightfield.cells[x + z * zStride];
+                    for (int i = cell.index, ni = cell.index + cell.count; i < ni; ++i)
                     {
-                        ref RcCompactSpan s = ref chf.spans[i];
+                        ref RcCompactSpanBuilder s = ref tempSpans[i];
 
                         for (int dir = 0; dir < 4; ++dir)
                         {
-                            SetCon(ref s, dir, RC_NOT_CONNECTED);
-                            int nx = x + GetDirOffsetX(dir);
-                            int ny = y + GetDirOffsetY(dir);
+                            SetCon(s, dir, RC_NOT_CONNECTED);
+                            int neighborX = x + GetDirOffsetX(dir);
+                            int neighborZ = z + GetDirOffsetY(dir);
                             // First check that the neighbour cell is in bounds.
-                            if (nx < 0 || ny < 0 || nx >= w || ny >= h)
-                                continue;
-
-                            // Iterate over all neighbour spans and check if any of the is
-                            // accessible from current cell.
-                            RcCompactCell nc = chf.cells[nx + ny * w];
-                            for (int k = nc.index, nk = nc.index + nc.count; k < nk; ++k)
+                            if (neighborX < 0 || neighborZ < 0 || neighborX >= xSize || neighborZ >= zSize)
                             {
-                                ref RcCompactSpan ns = ref chf.spans[k];
-                                int bot = Math.Max(s.y, ns.y);
-                                int top = Math.Min(s.y + s.h, ns.y + ns.h);
-
-                                // Check that the gap between the spans is walkable,
-                                // and that the climb height between the gaps is not too high.
-                                if ((top - bot) >= walkableHeight && MathF.Abs(ns.y - s.y) <= walkableClimb)
-                                {
-                                    // Mark direction as walkable.
-                                    int lidx = k - nc.index;
-                                    if (lidx < 0 || lidx > MAX_LAYERS)
-                                    {
-                                        tooHighNeighbour = Math.Max(tooHighNeighbour, lidx);
                                 continue;
                             }
 
-                                    SetCon(ref s, dir, lidx);
+                            // Iterate over all neighbour spans and check if any of the is
+                            // accessible from current cell.
+                            ref RcCompactCell neighborCell = ref compactHeightfield.cells[neighborX + neighborZ * xSize];
+                            for (int k = neighborCell.index, nk = neighborCell.index + neighborCell.count; k < nk; ++k)
+                            {
+                                ref RcCompactSpanBuilder neighborSpan = ref tempSpans[k];
+                                int bot = Math.Max(s.y, neighborSpan.y);
+                                int top = Math.Min(s.y + s.h, neighborSpan.y + neighborSpan.h);
+
+                                // Check that the gap between the spans is walkable,
+                                // and that the climb height between the gaps is not too high.
+                                if ((top - bot) >= walkableHeight && MathF.Abs(neighborSpan.y - s.y) <= walkableClimb)
+                                {
+                                    // Mark direction as walkable.
+                                    int layerIndex = k - neighborCell.index;
+                                    if (layerIndex < 0 || layerIndex > MAX_LAYERS)
+                                    {
+                                        maxLayerIndex = Math.Max(maxLayerIndex, layerIndex);
+                                        continue;
+                                    }
+
+                                    SetCon(s, dir, layerIndex);
                                     break;
                                 }
                             }
@@ -156,27 +167,31 @@ namespace DotRecast.Recast
                 }
             }
 
-            if (tooHighNeighbour > MAX_LAYERS)
+            if (maxLayerIndex > MAX_LAYERS)
             {
-                throw new Exception("rcBuildCompactHeightfield: Heightfield has too many layers " + tooHighNeighbour
-                                                                                                  + " (max: " + MAX_LAYERS + ")");
+                throw new Exception($"rcBuildCompactHeightfield: Heightfield has too many layers {maxLayerIndex} (max: {MAX_LAYERS})");
             }
 
-            return chf;
+            compactHeightfield.spans = tempSpans.Select(x => x.Build()).ToArray();
+
+            return compactHeightfield;
         }
 
-        private static int GetHeightFieldSpanCount(RcHeightfield hf)
+        /// Returns the number of spans contained in the specified heightfield.
+        ///  @ingroup recast
+        ///  @param[in,out]	context		The build context to use during the operation.
+        ///  @param[in]		heightfield	An initialized heightfield.
+        ///  @returns The number of spans in the heightfield.
+        private static int GetHeightFieldSpanCount(RcContext context, RcHeightfield heightfield)
         {
-            int w = hf.width;
-            int h = hf.height;
+            int numCols = heightfield.width * heightfield.height;
             int spanCount = 0;
-            for (int y = 0; y < h; ++y)
+            for (int columnIndex = 0; columnIndex < numCols; ++columnIndex)
             {
-                for (int x = 0; x < w; ++x)
+                for (RcSpan span = heightfield.spans[columnIndex]; span != null; span = span.next)
                 {
-                    for (RcSpan s = hf.spans[x + y * w]; s != null; s = s.next)
+                    if (span.area != RC_NULL_AREA)
                     {
-                        if (s.area != RC_NULL_AREA)
                         spanCount++;
                     }
                 }

src/DotRecast.Recast/RcConfig.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

src/DotRecast.Recast/RcConstants.cs

@@ -1,89 +0,0 @@
-/*
-Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
-
-This software is provided 'as-is', without any express or implied
-warranty.  In no event will the authors be held liable for any damages
-arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it
-freely, subject to the following restrictions:
-1. The origin of this software must not be misrepresented; you must not
- claim that you wrote the original software. If you use this software
- in a product, an acknowledgment in the product documentation would be
- appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be
- misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-namespace DotRecast.Recast
-{
-    public static class RcConstants
-    {
-        /// Represents the null area.
-        /// When a data element is given this value it is considered to no longer be 
-        /// assigned to a usable area.  (E.g. It is un-walkable.)
-        public const int RC_NULL_AREA = 0;
-        
-        /// The default area id used to indicate a walkable polygon. 
-        /// This is also the maximum allowed area id, and the only non-null area id 
-        /// recognized by some steps in the build process. 
-        public const int RC_WALKABLE_AREA = 63;
-
-        /// The value returned by #rcGetCon if the specified direction is not connected
-        /// to another span. (Has no neighbor.)
-        public const int RC_NOT_CONNECTED = 0x3f;
-        
-        /// Defines the number of bits allocated to rcSpan::smin and rcSpan::smax.
-        public const int SPAN_HEIGHT_BITS = 20;
-
-        /// Defines the maximum value for rcSpan::smin and rcSpan::smax.
-        public const int SPAN_MAX_HEIGHT = (1 << SPAN_HEIGHT_BITS) - 1;
-
-        /// Heighfield border flag.
-        /// If a heightfield region ID has this bit set, then the region is a border
-        /// region and its spans are considered unwalkable.
-        /// (Used during the region and contour build process.)
-        /// @see rcCompactSpan::reg
-        public const int RC_BORDER_REG = 0x8000;
-
-        /// Polygon touches multiple regions.
-        /// If a polygon has this region ID it was merged with or created
-        /// from polygons of different regions during the polymesh
-        /// build step that removes redundant border vertices.
-        /// (Used during the polymesh and detail polymesh build processes)
-        /// @see rcPolyMesh::regs
-        public const int RC_MULTIPLE_REGS = 0;
-
-        // Border vertex flag.
-        /// If a region ID has this bit set, then the associated element lies on
-        /// a tile border. If a contour vertex's region ID has this bit set, the
-        /// vertex will later be removed in order to match the segments and vertices
-        /// at tile boundaries.
-        /// (Used during the build process.)
-        /// @see rcCompactSpan::reg, #rcContour::verts, #rcContour::rverts
-        public const int RC_BORDER_VERTEX = 0x10000;
-
-        /// Area border flag.
-        /// If a region ID has this bit set, then the associated element lies on
-        /// the border of an area.
-        /// (Used during the region and contour build process.)
-        /// @see rcCompactSpan::reg, #rcContour::verts, #rcContour::rverts
-        public const int RC_AREA_BORDER = 0x20000;
-
-        /// Applied to the region id field of contour vertices in order to extract the region id.
-        /// The region id field of a vertex may have several flags applied to it. So the
-        /// fields value can't be used directly.
-        /// @see rcContour::verts, rcContour::rverts
-        public const int RC_CONTOUR_REG_MASK = 0xffff;
-
-        /// A value which indicates an invalid index within a mesh.
-        /// @note This does not necessarily indicate an error.
-        /// @see rcPolyMesh::polys
-        public const int RC_MESH_NULL_IDX = 0xffff;
-
-        public const int RC_LOG_WARNING = 1;
-    }
-}

src/DotRecast.Recast/RcContour.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -20,25 +20,14 @@ freely, subject to the following restrictions:
 
 namespace DotRecast.Recast
 {
-    /** Represents a simple, non-overlapping contour in field space. */
+    /// Represents a simple, non-overlapping contour in field space.
     public class RcContour
     {
-        /** Simplified contour vertex and connection data. [Size: 4 * #nverts] */
-        public int[] verts;
-
-        /** The number of vertices in the simplified contour. */
-        public int nverts;
-
-        /** Raw contour vertex and connection data. [Size: 4 * #nrverts] */
-        public int[] rverts;
-
-        /** The number of vertices in the raw contour. */
-        public int nrverts;
-
-        /** The region id of the contour. */
-        public int area;
-
-        /** The area id of the contour. */
-        public int reg;
+        public int[] verts; //< Simplified contour vertex and connection data. [Size: 4 * #nverts]
+        public int nverts; //< The number of vertices in the simplified contour.
+        public int[] rverts; //< Raw contour vertex and connection data. [Size: 4 * #nrverts]
+        public int nrverts; //< The number of vertices in the raw contour.
+        public int reg; //< The region id of the contour.
+        public int area; //< The area id of the contour.
     }
 }

src/DotRecast.Recast/RcContourHole.cs

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

src/DotRecast.Recast/RcContourHoleComparer.cs

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

src/DotRecast.Recast/RcContourRegion.cs

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

src/DotRecast.Recast/RcContourSet.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

src/DotRecast.Recast/RcContours.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -24,8 +24,8 @@ using DotRecast.Core;
 
 namespace DotRecast.Recast
 {
-    using static RcConstants;
-    using static RcCommons;
+    
+    using static RcRecast;
 
     public static class RcContours
     {
@@ -33,7 +33,7 @@ namespace DotRecast.Recast
         {
             isBorderVertex = false;
 
-            RcCompactSpan s = chf.spans[i];
+            ref RcCompactSpan s = ref chf.spans[i];
             int ch = s.y;
             int dirp = (dir + 1) & 0x3;
 
@@ -46,39 +46,39 @@ namespace DotRecast.Recast
             // border vertices which are in between two areas to be removed.
             regs[0] = chf.spans[i].reg | (chf.areas[i] << 16);
 
-            if (GetCon(s, dir) != RC_NOT_CONNECTED)
+            if (GetCon(ref s, dir) != RC_NOT_CONNECTED)
             {
                 int ax = x + GetDirOffsetX(dir);
                 int ay = y + GetDirOffsetY(dir);
-                int ai = chf.cells[ax + ay * chf.width].index + GetCon(s, dir);
-                RcCompactSpan @as = chf.spans[ai];
+                int ai = chf.cells[ax + ay * chf.width].index + GetCon(ref s, dir);
+                ref RcCompactSpan @as = ref chf.spans[ai];
                 ch = Math.Max(ch, @as.y);
                 regs[1] = chf.spans[ai].reg | (chf.areas[ai] << 16);
-                if (GetCon(@as, dirp) != RC_NOT_CONNECTED)
+                if (GetCon(ref @as, dirp) != RC_NOT_CONNECTED)
                 {
                     int ax2 = ax + GetDirOffsetX(dirp);
                     int ay2 = ay + GetDirOffsetY(dirp);
-                    int ai2 = chf.cells[ax2 + ay2 * chf.width].index + GetCon(@as, dirp);
-                    RcCompactSpan as2 = chf.spans[ai2];
+                    int ai2 = chf.cells[ax2 + ay2 * chf.width].index + GetCon(ref @as, dirp);
+                    ref RcCompactSpan as2 = ref chf.spans[ai2];
                     ch = Math.Max(ch, as2.y);
                     regs[2] = chf.spans[ai2].reg | (chf.areas[ai2] << 16);
                 }
             }
 
-            if (GetCon(s, dirp) != RC_NOT_CONNECTED)
+            if (GetCon(ref s, dirp) != RC_NOT_CONNECTED)
             {
                 int ax = x + GetDirOffsetX(dirp);
                 int ay = y + GetDirOffsetY(dirp);
-                int ai = chf.cells[ax + ay * chf.width].index + GetCon(s, dirp);
-                RcCompactSpan @as = chf.spans[ai];
+                int ai = chf.cells[ax + ay * chf.width].index + GetCon(ref s, dirp);
+                ref RcCompactSpan @as = ref chf.spans[ai];
                 ch = Math.Max(ch, @as.y);
                 regs[3] = chf.spans[ai].reg | (chf.areas[ai] << 16);
-                if (GetCon(@as, dir) != RC_NOT_CONNECTED)
+                if (GetCon(ref @as, dir) != RC_NOT_CONNECTED)
                 {
                     int ax2 = ax + GetDirOffsetX(dir);
                     int ay2 = ay + GetDirOffsetY(dir);
-                    int ai2 = chf.cells[ax2 + ay2 * chf.width].index + GetCon(@as, dir);
-                    RcCompactSpan as2 = chf.spans[ai2];
+                    int ai2 = chf.cells[ax2 + ay2 * chf.width].index + GetCon(ref @as, dir);
+                    ref RcCompactSpan as2 = ref chf.spans[ai2];
                     ch = Math.Max(ch, as2.y);
                     regs[2] = chf.spans[ai2].reg | (chf.areas[ai2] << 16);
                 }
@@ -146,12 +146,12 @@ namespace DotRecast.Recast
                     }
 
                     int r = 0;
-                    RcCompactSpan s = chf.spans[i];
-                    if (GetCon(s, dir) != RC_NOT_CONNECTED)
+                    ref RcCompactSpan s = ref chf.spans[i];
+                    if (GetCon(ref s, dir) != RC_NOT_CONNECTED)
                     {
                         int ax = x + GetDirOffsetX(dir);
                         int ay = y + GetDirOffsetY(dir);
-                        int ai = chf.cells[ax + ay * chf.width].index + GetCon(s, dir);
+                        int ai = chf.cells[ax + ay * chf.width].index + GetCon(ref s, dir);
                         r = chf.spans[ai].reg;
                         if (area != chf.areas[ai])
                             isAreaBorder = true;
@@ -174,11 +174,11 @@ namespace DotRecast.Recast
                     int ni = -1;
                     int nx = x + GetDirOffsetX(dir);
                     int ny = y + GetDirOffsetY(dir);
-                    RcCompactSpan s = chf.spans[i];
-                    if (GetCon(s, dir) != RC_NOT_CONNECTED)
+                    ref RcCompactSpan s = ref chf.spans[i];
+                    if (GetCon(ref s, dir) != RC_NOT_CONNECTED)
                     {
-                        RcCompactCell nc = chf.cells[nx + ny * chf.width];
-                        ni = nc.index + GetCon(s, dir);
+                        ref RcCompactCell nc = ref chf.cells[nx + ny * chf.width];
+                        ni = nc.index + GetCon(ref s, dir);
                     }
 
                     if (ni == -1)
@@ -614,7 +614,7 @@ namespace DotRecast.Recast
             return new int[] { minx, minz, leftmost };
         }
 
-        private static void MergeRegionHoles(RcTelemetry ctx, RcContourRegion region)
+        private static void MergeRegionHoles(RcContext ctx, RcContourRegion region)
         {
             // Sort holes from left to right.
             for (int i = 0; i < region.nholes; i++)
@@ -715,7 +715,7 @@ namespace DotRecast.Recast
         /// See the #rcConfig documentation for more information on the configuration parameters.
         ///
         /// @see rcAllocContourSet, rcCompactHeightfield, rcContourSet, rcConfig
-        public static RcContourSet BuildContours(RcTelemetry ctx, RcCompactHeightfield chf, float maxError, int maxEdgeLen,
+        public static RcContourSet BuildContours(RcContext ctx, RcCompactHeightfield chf, float maxError, int maxEdgeLen,
             int buildFlags)
         {
             int w = chf.width;
@@ -753,11 +753,11 @@ namespace DotRecast.Recast
             {
                 for (int x = 0; x < w; ++x)
                 {
-                    RcCompactCell c = chf.cells[x + y * w];
+                    ref RcCompactCell c = ref chf.cells[x + y * w];
                     for (int i = c.index, ni = c.index + c.count; i < ni; ++i)
                     {
                         int res = 0;
-                        RcCompactSpan s = chf.spans[i];
+                        ref RcCompactSpan s = ref chf.spans[i];
                         if (chf.spans[i].reg == 0 || (chf.spans[i].reg & RC_BORDER_REG) != 0)
                         {
                             flags[i] = 0;
@@ -767,11 +767,11 @@ namespace DotRecast.Recast
                         for (int dir = 0; dir < 4; ++dir)
                         {
                             int r = 0;
-                            if (GetCon(s, dir) != RC_NOT_CONNECTED)
+                            if (GetCon(ref s, dir) != RC_NOT_CONNECTED)
                             {
                                 int ax = x + GetDirOffsetX(dir);
                                 int ay = y + GetDirOffsetY(dir);
-                                int ai = chf.cells[ax + ay * w].index + GetCon(s, dir);
+                                int ai = chf.cells[ax + ay * w].index + GetCon(ref s, dir);
                                 r = chf.spans[ai].reg;
                             }
 
@@ -793,7 +793,7 @@ namespace DotRecast.Recast
             {
                 for (int x = 0; x < w; ++x)
                 {
-                    RcCompactCell c = chf.cells[x + y * w];
+                    ref RcCompactCell c = ref chf.cells[x + y * w];
                     for (int i = c.index, ni = c.index + c.count; i < ni; ++i)
                     {
                         if (flags[i] == 0 || flags[i] == 0xf)

src/DotRecast.Recast/RcConvexVolume.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

src/DotRecast.Recast/RcDirtyEntry.cs

@@ -0,0 +1,17 @@
+namespace DotRecast.Recast
+{
+    // Struct to keep track of entries in the region table that have been changed.
+    public readonly struct RcDirtyEntry
+    {
+        public readonly int index;
+        public readonly int region;
+        public readonly int distance2;
+
+        public RcDirtyEntry(int tempIndex, int tempRegion, int tempDistance2)
+        {
+            index = tempIndex;
+            region = tempRegion;
+            distance2 = tempDistance2;
+        }
+    }
+}

src/DotRecast.Recast/RcFilledVolumeRasterization.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -20,17 +20,17 @@ 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;
         private static readonly int[] BOX_EDGES = new[] { 0, 1, 0, 2, 0, 4, 1, 3, 1, 5, 2, 3, 2, 6, 3, 7, 4, 5, 4, 6, 5, 7, 6, 7 };
 
-        public static void RasterizeSphere(RcHeightfield hf, RcVec3f center, float radius, int area, int flagMergeThr, RcTelemetry ctx)
+        public static void RasterizeSphere(RcHeightfield hf, RcVec3f center, float radius, int area, int flagMergeThr, RcContext ctx)
         {
             using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_SPHERE);
             float[] bounds =
@@ -42,7 +42,7 @@ namespace DotRecast.Recast
                 rectangle => IntersectSphere(rectangle, center, radius * radius));
         }
 
-        public static void RasterizeCapsule(RcHeightfield hf, RcVec3f start, RcVec3f end, float radius, int area, int flagMergeThr, RcTelemetry ctx)
+        public static void RasterizeCapsule(RcHeightfield hf, RcVec3f start, RcVec3f end, float radius, int area, int flagMergeThr, RcContext ctx)
         {
             using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_CAPSULE);
             float[] bounds =
@@ -56,7 +56,7 @@ namespace DotRecast.Recast
                 rectangle => IntersectCapsule(rectangle, start, end, axis, radius * radius));
         }
 
-        public static void RasterizeCylinder(RcHeightfield hf, RcVec3f start, RcVec3f end, float radius, int area, int flagMergeThr, RcTelemetry ctx)
+        public static void RasterizeCylinder(RcHeightfield hf, RcVec3f start, RcVec3f end, float radius, int area, int flagMergeThr, RcContext ctx)
         {
             using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_CYLINDER);
             float[] bounds =
@@ -70,7 +70,7 @@ namespace DotRecast.Recast
                 rectangle => IntersectCylinder(rectangle, start, end, axis, radius * radius));
         }
 
-        public static void RasterizeBox(RcHeightfield hf, RcVec3f center, RcVec3f[] halfEdges, int area, int flagMergeThr, RcTelemetry ctx)
+        public static void RasterizeBox(RcHeightfield hf, RcVec3f center, RcVec3f[] halfEdges, int area, int flagMergeThr, RcContext ctx)
         {
             using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_BOX);
             RcVec3f[] normals =
@@ -105,7 +105,7 @@ namespace DotRecast.Recast
                 bounds[5] = Math.Max(bounds[5], vertices[i * 3 + 2]);
             }
 
-            float[][] planes = RcArrayUtils.Of<float>(6, 4);
+            float[][] planes = RcArrays.Of<float>(6, 4);
             for (int i = 0; i < 6; i++)
             {
                 float m = i < 3 ? -1 : 1;
@@ -120,7 +120,7 @@ namespace DotRecast.Recast
             RasterizationFilledShape(hf, bounds, area, flagMergeThr, rectangle => IntersectBox(rectangle, vertices, planes));
         }
 
-        public static void RasterizeConvex(RcHeightfield hf, float[] vertices, int[] triangles, int area, int flagMergeThr, RcTelemetry ctx)
+        public static void RasterizeConvex(RcHeightfield hf, float[] vertices, int[] triangles, int area, int flagMergeThr, RcContext ctx)
         {
             using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_CONVEX);
             float[] bounds = new float[] { vertices[0], vertices[1], vertices[2], vertices[0], vertices[1], vertices[2] };
@@ -135,8 +135,8 @@ namespace DotRecast.Recast
             }
 
 
-            float[][] planes = RcArrayUtils.Of<float>(triangles.Length, 4);
-            float[][] triBounds = RcArrayUtils.Of<float>(triangles.Length / 3, 4);
+            float[][] planes = RcArrays.Of<float>(triangles.Length, 4);
+            float[][] triBounds = RcArrays.Of<float>(triangles.Length / 3, 4);
             for (int i = 0, j = 0; i < triangles.Length; i += 3, j++)
             {
                 int a = triangles[i] * 3;
@@ -176,7 +176,7 @@ namespace DotRecast.Recast
 
         private static void Plane(float[][] planes, int p, float[] v1, float[] v2, float[] vertices, int vert)
         {
-            RcVecUtils.Cross(planes[p], v1, v2);
+            RcVec.Cross(planes[p], v1, v2);
             planes[p][3] = planes[p][0] * vertices[vert] + planes[p][1] * vertices[vert + 1] + planes[p][2] * vertices[vert + 2];
         }
 
@@ -221,8 +221,8 @@ namespace DotRecast.Recast
                         int smax = (int)MathF.Ceiling((h[1] - hf.bmin.Y) * ich);
                         if (smin != smax)
                         {
-                            int ismin = Math.Clamp(smin, 0, SPAN_MAX_HEIGHT);
-                            int ismax = Math.Clamp(smax, ismin + 1, SPAN_MAX_HEIGHT);
+                            int ismin = Math.Clamp(smin, 0, RC_SPAN_MAX_HEIGHT);
+                            int ismax = Math.Clamp(smax, ismin + 1, RC_SPAN_MAX_HEIGHT);
                             RcRasterizations.AddSpan(hf, x, z, ismin, ismax, area, flagMergeThr);
                         }
                     }
@@ -296,8 +296,8 @@ namespace DotRecast.Recast
 
             if (axis.Y * axis.Y > EPSILON)
             {
-                RcVec3f[] rectangleOnStartPlane = new RcVec3f[4];
-                RcVec3f[] rectangleOnEndPlane = new RcVec3f[4];
+                Span<RcVec3f> rectangleOnStartPlane = stackalloc RcVec3f[4];
+                Span<RcVec3f> rectangleOnEndPlane = stackalloc RcVec3f[4];
                 float ds = RcVec3f.Dot(axis, start);
                 float de = RcVec3f.Dot(axis, end);
                 for (int i = 0; i < 4; i++)
@@ -326,7 +326,7 @@ namespace DotRecast.Recast
             return s;
         }
 
-        private static float[] CylinderCapIntersection(RcVec3f start, float radiusSqr, float[] s, int i, RcVec3f[] rectangleOnPlane)
+        private static float[] CylinderCapIntersection(RcVec3f start, float radiusSqr, float[] s, int i, Span<RcVec3f> rectangleOnPlane)
         {
             int j = (i + 1) % 4;
             // Ray against sphere intersection
@@ -507,8 +507,8 @@ namespace DotRecast.Recast
             for (int i = 0; i < 8; i++)
             {
                 int vi = i * 3;
-                if (vertices[vi] >= rectangle[0] && vertices[vi] < rectangle[2] && vertices[vi + 2] >= rectangle[1]
-                    && vertices[vi + 2] < rectangle[3])
+                if (vertices[vi] >= rectangle[0] && vertices[vi] < rectangle[2] &&
+                    vertices[vi + 2] >= rectangle[1] && vertices[vi + 2] < rectangle[3])
                 {
                     yMin = Math.Min(yMin, vertices[vi + 1]);
                     yMax = Math.Max(yMax, vertices[vi + 1]);
@@ -525,7 +525,7 @@ namespace DotRecast.Recast
                 {
                     if (MathF.Abs(planes[j][1]) > EPSILON)
                     {
-                        float dotNormalPoint = RcVecUtils.Dot(planes[j], point);
+                        float dotNormalPoint = RcVec3f.Dot(new RcVec3f(planes[j]), point);
                         float t = (planes[j][3] - dotNormalPoint) / planes[j][1];
                         float y = point.Y + t;
                         bool valid = true;
@@ -729,15 +729,15 @@ namespace DotRecast.Recast
         private static bool RayTriangleIntersection(RcVec3f point, int plane, float[][] planes, out float y)
         {
             y = 0.0f;
-            float t = (planes[plane][3] - RcVecUtils.Dot(planes[plane], point)) / planes[plane][1];
-            float[] s = { point.X, point.Y + t, point.Z };
-            float u = RcVecUtils.Dot(s, planes[plane + 1]) - planes[plane + 1][3];
+            float t = (planes[plane][3] - RcVec3f.Dot(new RcVec3f(planes[plane]), point)) / planes[plane][1];
+            RcVec3f s = new RcVec3f(point.X, point.Y + t, point.Z);
+            float u = RcVec3f.Dot(s, new RcVec3f(planes[plane + 1])) - planes[plane + 1][3];
             if (u < 0.0f || u > 1.0f)
             {
                 return false;
             }
 
-            float v = RcVecUtils.Dot(s, planes[plane + 2]) - planes[plane + 2][3];
+            float v = RcVec3f.Dot(s, new RcVec3f(planes[plane + 2])) - planes[plane + 2][3];
             if (v < 0.0f)
             {
                 return false;
@@ -749,7 +749,7 @@ namespace DotRecast.Recast
                 return false;
             }
 
-            y = s[1];
+            y = s.Y;
             return true;
         }
 

src/DotRecast.Recast/RcFilters.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -23,177 +23,223 @@ using DotRecast.Core;
 
 namespace DotRecast.Recast
 {
-    using static RcConstants;
-    using static RcCommons;
+    
+    using static RcRecast;
 
     public static class RcFilters
     {
-        /// @par
+        /// Marks non-walkable spans as walkable if their maximum is within @p walkableClimb of the span below them.
         ///
-        /// Allows the formation of walkable regions that will flow over low lying
-        /// objects such as curbs, and up structures such as stairways.
+        /// This removes small obstacles that the agent would be able to walk over such as curbs, and also allows agents to move up structures such as stairs.
+        /// This removes small obstacles and rasterization artifacts that the agent would be able to walk over
+        /// such as curbs.  It also allows agents to move up terraced structures like stairs.
         /// 
-        /// Two neighboring spans are walkable if: <tt>RcAbs(currentSpan.smax - neighborSpan.smax) < walkableClimb</tt>
+        /// Obstacle spans are marked walkable if: <tt>obstacleSpan.smax - walkableSpan.smax < walkableClimb</tt>
         /// 
-        /// @warning Will override the effect of #rcFilterLedgeSpans. So if both filters are used, call
-        /// #rcFilterLedgeSpans after calling this filter.
+        /// @warning Will override the effect of #rcFilterLedgeSpans.  If both filters are used, call #rcFilterLedgeSpans only after applying this filter.
         ///
         /// @see rcHeightfield, rcConfig
-        public static void FilterLowHangingWalkableObstacles(RcTelemetry ctx, int walkableClimb, RcHeightfield solid)
+        /// 
+        /// @ingroup recast
+        /// @param[in,out]	context			The build context to use during the operation.
+        /// @param[in]		walkableClimb	Maximum ledge height that is considered to still be traversable. 
+        /// 								[Limit: >=0] [Units: vx]
+        /// @param[in,out]	heightfield		A fully built heightfield.  (All spans have been added.)
+        public static void FilterLowHangingWalkableObstacles(RcContext context, int walkableClimb, RcHeightfield heightfield)
         {
-            using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_FILTER_LOW_OBSTACLES);
+            using var timer = context.ScopedTimer(RcTimerLabel.RC_TIMER_FILTER_LOW_OBSTACLES);
 
-            int w = solid.width;
-            int h = solid.height;
+            int xSize = heightfield.width;
+            int zSize = heightfield.height;
 
-            for (int y = 0; y < h; ++y)
+            for (int z = 0; z < zSize; ++z)
             {
-                for (int x = 0; x < w; ++x)
+                for (int x = 0; x < xSize; ++x)
                 {
-                    RcSpan ps = null;
-                    bool previousWalkable = false;
-                    int previousArea = RC_NULL_AREA;
+                    RcSpan previousSpan = null;
+                    bool previousWasWalkable = false;
+                    int previousAreaID = RC_NULL_AREA;
 
-                    for (RcSpan s = solid.spans[x + y * w]; s != null; ps = s, s = s.next)
+                    // For each span in the column...
+                    for (RcSpan span = heightfield.spans[x + z * xSize]; span != null; previousSpan = span, span = span.next)
                     {
-                        bool walkable = s.area != RC_NULL_AREA;
-                        // If current span is not walkable, but there is walkable
-                        // span just below it, mark the span above it walkable too.
-                        if (!walkable && previousWalkable)
+                        bool walkable = span.area != RC_NULL_AREA;
+                        // If current span is not walkable, but there is walkable span just below it and the height difference
+                        // is small enough for the agent to walk over, mark the current span as walkable too.
+                        if (!walkable && previousWasWalkable && span.smax - previousSpan.smax <= walkableClimb)
                         {
-                            if (MathF.Abs(s.smax - ps.smax) <= walkableClimb)
-                                s.area = previousArea;
+                            span.area = previousAreaID;
                         }
 
-                        // Copy walkable flag so that it cannot propagate
-                        // past multiple non-walkable objects.
-                        previousWalkable = walkable;
-                        previousArea = s.area;
+                        // Copy the original walkable value regardless of whether we changed it.
+                        // This prevents multiple consecutive non-walkable spans from being erroneously marked as walkable.
+                        previousWasWalkable = walkable;
+                        previousAreaID = span.area;
                     }
                 }
             }
         }
 
-        /// @par
+        /// Marks spans that are ledges as not-walkable.
         ///
         /// A ledge is a span with one or more neighbors whose maximum is further away than @p walkableClimb
         /// from the current span's maximum.
         /// This method removes the impact of the overestimation of conservative voxelization 
         /// so the resulting mesh will not have regions hanging in the air over ledges.
         /// 
-        /// A span is a ledge if: <tt>RcAbs(currentSpan.smax - neighborSpan.smax) > walkableClimb</tt>
+        /// A span is a ledge if: <tt>rcAbs(currentSpan.smax - neighborSpan.smax) > walkableClimb</tt>
         /// 
         /// @see rcHeightfield, rcConfig
-        public static void FilterLedgeSpans(RcTelemetry ctx, int walkableHeight, int walkableClimb, RcHeightfield solid)
+        /// 
+        /// @ingroup recast
+        /// @param[in,out]	context				The build context to use during the operation.
+        /// @param[in]		walkableHeight	Minimum floor to 'ceiling' height that will still allow the floor area to 
+        /// 								be considered walkable. [Limit: >= 3] [Units: vx]
+        /// @param[in]		walkableClimb	Maximum ledge height that is considered to still be traversable. 
+        /// 								[Limit: >=0] [Units: vx]
+        /// @param[in,out]	heightfield			A fully built heightfield.  (All spans have been added.)
+        public static void FilterLedgeSpans(RcContext context, int walkableHeight, int walkableClimb, RcHeightfield heightfield)
         {
-            using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_FILTER_BORDER);
+            using var timer = context.ScopedTimer(RcTimerLabel.RC_TIMER_FILTER_BORDER);
 
-            int w = solid.width;
-            int h = solid.height;
+            int xSize = heightfield.width;
+            int zSize = heightfield.height;
 
-            // Mark border spans.
-            for (int y = 0; y < h; ++y)
+            // Mark spans that are adjacent to a ledge as unwalkable..
+            for (int z = 0; z < zSize; ++z)
             {
-                for (int x = 0; x < w; ++x)
+                for (int x = 0; x < xSize; ++x)
                 {
-                    for (RcSpan s = solid.spans[x + y * w]; s != null; s = s.next)
+                    for (RcSpan span = heightfield.spans[x + z * xSize]; span != null; span = span.next)
+                    {
+                        // Skip non-walkable spans.
+                        if (span.area == RC_NULL_AREA)
                         {
-                        // Skip non walkable spans.
-                        if (s.area == RC_NULL_AREA)
                             continue;
+                        }
 
-                        int bot = (s.smax);
-                        int top = s.next != null ? s.next.smin : SPAN_MAX_HEIGHT;
+                        int floor = (span.smax);
+                        int ceiling = span.next != null ? span.next.smin : RC_SPAN_MAX_HEIGHT;
 
-                        // Find neighbours minimum height.
-                        int minh = SPAN_MAX_HEIGHT;
+                        // The difference between this walkable area and the lowest neighbor walkable area.
+                        // This is the difference between the current span and all neighbor spans that have
+                        // enough space for an agent to move between, but not accounting at all for surface slope.
+                        int lowestNeighborFloorDifference = RC_SPAN_MAX_HEIGHT;
 
                         // Min and max height of accessible neighbours.
-                        int asmin = s.smax;
-                        int asmax = s.smax;
+                        int lowestTraversableNeighborFloor = span.smax;
+                        int highestTraversableNeighborFloor = span.smax;
 
-                        for (int dir = 0; dir < 4; ++dir)
+                        for (int direction = 0; direction < 4; ++direction)
                         {
-                            int dx = x + GetDirOffsetX(dir);
-                            int dy = y + GetDirOffsetY(dir);
+                            int neighborX = x + GetDirOffsetX(direction);
+                            int neighborZ = z + GetDirOffsetY(direction);
+
                             // Skip neighbours which are out of bounds.
-                            if (dx < 0 || dy < 0 || dx >= w || dy >= h)
+                            if (neighborX < 0 || neighborZ < 0 || neighborX >= xSize || neighborZ >= zSize)
                             {
-                                minh = Math.Min(minh, -walkableClimb - bot);
+                                lowestNeighborFloorDifference = (-walkableClimb - 1);
+                                break;
+                            }
+
+                            RcSpan neighborSpan = heightfield.spans[neighborX + neighborZ * xSize];
+
+                            // The most we can step down to the neighbor is the walkableClimb distance.
+                            // Start with the area under the neighbor span                            
+                            int neighborCeiling = neighborSpan != null ? neighborSpan.smin : RC_SPAN_MAX_HEIGHT;
+
+                            // Skip neightbour if the gap between the spans is too small.
+                            if (Math.Min(ceiling, neighborCeiling) - floor >= walkableHeight)
+                            {
+                                lowestNeighborFloorDifference = (-walkableClimb - 1);
+                                break;
+                            }
+
+                            // For each span in the neighboring column...
+                            for (; neighborSpan != null; neighborSpan = neighborSpan.next)
+                            {
+                                int neighborFloor = neighborSpan.smax;
+                                neighborCeiling = neighborSpan.next != null ? neighborSpan.next.smin : RC_SPAN_MAX_HEIGHT;
+
+                                // Only consider neighboring areas that have enough overlap to be potentially traversable.
+                                if (Math.Min(ceiling, neighborCeiling) - Math.Max(floor, neighborFloor) < walkableHeight)
+                                {
+                                    // No space to traverse between them.
                                     continue;
                                 }
 
-                            // From minus infinity to the first span.
-                            RcSpan ns = solid.spans[dx + dy * w];
-                            int nbot = -walkableClimb;
-                            int ntop = ns != null ? ns.smin : SPAN_MAX_HEIGHT;
-                            // Skip neightbour if the gap between the spans is too small.
-                            if (Math.Min(top, ntop) - Math.Max(bot, nbot) > walkableHeight)
-                                minh = Math.Min(minh, nbot - bot);
+                                int neighborFloorDifference = neighborFloor - floor;
+                                lowestNeighborFloorDifference = Math.Min(lowestNeighborFloorDifference, neighborFloorDifference);
 
-                            // Rest of the spans.
-                            for (ns = solid.spans[dx + dy * w]; ns != null; ns = ns.next)
+                                // Find min/max accessible neighbor height.
+                                // Only consider neighbors that are at most walkableClimb away.
+                                if (MathF.Abs(neighborFloorDifference) <= walkableClimb)
                                 {
-                                nbot = ns.smax;
-                                ntop = ns.next != null ? ns.next.smin : SPAN_MAX_HEIGHT;
-                                // Skip neightbour if the gap between the spans is too small.
-                                if (Math.Min(top, ntop) - Math.Max(bot, nbot) > walkableHeight)
+                                    // There is space to move to the neighbor cell and the slope isn't too much.
+                                    lowestTraversableNeighborFloor = Math.Min(lowestTraversableNeighborFloor, neighborFloor);
+                                    highestTraversableNeighborFloor = Math.Max(highestTraversableNeighborFloor, neighborFloor);
+                                }
+                                else if (neighborFloorDifference < -walkableClimb)
                                 {
-                                    minh = Math.Min(minh, nbot - bot);
+                                    // We already know this will be considered a ledge span so we can early-out
+                                    break;
+                                }
+                            }
+                        }
 
-                                    // Find min/max accessible neighbour height.
-                                    if (MathF.Abs(nbot - bot) <= walkableClimb)
+                        // The current span is close to a ledge if the magnitude of the drop to any neighbour span is greater than the walkableClimb distance.
+                        // That is, there is a gap that is large enough to let an agent move between them, but the drop (surface slope) is too large to allow it.
+                        // (If this is the case, then biggestNeighborStepDown will be negative, so compare against the negative walkableClimb as a means of checking
+                        // the magnitude of the delta)
+                        if (lowestNeighborFloorDifference < -walkableClimb)
                         {
-                                        if (nbot < asmin)
-                                            asmin = nbot;
-                                        if (nbot > asmax)
-                                            asmax = nbot;
+                            span.area = RC_NULL_AREA;
                         }
-                                }
-                            }
-                        }
-
-                        // The current span is close to a ledge if the drop to any
-                        // neighbour span is less than the walkableClimb.
-                        if (minh < -walkableClimb)
-                            s.area = RC_NULL_AREA;
-
-                        // If the difference between all neighbours is too large,
-                        // we are at steep slope, mark the span as ledge.
-                        if ((asmax - asmin) > walkableClimb)
+                        // If the difference between all neighbor floors is too large, this is a steep slope, so mark the span as an unwalkable ledge.
+                        else if ((highestTraversableNeighborFloor - lowestTraversableNeighborFloor) > walkableClimb)
                         {
-                            s.area = RC_NULL_AREA;
+                            span.area = RC_NULL_AREA;
                         }
                     }
                 }
             }
         }
 
-        /// @par
+        /// Marks walkable spans as not walkable if the clearance above the span is less than the specified walkableHeight.
         /// 
         /// For this filter, the clearance above the span is the distance from the span's 
-        /// maximum to the next higher span's minimum. (Same grid column.)
+        /// maximum to the minimum of the next higher span in the same column.
+        /// If there is no higher span in the column, the clearance is computed as the
+        /// distance from the top of the span to the maximum heightfield height.
         /// 
         /// @see rcHeightfield, rcConfig
-        public static void FilterWalkableLowHeightSpans(RcTelemetry ctx, int walkableHeight, RcHeightfield solid)
+        /// @ingroup recast
+        /// 
+        /// @param[in,out]	context			The build context to use during the operation.
+        /// @param[in]		walkableHeight	Minimum floor to 'ceiling' height that will still allow the floor area to 
+        /// 								be considered walkable. [Limit: >= 3] [Units: vx]
+        /// @param[in,out]	heightfield		A fully built heightfield.  (All spans have been added.)
+        public static void FilterWalkableLowHeightSpans(RcContext context, int walkableHeight, RcHeightfield heightfield)
         {
-            using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_FILTER_WALKABLE);
+            using var timer = context.ScopedTimer(RcTimerLabel.RC_TIMER_FILTER_WALKABLE);
 
-            int w = solid.width;
-            int h = solid.height;
+            int xSize = heightfield.width;
+            int zSize = heightfield.height;
 
             // Remove walkable flag from spans which do not have enough
             // space above them for the agent to stand there.
-            for (int y = 0; y < h; ++y)
+            for (int z = 0; z < zSize; ++z)
             {
-                for (int x = 0; x < w; ++x)
+                for (int x = 0; x < xSize; ++x)
                 {
-                    for (RcSpan s = solid.spans[x + y * w]; s != null; s = s.next)
+                    for (RcSpan span = heightfield.spans[x + z * xSize]; span != null; span = span.next)
                     {
-                        int bot = (s.smax);
-                        int top = s.next != null ? s.next.smin : SPAN_MAX_HEIGHT;
-                        if ((top - bot) < walkableHeight)
-                            s.area = RC_NULL_AREA;
+                        int floor = (span.smax);
+                        int ceiling = span.next != null ? span.next.smin : RC_SPAN_MAX_HEIGHT;
+                        if ((ceiling - floor) < walkableHeight)
+                        {
+                            span.area = RC_NULL_AREA;
+                        }
                     }
                 }
             }

src/DotRecast.Recast/RcHeightPatch.cs

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

src/DotRecast.Recast/RcHeightfield.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -22,29 +22,21 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast
 {
-    /** Represents a heightfield layer within a layer set. */
+    /// A dynamic heightfield representing obstructed space.
+    /// @ingroup recast
     public class RcHeightfield
     {
-        /** The width of the heightfield. (Along the x-axis in cell units.) */
-        public readonly int width;
+        public readonly int width; //< The width of the heightfield. (Along the x-axis in cell units.)
+        public readonly int height; //< The height of the heightfield. (Along the z-axis in cell units.)
+        public readonly RcVec3f bmin; //< The minimum bounds in world space. [(x, y, z)]
+        public RcVec3f bmax; //< The maximum bounds in world space. [(x, y, z)]
+        public readonly float cs; //< The size of each cell. (On the xz-plane.)
+        public readonly float ch; //< The height of each cell. (The minimum increment along the y-axis.)
+        public readonly RcSpan[] spans; //< Heightfield of spans (width*height).
 
-        /** The height of the heightfield. (Along the z-axis in cell units.) */
-        public readonly int height;
-
-        /** The minimum bounds in world space. [(x, y, z)] */
-        public readonly RcVec3f bmin;
-
-        /** The maximum bounds in world space. [(x, y, z)] */
-        public RcVec3f bmax;
-
-        /** The size of each cell. (On the xz-plane.) */
-        public readonly float cs;
-
-        /** The height of each cell. (The minimum increment along the y-axis.) */
-        public readonly float ch;
-
-        /** Heightfield of spans (width*height). */
-        public readonly RcSpan[] spans;
+        // memory pool for rcSpan instances.
+        public RcSpanPool pools; //< Linked list of span pools.
+        public RcSpan freelist; //< The next free span.
 
         /** Border size in cell units */
         public readonly int borderSize;

src/DotRecast.Recast/RcHeightfieldLayer.cs

@@ -1,4 +1,4 @@
-using DotRecast.Core.Numerics;
+using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast
 {
@@ -6,48 +6,20 @@ namespace DotRecast.Recast
     /// @see rcHeightfieldLayerSet
     public class RcHeightfieldLayer
     {
-        public RcVec3f bmin = new RcVec3f();
-
-        /// < The minimum bounds in world space. [(x, y, z)]
-        public RcVec3f bmax = new RcVec3f();
-
-        /// < The maximum bounds in world space. [(x, y, z)]
-        public float cs;
-
-        /// < The size of each cell. (On the xz-plane.)
-        public float ch;
-
-        /// < The height of each cell. (The minimum increment along the y-axis.)
-        public int width;
-
-        /// < The width of the heightfield. (Along the x-axis in cell units.)
-        public int height;
-
-        /// < The height of the heightfield. (Along the z-axis in cell units.)
-        public int minx;
-
-        /// < The minimum x-bounds of usable data.
-        public int maxx;
-
-        /// < The maximum x-bounds of usable data.
-        public int miny;
-
-        /// < The minimum y-bounds of usable data. (Along the z-axis.)
-        public int maxy;
-
-        /// < The maximum y-bounds of usable data. (Along the z-axis.)
-        public int hmin;
-
-        /// < The minimum height bounds of usable data. (Along the y-axis.)
-        public int hmax;
-
-        /// < The maximum height bounds of usable data. (Along the y-axis.)
-        public int[] heights;
-
-        /// < The heightfield. [Size: width * height]
-        public int[] areas;
-
-        /// < Area ids. [Size: Same as #heights]
-        public int[] cons; /// < Packed neighbor connection information. [Size: Same as #heights]
+        public RcVec3f bmin = new RcVec3f(); // < The minimum bounds in world space. [(x, y, z)]
+        public RcVec3f bmax = new RcVec3f(); // < The maximum bounds in world space. [(x, y, z)]
+        public float cs; // < The size of each cell. (On the xz-plane.)
+        public float ch; // < The height of each cell. (The minimum increment along the y-axis.)
+        public int width; // < The width of the heightfield. (Along the x-axis in cell units.)
+        public int height; // < The height of the heightfield. (Along the z-axis in cell units.)
+        public int minx; // < The minimum x-bounds of usable data.
+        public int maxx; // < The maximum x-bounds of usable data.
+        public int miny; // < The minimum y-bounds of usable data. (Along the z-axis.)
+        public int maxy; // < The maximum y-bounds of usable data. (Along the z-axis.)
+        public int hmin; // < The minimum height bounds of usable data. (Along the y-axis.)
+        public int hmax; // < The maximum height bounds of usable data. (Along the y-axis.)
+        public int[] heights; // < The heightfield. [Size: width * height]
+        public int[] areas; // < Area ids. [Size: Same as #heights]
+        public int[] cons; // < Packed neighbor connection information. [Size: Same as #heights]
     }
 }

src/DotRecast.Recast/RcHeightfieldLayerSet.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -18,7 +18,6 @@ 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.Recast
 {

src/DotRecast.Recast/RcLayerRegion.cs

@@ -1,23 +1,23 @@
-using System.Collections.Generic;
+using System.Collections.Generic;
 
 namespace DotRecast.Recast
 {
     public class RcLayerRegion
     {
-        public int id;
-        public int layerId;
-        public bool @base;
-        public int ymin, ymax;
+        public readonly int index;
         public List<int> layers;
         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 RcLayerRegion(int i)
         {
-            id = i;
-            ymin = 0xFFFF;
-            layerId = 0xff;
+            index = i;
             layers = new List<int>();
             neis = new List<int>();
+            ymin = 0xFFFF;
+            layerId = 0xff;
         }
     };
 }

src/DotRecast.Recast/RcLayerSweepSpan.cs

@@ -0,0 +1,9 @@
+namespace DotRecast.Recast
+{
+    public class RcLayerSweepSpan
+    {
+        public int ns; // number samples
+        public byte id; // region id
+        public byte nei; // neighbour id
+    };
+}

src/DotRecast.Recast/RcLayers.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -25,8 +25,7 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast
 {
-    using static RcConstants;
-    using static RcCommons;
+    using static RcRecast;
 
     public static class RcLayers
     {
@@ -48,45 +47,72 @@ namespace DotRecast.Recast
             return (amin > bmax || amax < bmin) ? false : true;
         }
 
-        public static RcHeightfieldLayerSet BuildHeightfieldLayers(RcTelemetry ctx, RcCompactHeightfield chf, int walkableHeight)
+        /// @par
+        /// 
+        /// See the #rcConfig documentation for more information on the configuration parameters.
+        /// 
+        /// @see rcAllocHeightfieldLayerSet, rcCompactHeightfield, rcHeightfieldLayerSet, rcConfig
+        /// @}
+        /// @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.
+        /// @param[in]		chf				A fully built compact heightfield.
+        /// @param[in]		borderSize		The size of the non-navigable border around the heightfield. [Limit: >=0] 
+        ///  								[Units: vx]
+        /// @param[in]		walkableHeight	Minimum floor to 'ceiling' height that will still allow the floor area 
+        ///  								to be considered walkable. [Limit: >= 3] [Units: vx]
+        /// @param[out]		lset			The resulting layer set. (Must be pre-allocated.)
+        /// @returns True if the operation completed successfully.
+        public static bool BuildHeightfieldLayers(RcContext ctx, RcCompactHeightfield chf, int borderSize, int walkableHeight, out RcHeightfieldLayerSet lset)
         {
+            lset = null;
             using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_BUILD_LAYERS);
 
             int w = chf.width;
             int h = chf.height;
-            int borderSize = chf.borderSize;
-            int[] srcReg = new int[chf.spanCount];
-            Array.Fill(srcReg, 0xFF);
-            int nsweeps = chf.width; // Math.Max(chf.width, chf.height);
-            RcSweepSpan[] sweeps = new RcSweepSpan[nsweeps];
+
+            Span<byte> srcReg = stackalloc byte[chf.spanCount];
+            srcReg.Fill(0xFF);
+
+            int nsweeps = chf.width;
+            RcLayerSweepSpan[] sweeps = new RcLayerSweepSpan[nsweeps];
+            for (int i = 0; i < sweeps.Length; i++)
+            {
+                sweeps[i] = new RcLayerSweepSpan();
+            }
 
             // Partition walkable area into monotone regions.
-            int[] prevCount = new int[256];
-            int regId = 0;
+            Span<int> prevCount = stackalloc int[256];
+            byte regId = 0;
+
             // Sweep one line at a time.
             for (int y = borderSize; y < h - borderSize; ++y)
             {
                 // Collect spans from this row.
-                Array.Fill(prevCount, 0, 0, (regId) - (0));
-                int sweepId = 0;
+                prevCount.Fill(0);
+                byte sweepId = 0;
 
                 for (int x = borderSize; x < w - borderSize; ++x)
                 {
-                    RcCompactCell c = chf.cells[x + y * w];
+                    ref RcCompactCell c = ref chf.cells[x + y * w];
 
                     for (int i = c.index, ni = c.index + c.count; i < ni; ++i)
                     {
-                        RcCompactSpan s = chf.spans[i];
+                        ref RcCompactSpan s = ref chf.spans[i];
                         if (chf.areas[i] == RC_NULL_AREA)
                             continue;
-                        int sid = 0xFF;
-                        // -x
 
-                        if (GetCon(s, 0) != RC_NOT_CONNECTED)
+                        byte sid = 0xFF;
+
+                        // -x
+                        if (GetCon(ref s, 0) != RC_NOT_CONNECTED)
                         {
                             int ax = x + GetDirOffsetX(0);
                             int ay = y + GetDirOffsetY(0);
-                            int ai = chf.cells[ax + ay * w].index + GetCon(s, 0);
+                            int ai = chf.cells[ax + ay * w].index + GetCon(ref s, 0);
                             if (chf.areas[ai] != RC_NULL_AREA && srcReg[ai] != 0xff)
                                 sid = srcReg[ai];
                         }
@@ -99,16 +125,15 @@ namespace DotRecast.Recast
                         }
 
                         // -y
-                        if (GetCon(s, 3) != RC_NOT_CONNECTED)
+                        if (GetCon(ref s, 3) != RC_NOT_CONNECTED)
                         {
                             int ax = x + GetDirOffsetX(3);
                             int ay = y + GetDirOffsetY(3);
-                            int ai = chf.cells[ax + ay * w].index + GetCon(s, 3);
-                            int nr = srcReg[ai];
+                            int ai = chf.cells[ax + ay * w].index + GetCon(ref s, 3);
+                            byte nr = srcReg[ai];
                             if (nr != 0xff)
                             {
-                                // Set neighbour when first valid neighbour is
-                                // encoutered.
+                                // Set neighbour when first valid neighbour is encoutered.
                                 if (sweeps[sid].ns == 0)
                                     sweeps[sid].nei = nr;
 
@@ -120,8 +145,7 @@ namespace DotRecast.Recast
                                 }
                                 else
                                 {
-                                    // This is hit if there is nore than one
-                                    // neighbour.
+                                    // This is hit if there is nore than one neighbour.
                                     // Invalidate the neighbour.
                                     sweeps[sid].nei = 0xff;
                                 }
@@ -135,10 +159,8 @@ namespace DotRecast.Recast
                 // Create unique ID.
                 for (int i = 0; i < sweepId; ++i)
                 {
-                    // If the neighbour is set and there is only one continuous
-                    // connection to it,
-                    // the sweep will be merged with the previous one, else new
-                    // region is created.
+                    // If the neighbour is set and there is only one continuous connection to it,
+                    // the sweep will be merged with the previous one, else new region is created.
                     if (sweeps[i].nei != 0xff && prevCount[sweeps[i].nei] == sweeps[i].ns)
                     {
                         sweeps[i].id = sweeps[i].nei;
@@ -148,6 +170,7 @@ namespace DotRecast.Recast
                         if (regId == 255)
                         {
                             throw new Exception("rcBuildHeightfieldLayers: Region ID overflow.");
+                            return false;
                         }
 
                         sweeps[i].id = regId++;
@@ -157,7 +180,7 @@ namespace DotRecast.Recast
                 // Remap local sweep ids to region ids.
                 for (int x = borderSize; x < w - borderSize; ++x)
                 {
-                    RcCompactCell c = chf.cells[x + y * w];
+                    ref RcCompactCell c = ref chf.cells[x + y * w];
                     for (int i = c.index, ni = c.index + c.count; i < ni; ++i)
                     {
                         if (srcReg[i] != 0xff)
@@ -166,6 +189,7 @@ namespace DotRecast.Recast
                 }
             }
 
+            // Allocate and init layer regions.
             int nregs = regId;
             RcLayerRegion[] regs = new RcLayerRegion[nregs];
 
@@ -181,13 +205,13 @@ namespace DotRecast.Recast
             {
                 for (int x = 0; x < w; ++x)
                 {
-                    RcCompactCell c = chf.cells[x + y * w];
+                    ref RcCompactCell c = ref chf.cells[x + y * w];
 
                     lregs.Clear();
 
                     for (int i = c.index, ni = c.index + c.count; i < ni; ++i)
                     {
-                        RcCompactSpan s = chf.spans[i];
+                        ref RcCompactSpan s = ref chf.spans[i];
                         int ri = srcReg[i];
                         if (ri == 0xff)
                             continue;
@@ -201,17 +225,22 @@ namespace DotRecast.Recast
                         // Update neighbours
                         for (int dir = 0; dir < 4; ++dir)
                         {
-                            if (GetCon(s, dir) != RC_NOT_CONNECTED)
+                            if (GetCon(ref s, dir) != RC_NOT_CONNECTED)
                             {
                                 int ax = x + GetDirOffsetX(dir);
                                 int ay = y + GetDirOffsetY(dir);
-                                int ai = chf.cells[ax + ay * w].index + GetCon(s, dir);
+                                int ai = chf.cells[ax + ay * w].index + GetCon(ref s, dir);
                                 int rai = srcReg[ai];
                                 if (rai != 0xff && rai != ri)
+                                {
+                                    // Don't check return value -- if we cannot add the neighbor
+                                    // it will just cause a few more regions to be created, which
+                                    // is fine.
                                     AddUnique(regs[ri].neis, rai);
                                 }
                             }
                         }
+                    }
 
                     // Update overlapping regions.
                     for (int i = 0; i < lregs.Count - 1; ++i)
@@ -231,9 +260,11 @@ namespace DotRecast.Recast
             }
 
             // Create 2D layers from regions.
-            int layerId = 0;
+            byte layerId = 0;
 
-            List<int> stack = new List<int>();
+            const int MAX_STACK = 64;
+            Span<byte> stack = stackalloc byte[MAX_STACK];
+            int nstack = 0;
 
             for (int i = 0; i < nregs; ++i)
             {
@@ -246,14 +277,16 @@ namespace DotRecast.Recast
                 root.layerId = layerId;
                 root.@base = true;
 
-                stack.Add(i);
+                nstack = 0;
+                stack[nstack++] = ((byte)i);
 
-                while (stack.Count != 0)
+                while (0 != nstack)
                 {
                     // Pop front
-                    int pop = stack[0]; // TODO : 여기에 stack 처럼 작동하게 했는데, 스택인지는 모르겠음
-                    stack.RemoveAt(0);
-                    RcLayerRegion reg = regs[pop];
+                    RcLayerRegion reg = regs[stack[0]];
+                    nstack--;
+                    for (int j = 0; j < nstack; ++j)
+                        stack[j] = stack[j + 1];
 
                     foreach (int nei in reg.neis)
                     {
@@ -261,27 +294,35 @@ namespace DotRecast.Recast
                         // Skip already visited.
                         if (regn.layerId != 0xff)
                             continue;
+
                         // Skip if the neighbour is overlapping root region.
                         if (Contains(root.layers, nei))
                             continue;
+
                         // Skip if the height range would become too large.
                         int ymin = Math.Min(root.ymin, regn.ymin);
                         int ymax = Math.Max(root.ymax, regn.ymax);
                         if ((ymax - ymin) >= 255)
                             continue;
 
+                        if (nstack < MAX_STACK)
+                        {
                             // Deepen
-                        stack.Add(nei);
+                            stack[nstack++] = (byte)nei;
 
                             // Mark layer id
                             regn.layerId = layerId;
                             // Merge current layers to root.
                             foreach (int layer in regn.layers)
+                            {
                                 AddUnique(root.layers, layer);
+                            }
+
                             root.ymin = Math.Min(root.ymin, regn.ymin);
                             root.ymax = Math.Max(root.ymax, regn.ymax);
                         }
                     }
+                }
 
                 layerId++;
             }
@@ -295,9 +336,9 @@ namespace DotRecast.Recast
                 if (!ri.@base)
                     continue;
 
-                int newId = ri.layerId;
+                byte newId = ri.layerId;
 
-                while (true)
+                for (;;)
                 {
                     int oldId = 0xff;
 
@@ -318,11 +359,9 @@ namespace DotRecast.Recast
                         if ((ymax - ymin) >= 255)
                             continue;
 
-                        // Make sure that there is no overlap when merging 'ri' and
-                        // 'rj'.
+                        // Make sure that there is no overlap when merging 'ri' and 'rj'.
                         bool overlap = false;
-                        // Iterate over all regions which have the same layerId as
-                        // 'rj'
+                        // Iterate over all regions which have the same layerId as 'rj'
                         for (int k = 0; k < nregs; ++k)
                         {
                             if (regs[k].layerId != rj.layerId)
@@ -360,7 +399,10 @@ namespace DotRecast.Recast
                             rj.layerId = newId;
                             // Add overlaid layers from 'rj' to 'ri'.
                             foreach (int layer in rj.layers)
+                            {
                                 AddUnique(ri.layers, layer);
+                            }
+
                             // Update height bounds.
                             ri.ymin = Math.Min(ri.ymin, rj.ymin);
                             ri.ymax = Math.Max(ri.ymax, rj.ymax);
@@ -370,7 +412,7 @@ namespace DotRecast.Recast
             }
 
             // Compact layerIds
-            int[] remap = new int[256];
+            Span<byte> remap = stackalloc byte[256];
 
             // Find number of unique layers.
             layerId = 0;
@@ -386,13 +428,14 @@ namespace DotRecast.Recast
 
             // Remap ids.
             for (int i = 0; i < nregs; ++i)
+            {
                 regs[i].layerId = remap[regs[i].layerId];
+            }
 
             // No layers, return empty.
             if (layerId == 0)
             {
-                // ctx.Stop(RC_TIMER_BUILD_LAYERS);
-                return null;
+                return true;
             }
 
             // Create layers.
@@ -409,7 +452,7 @@ namespace DotRecast.Recast
             bmax.X -= borderSize * chf.cs;
             bmax.Z -= borderSize * chf.cs;
 
-            RcHeightfieldLayerSet lset = new RcHeightfieldLayerSet();
+            lset = new RcHeightfieldLayerSet();
             lset.layers = new RcHeightfieldLayer[layerId];
             for (int i = 0; i < lset.layers.Length; i++)
             {
@@ -467,10 +510,10 @@ namespace DotRecast.Recast
                     {
                         int cx = borderSize + x;
                         int cy = borderSize + y;
-                        RcCompactCell c = chf.cells[cx + cy * w];
+                        ref RcCompactCell c = ref chf.cells[cx + cy * w];
                         for (int j = c.index, nj = c.index + c.count; j < nj; ++j)
                         {
-                            RcCompactSpan s = chf.spans[j];
+                            ref RcCompactSpan s = ref chf.spans[j];
                             // Skip unassigned regions.
                             if (srcReg[j] == 0xff)
                                 continue;
@@ -495,19 +538,18 @@ namespace DotRecast.Recast
                             char con = (char)0;
                             for (int dir = 0; dir < 4; ++dir)
                             {
-                                if (GetCon(s, dir) != RC_NOT_CONNECTED)
+                                if (GetCon(ref s, dir) != RC_NOT_CONNECTED)
                                 {
                                     int ax = cx + GetDirOffsetX(dir);
                                     int ay = cy + GetDirOffsetY(dir);
-                                    int ai = chf.cells[ax + ay * w].index + GetCon(s, dir);
+                                    int ai = chf.cells[ax + ay * w].index + GetCon(ref s, dir);
                                     int alid = srcReg[ai] != 0xff ? regs[srcReg[ai]].layerId : 0xff;
                                     // Portal mask
                                     if (chf.areas[ai] != RC_NULL_AREA && lid != alid)
                                     {
                                         portal |= (char)(1 << dir);
-                                        // Update height so that it matches on both
-                                        // sides of the portal.
-                                        RcCompactSpan @as = chf.spans[ai];
+                                        // Update height so that it matches on both sides of the portal.
+                                        ref RcCompactSpan @as = ref chf.spans[ai];
                                         if (@as.y > hmin)
                                             layer.heights[idx] = Math.Max(layer.heights[idx], (char)(@as.y - hmin));
                                     }
@@ -534,8 +576,7 @@ namespace DotRecast.Recast
                     layer.miny = layer.maxy = 0;
             }
 
-            // ctx->StopTimer(RC_TIMER_BUILD_LAYERS);
-            return lset;
+            return true;
         }
     }
 }

src/DotRecast.Recast/RcLevelStackEntry.cs

@@ -0,0 +1,16 @@
+namespace DotRecast.Recast
+{
+    public readonly struct RcLevelStackEntry
+    {
+        public readonly int x;
+        public readonly int y;
+        public readonly int index;
+
+        public RcLevelStackEntry(int tempX, int tempY, int tempIndex)
+        {
+            x = tempX;
+            y = tempY;
+            index = tempIndex;
+        }
+    }
+}

src/DotRecast.Recast/RcMeshDetails.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -22,178 +22,57 @@ using System;
 using System.Collections.Generic;
 using DotRecast.Core;
 using DotRecast.Core.Numerics;
-using static DotRecast.Recast.RcConstants;
+
 
 namespace DotRecast.Recast
 {
-    using static RcCommons;
-
+    using static RcRecast;
+    using static RcVec;
+    using static EdgeValues;
 
     public static class RcMeshDetails
     {
-        public const int MAX_VERTS = 127;
-        public const int MAX_TRIS = 255; // Max tris for delaunay is 2n-2-k (n=num verts, k=num hull verts).
-        public const int MAX_VERTS_PER_EDGE = 32;
-
-        public const int RC_UNSET_HEIGHT = RcConstants.SPAN_MAX_HEIGHT;
-        public const int EV_UNDEF = -1;
-        public const int EV_HULL = -2;
+        public const int RC_UNSET_HEIGHT = RC_SPAN_MAX_HEIGHT;
 
 
-        private static float Vdot2(float[] a, float[] b)
-        {
-            return a[0] * b[0] + a[2] * b[2];
-        }
-
-        private static float Vdot2(RcVec3f a, RcVec3f b)
-        {
-            return a.X * b.X + a.Z * b.Z;
-        }
-
-
-        private static float VdistSq2(float[] verts, int p, int q)
-        {
-            float dx = verts[q + 0] - verts[p + 0];
-            float dy = verts[q + 2] - verts[p + 2];
-            return dx * dx + dy * dy;
-        }
-
-        private static float Vdist2(float[] verts, int p, int q)
-        {
-            return MathF.Sqrt(VdistSq2(verts, p, q));
-        }
-
-        private static float VdistSq2(float[] p, float[] q)
-        {
-            float dx = q[0] - p[0];
-            float dy = q[2] - p[2];
-            return dx * dx + dy * dy;
-        }
-
-        private static float VdistSq2(float[] p, RcVec3f q)
-        {
-            float dx = q.X - p[0];
-            float dy = q.Z - p[2];
-            return dx * dx + dy * dy;
-        }
-
-
-        private static float VdistSq2(RcVec3f p, RcVec3f q)
-        {
-            float dx = q.X - p.X;
-            float dy = q.Z - p.Z;
-            return dx * dx + dy * dy;
-        }
-
-
-        private static float Vdist2(float[] p, float[] q)
-        {
-            return MathF.Sqrt(VdistSq2(p, q));
-        }
-
-        private static float Vdist2(RcVec3f p, RcVec3f q)
-        {
-            return MathF.Sqrt(VdistSq2(p, q));
-        }
-
-        private static float Vdist2(float[] p, RcVec3f q)
-        {
-            return MathF.Sqrt(VdistSq2(p, q));
-        }
-
-
-        private static float VdistSq2(float[] p, float[] verts, int q)
-        {
-            float dx = verts[q + 0] - p[0];
-            float dy = verts[q + 2] - p[2];
-            return dx * dx + dy * dy;
-        }
-
-        private static float VdistSq2(RcVec3f p, float[] verts, int q)
-        {
-            float dx = verts[q + 0] - p.X;
-            float dy = verts[q + 2] - p.Z;
-            return dx * dx + dy * dy;
-        }
-
-
-        private static float Vdist2(float[] p, float[] verts, int q)
-        {
-            return MathF.Sqrt(VdistSq2(p, verts, q));
-        }
-
-        private static float Vdist2(RcVec3f p, float[] verts, int q)
-        {
-            return MathF.Sqrt(VdistSq2(p, verts, q));
-        }
-
-
-        private static float Vcross2(float[] verts, int p1, int p2, int p3)
-        {
-            float u1 = verts[p2 + 0] - verts[p1 + 0];
-            float v1 = verts[p2 + 2] - verts[p1 + 2];
-            float u2 = verts[p3 + 0] - verts[p1 + 0];
-            float v2 = verts[p3 + 2] - verts[p1 + 2];
-            return u1 * v2 - v1 * u2;
-        }
-
-        private static float Vcross2(float[] p1, float[] p2, float[] p3)
-        {
-            float u1 = p2[0] - p1[0];
-            float v1 = p2[2] - p1[2];
-            float u2 = p3[0] - p1[0];
-            float v2 = p3[2] - p1[2];
-            return u1 * v2 - v1 * u2;
-        }
-
-        private static float Vcross2(RcVec3f p1, RcVec3f p2, RcVec3f p3)
-        {
-            float u1 = p2.X - p1.X;
-            float v1 = p2.Z - p1.Z;
-            float u2 = p3.X - p1.X;
-            float v2 = p3.Z - p1.Z;
-            return u1 * v2 - v1 * u2;
-        }
-
-
-        private static bool CircumCircle(float[] verts, int p1, int p2, int p3, ref RcVec3f c, RcAtomicFloat r)
+        public static bool CircumCircle(RcVec3f p1, RcVec3f p2, RcVec3f p3, ref RcVec3f c, out float r)
         {
             const float EPS = 1e-6f;
             // Calculate the circle relative to p1, to avoid some precision issues.
             var v1 = new RcVec3f();
-            var v2 = RcVecUtils.Subtract(verts, p2, p1);
-            var v3 = RcVecUtils.Subtract(verts, p3, p1);
+            var v2 = p2 - p1;
+            var v3 = p3 - p1;
 
-            float cp = Vcross2(v1, v2, v3);
+            float cp = Cross2(v1, v2, v3);
             if (MathF.Abs(cp) > EPS)
             {
-                float v1Sq = Vdot2(v1, v1);
-                float v2Sq = Vdot2(v2, v2);
-                float v3Sq = Vdot2(v3, v3);
+                float v1Sq = Dot2(v1, v1);
+                float v2Sq = Dot2(v2, v2);
+                float v3Sq = Dot2(v3, v3);
                 c.X = (v1Sq * (v2.Z - v3.Z) + v2Sq * (v3.Z - v1.Z) + v3Sq * (v1.Z - v2.Z)) / (2 * cp);
                 c.Y = 0;
                 c.Z = (v1Sq * (v3.X - v2.X) + v2Sq * (v1.X - v3.X) + v3Sq * (v2.X - v1.X)) / (2 * cp);
-                r.Exchange(Vdist2(c, v1));
-                c = RcVecUtils.Add(c, verts, p1);
+                r = Dist2(c, v1);
+                c = c + p1;
                 return true;
             }
 
-            c = RcVecUtils.Create(verts, p1);
-            r.Exchange(0f);
+            c = p1;
+            r = 0f;
             return false;
         }
 
-        private static float DistPtTri(RcVec3f p, float[] verts, int a, int b, int c)
+        public static float DistPtTri(RcVec3f p, RcVec3f a, RcVec3f b, RcVec3f c)
         {
-            var v0 = RcVecUtils.Subtract(verts, c, a);
-            var v1 = RcVecUtils.Subtract(verts, b, a);
-            var v2 = RcVecUtils.Subtract(p, verts, a);
+            var v0 = c - a;
+            var v1 = b - a;
+            var v2 = p - a;
 
-            float dot00 = Vdot2(v0, v0);
-            float dot01 = Vdot2(v0, v1);
-            float dot02 = Vdot2(v0, v2);
-            float dot11 = Vdot2(v1, v1);
-            float dot12 = Vdot2(v1, v2);
+            float dot00 = Dot2(v0, v0);
+            float dot01 = Dot2(v0, v1);
+            float dot02 = Dot2(v0, v2);
+            float dot11 = Dot2(v1, v1);
+            float dot12 = Dot2(v1, v2);
 
             // Compute barycentric coordinates
             float invDenom = 1.0f / (dot00 * dot11 - dot01 * dot01);
@@ -204,14 +83,14 @@ namespace DotRecast.Recast
             const float EPS = 1e-4f;
             if (u >= -EPS && v >= -EPS && (u + v) <= 1 + EPS)
             {
-                float y = verts[a + 1] + v0.Y * u + v1.Y * v;
+                float y = a.Y + v0.Y * u + v1.Y * v;
                 return MathF.Abs(y - p.Y);
             }
 
             return float.MaxValue;
         }
 
-        private static float DistancePtSeg(float[] verts, int pt, int p, int q)
+        public static float DistancePtSeg(float[] verts, int pt, int p, int q)
         {
             float pqx = verts[q + 0] - verts[p + 0];
             float pqy = verts[q + 1] - verts[p + 1];
@@ -242,7 +121,7 @@ namespace DotRecast.Recast
             return dx * dx + dy * dy + dz * dz;
         }
 
-        private static float DistancePtSeg2d(RcVec3f verts, float[] poly, int p, int q)
+        public static float DistancePtSeg2d(RcVec3f verts, float[] poly, int p, int q)
         {
             float pqx = poly[q + 0] - poly[p + 0];
             float pqz = poly[q + 2] - poly[p + 2];
@@ -270,7 +149,7 @@ namespace DotRecast.Recast
             return dx * dx + dz * dz;
         }
 
-        private static float DistancePtSeg2d(float[] verts, int pt, float[] poly, int p, int q)
+        public static float DistancePtSeg2d(float[] verts, int pt, float[] poly, int p, int q)
         {
             float pqx = poly[q + 0] - poly[p + 0];
             float pqz = poly[q + 2] - poly[p + 2];
@@ -298,15 +177,15 @@ namespace DotRecast.Recast
             return dx * dx + dz * dz;
         }
 
-        private static float DistToTriMesh(RcVec3f p, float[] verts, int nverts, List<int> tris, int ntris)
+        public static float DistToTriMesh(RcVec3f p, float[] verts, int nverts, List<int> tris, int ntris)
         {
             float dmin = float.MaxValue;
             for (int i = 0; i < ntris; ++i)
             {
-                int va = tris[i * 4 + 0] * 3;
-                int vb = tris[i * 4 + 1] * 3;
-                int vc = tris[i * 4 + 2] * 3;
-                float d = DistPtTri(p, verts, va, vb, vc);
+                RcVec3f va = RcVec.Create(verts, tris[i * 4 + 0] * 3);
+                RcVec3f vb = RcVec.Create(verts, tris[i * 4 + 1] * 3);
+                RcVec3f vc = RcVec.Create(verts, tris[i * 4 + 2] * 3);
+                float d = DistPtTri(p, va, vb, vc);
                 if (d < dmin)
                 {
                     dmin = d;
@@ -321,7 +200,7 @@ namespace DotRecast.Recast
             return dmin;
         }
 
-        private static float DistToPoly(int nvert, float[] verts, RcVec3f p)
+        public static float DistToPoly(int nvert, float[] verts, RcVec3f p)
         {
             float dmin = float.MaxValue;
             int i, j;
@@ -342,7 +221,7 @@ namespace DotRecast.Recast
             return c ? -dmin : dmin;
         }
 
-        private static int GetHeight(float fx, float fy, float fz, float cs, float ics, float ch, int radius,
+        public static int GetHeight(float fx, float fy, float fz, float cs, float ics, float ch, int radius,
             RcHeightPatch hp)
         {
             int ix = (int)MathF.Floor(fx * ics + 0.01f);
@@ -425,7 +304,7 @@ namespace DotRecast.Recast
             return h;
         }
 
-        private static int FindEdge(List<int> edges, int s, int t)
+        public static int FindEdge(List<int> edges, int s, int t)
         {
             for (int i = 0; i < edges.Count / 4; i++)
             {
@@ -439,7 +318,7 @@ namespace DotRecast.Recast
             return EV_UNDEF;
         }
 
-        private static void AddEdge(RcTelemetry ctx, List<int> edges, int maxEdges, int s, int t, int l, int r)
+        public static void AddEdge(RcContext ctx, List<int> edges, int maxEdges, int s, int t, int l, int r)
         {
             if (edges.Count / 4 >= maxEdges)
             {
@@ -457,7 +336,7 @@ namespace DotRecast.Recast
             }
         }
 
-        private static void UpdateLeftFace(List<int> edges, int e, int s, int t, int f)
+        public static void UpdateLeftFace(List<int> edges, int e, int s, int t, int f)
         {
             if (edges[e + 0] == s && edges[e + 1] == t && edges[e + 2] == EV_UNDEF)
             {
@@ -469,13 +348,13 @@ namespace DotRecast.Recast
             }
         }
 
-        private static bool OverlapSegSeg2d(float[] verts, int a, int b, int c, int d)
+        public static bool OverlapSegSeg2d(float[] verts, int a, int b, int c, int d)
         {
-            float a1 = Vcross2(verts, a, b, d);
-            float a2 = Vcross2(verts, a, b, c);
+            float a1 = Cross2(verts, a, b, d);
+            float a2 = Cross2(verts, a, b, c);
             if (a1 * a2 < 0.0f)
             {
-                float a3 = Vcross2(verts, c, d, a);
+                float a3 = Cross2(verts, c, d, a);
                 float a4 = a3 + a2 - a1;
                 if (a3 * a4 < 0.0f)
                 {
@@ -486,7 +365,7 @@ namespace DotRecast.Recast
             return false;
         }
 
-        private static bool OverlapEdges(float[] pts, List<int> edges, int s1, int t1)
+        public static bool OverlapEdges(float[] pts, List<int> edges, int s1, int t1)
         {
             for (int i = 0; i < edges.Count / 4; ++i)
             {
@@ -507,7 +386,7 @@ namespace DotRecast.Recast
             return false;
         }
 
-        static int CompleteFacet(RcTelemetry ctx, float[] pts, int npts, List<int> edges, int maxEdges, int nfaces, int e)
+        public static int CompleteFacet(RcContext ctx, float[] pts, int npts, List<int> edges, int maxEdges, int nfaces, int e)
         {
             const float EPS = 1e-5f;
 
@@ -534,7 +413,7 @@ namespace DotRecast.Recast
             // Find best point on left of edge.
             int pt = npts;
             RcVec3f c = new RcVec3f();
-            RcAtomicFloat r = new RcAtomicFloat(-1f);
+            float r = -1f;
             for (int u = 0; u < npts; ++u)
             {
                 if (u == s || u == t)
@@ -542,28 +421,32 @@ namespace DotRecast.Recast
                     continue;
                 }
 
-                if (Vcross2(pts, s * 3, t * 3, u * 3) > EPS)
+                RcVec3f vs = RcVec.Create(pts, s * 3);
+                RcVec3f vt = RcVec.Create(pts, t * 3);
+                RcVec3f vu = RcVec.Create(pts, u * 3);
+
+                if (Cross2(vs, vt, vu) > EPS)
                 {
-                    if (r.Get() < 0)
+                    if (r < 0)
                     {
                         // The circle is not updated yet, do it now.
                         pt = u;
-                        CircumCircle(pts, s * 3, t * 3, u * 3, ref c, r);
+                        CircumCircle(vs, vt, vu, ref c, out r);
                         continue;
                     }
 
-                    float d = Vdist2(c, pts, u * 3);
+                    float d = Dist2(c, vu);
                     float tol = 0.001f;
-                    if (d > r.Get() * (1 + tol))
+                    if (d > r * (1 + tol))
                     {
                         // Outside current circumcircle, skip.
                         continue;
                     }
-                    else if (d < r.Get() * (1 - tol))
+                    else if (d < r * (1 - tol))
                     {
                         // Inside safe circumcircle, update circle.
                         pt = u;
-                        CircumCircle(pts, s * 3, t * 3, u * 3, ref c, r);
+                        CircumCircle(vs, vt, vu, ref c, out r);
                     }
                     else
                     {
@@ -581,7 +464,7 @@ namespace DotRecast.Recast
 
                         // Edge is valid.
                         pt = u;
-                        CircumCircle(pts, s * 3, t * 3, u * 3, ref c, r);
+                        CircumCircle(vs, vt, vu, ref c, out r);
                     }
                 }
             }
@@ -624,7 +507,7 @@ namespace DotRecast.Recast
             return nfaces;
         }
 
-        private static void DelaunayHull(RcTelemetry ctx, int npts, float[] pts, int nhull, int[] hull, List<int> tris)
+        public static void DelaunayHull(RcContext ctx, int npts, float[] pts, int nhull, int[] hull, List<int> tris)
         {
             int nfaces = 0;
             int maxEdges = npts * 10;
@@ -720,7 +603,7 @@ namespace DotRecast.Recast
         }
 
         // Calculate minimum extend of the polygon.
-        private static float PolyMinExtent(float[] verts, int nverts)
+        public static float PolyMinExtent(float[] verts, int nverts)
         {
             float minDist = float.MaxValue;
             for (int i = 0; i < nverts; i++)
@@ -746,7 +629,7 @@ namespace DotRecast.Recast
             return MathF.Sqrt(minDist);
         }
 
-        private static void TriangulateHull(int nverts, float[] verts, int nhull, int[] hull, int nin, List<int> tris)
+        public static void TriangulateHull(int nverts, float[] verts, int nhull, int[] hull, int nin, List<int> tris)
         {
             int start = 0, left = 1, right = nhull - 1;
 
@@ -766,7 +649,7 @@ namespace DotRecast.Recast
                 int pv = hull[pi] * 3;
                 int cv = hull[i] * 3;
                 int nv = hull[ni] * 3;
-                float d = Vdist2(verts, pv, cv) + Vdist2(verts, cv, nv) + Vdist2(verts, nv, pv);
+                float d = Dist2(verts, pv, cv) + Dist2(verts, cv, nv) + Dist2(verts, nv, pv);
                 if (d < dmin)
                 {
                     start = i;
@@ -796,8 +679,8 @@ namespace DotRecast.Recast
                 int nvleft = hull[nleft] * 3;
                 int cvright = hull[right] * 3;
                 int nvright = hull[nright] * 3;
-                float dleft = Vdist2(verts, cvleft, nvleft) + Vdist2(verts, nvleft, cvright);
-                float dright = Vdist2(verts, cvright, nvright) + Vdist2(verts, cvleft, nvright);
+                float dleft = Dist2(verts, cvleft, nvleft) + Dist2(verts, nvleft, cvright);
+                float dright = Dist2(verts, cvright, nvright) + Dist2(verts, cvleft, nvright);
 
                 if (dleft < dright)
                 {
@@ -818,33 +701,37 @@ namespace DotRecast.Recast
             }
         }
 
-        private static float GetJitterX(int i)
+        public static float GetJitterX(int i)
         {
             return (((i * 0x8da6b343) & 0xffff) / 65535.0f * 2.0f) - 1.0f;
         }
 
-        private static float GetJitterY(int i)
+        public static float GetJitterY(int i)
         {
             return (((i * 0xd8163841) & 0xffff) / 65535.0f * 2.0f) - 1.0f;
         }
 
-        static int BuildPolyDetail(RcTelemetry ctx, float[] @in, int nin, float sampleDist, float sampleMaxError,
-            int heightSearchRadius, RcCompactHeightfield chf, RcHeightPatch hp, float[] verts, List<int> tris)
+        public static int BuildPolyDetail(RcContext ctx, float[] @in, int nin, 
+                                            float sampleDist, float sampleMaxError, 
+                                            int heightSearchRadius, RcCompactHeightfield chf, 
+                                            RcHeightPatch hp, float[] verts, 
+                                            ref List<int> tris, ref List<int> edges, ref List<int> samples)
         {
-            List<int> samples = new List<int>(512);
-
-            int nverts = 0;
+            const int MAX_VERTS = 127;
+            const int MAX_TRIS = 255; // Max tris for delaunay is 2n-2-k (n=num verts, k=num hull verts).
+            const int MAX_VERTS_PER_EDGE = 32;
             float[] edge = new float[(MAX_VERTS_PER_EDGE + 1) * 3];
             int[] hull = new int[MAX_VERTS];
             int nhull = 0;
 
-            nverts = nin;
+            int nverts = nin;
 
             for (int i = 0; i < nin; ++i)
             {
-                RcVecUtils.Copy(verts, i * 3, @in, i * 3);
+                RcVec.Copy(verts, i * 3, @in, i * 3);
             }
 
+            edges.Clear();
             tris.Clear();
 
             float cs = chf.cs;
@@ -869,9 +756,7 @@ namespace DotRecast.Recast
                     {
                         if (@in[vj + 2] > @in[vi + 2])
                         {
-                            int temp = vi;
-                            vi = vj;
-                            vj = temp;
+                            (vi, vj) = (vj, vi);
                             swapped = true;
                         }
                     }
@@ -879,9 +764,7 @@ namespace DotRecast.Recast
                     {
                         if (@in[vj + 0] > @in[vi + 0])
                         {
-                            int temp = vi;
-                            vi = vj;
-                            vj = temp;
+                            (vi, vj) = (vj, vi);
                             swapped = true;
                         }
                     }
@@ -961,7 +844,7 @@ namespace DotRecast.Recast
                     {
                         for (int k = nidx - 2; k > 0; --k)
                         {
-                            RcVecUtils.Copy(verts, nverts * 3, edge, idx[k] * 3);
+                            RcVec.Copy(verts, nverts * 3, edge, idx[k] * 3);
                             hull[nhull++] = nverts;
                             nverts++;
                         }
@@ -970,7 +853,7 @@ namespace DotRecast.Recast
                     {
                         for (int k = 1; k < nidx - 1; ++k)
                         {
-                            RcVecUtils.Copy(verts, nverts * 3, edge, idx[k] * 3);
+                            RcVec.Copy(verts, nverts * 3, edge, idx[k] * 3);
                             hull[nhull++] = nverts;
                             nverts++;
                         }
@@ -982,6 +865,7 @@ namespace DotRecast.Recast
             if (minExtent < sampleDist * 2)
             {
                 TriangulateHull(nverts, verts, nhull, hull, nin, tris);
+                SetTriFlags(tris, nhull, hull);
                 return nverts;
             }
 
@@ -1000,12 +884,12 @@ namespace DotRecast.Recast
             if (sampleDist > 0)
             {
                 // Create sample locations in a grid.
-                RcVec3f bmin = RcVecUtils.Create(@in);
-                RcVec3f bmax = RcVecUtils.Create(@in);
+                RcVec3f bmin = new RcVec3f(@in);
+                RcVec3f bmax = new RcVec3f(@in);
                 for (int i = 1; i < nin; ++i)
                 {
-                    bmin = RcVecUtils.Min(bmin, @in, i * 3);
-                    bmax = RcVecUtils.Max(bmax, @in, i * 3);
+                    bmin = RcVec3f.Min(bmin, RcVec.Create(@in, i * 3));
+                    bmax = RcVec3f.Max(bmax, RcVec.Create(@in, i * 3));
                 }
 
                 int x0 = (int)MathF.Floor(bmin.X / sampleDist);
@@ -1101,14 +985,49 @@ namespace DotRecast.Recast
                 List<int> subList = tris.GetRange(0, MAX_TRIS * 4);
                 tris.Clear();
                 tris.AddRange(subList);
-                throw new Exception(
-                    "rcBuildPolyMeshDetail: Shrinking triangle count from " + ntris + " to max " + MAX_TRIS);
+                throw new Exception("rcBuildPolyMeshDetail: Shrinking triangle count from " + ntris + " to max " + MAX_TRIS);
             }
 
+            SetTriFlags(tris, nhull, hull);
             return nverts;
         }
 
-        static void SeedArrayWithPolyCenter(RcTelemetry ctx, RcCompactHeightfield chf, int[] meshpoly, int poly, int npoly,
+        public static bool OnHull(int a, int b, int nhull, int[] hull)
+        {
+            // All internal sampled points come after the hull so we can early out for those.
+            if (a >= nhull || b >= nhull)
+                return false;
+
+            for (int j = nhull - 1, i = 0; i < nhull; j = i++)
+            {
+                if (a == hull[j] && b == hull[i])
+                    return true;
+            }
+
+            return false;
+        }
+
+        // Find edges that lie on hull and mark them as such.
+        public static void SetTriFlags(List<int> tris, int nhull, int[] hull)
+        {
+            // Matches DT_DETAIL_EDGE_BOUNDARY
+            const int DETAIL_EDGE_BOUNDARY = 0x1;
+
+            for (int i = 0; i < tris.Count; i += 4)
+            {
+                int a = tris[i];
+                int b = tris[i + 1];
+                int c = tris[i + 2];
+                int flags = 0;
+                flags |= (OnHull(a, b, nhull, hull) ? DETAIL_EDGE_BOUNDARY : 0) << 0;
+                flags |= (OnHull(b, c, nhull, hull) ? DETAIL_EDGE_BOUNDARY : 0) << 2;
+                flags |= (OnHull(c, a, nhull, hull) ? DETAIL_EDGE_BOUNDARY : 0) << 4;
+                tris[i + 3] = flags;
+            }
+        }
+
+
+        public static void SeedArrayWithPolyCenter(RcContext ctx, RcCompactHeightfield chf, int[] meshpoly, int poly, int npoly,
             int[] verts, int bs, RcHeightPatch hp, List<int> array)
         {
             // Note: Reads to the compact heightfield are offset by border size (bs)
@@ -1131,10 +1050,10 @@ namespace DotRecast.Recast
                         continue;
                     }
 
-                    RcCompactCell c = chf.cells[(ax + bs) + (az + bs) * chf.width];
+                    ref RcCompactCell c = ref chf.cells[(ax + bs) + (az + bs) * chf.width];
                     for (int i = c.index, ni = c.index + c.count; i < ni && dmin > 0; ++i)
                     {
-                        RcCompactSpan s = chf.spans[i];
+                        ref RcCompactSpan s = ref chf.spans[i];
                         int d = Math.Abs(ay - s.y);
                         if (d < dmin)
                         {
@@ -1210,12 +1129,12 @@ namespace DotRecast.Recast
                 dirs[3] = dirs[directDir];
                 dirs[directDir] = tmp;
 
-                RcCompactSpan cs = chf.spans[ci];
+                ref RcCompactSpan cs = ref chf.spans[ci];
 
                 for (int i = 0; i < 4; ++i)
                 {
                     int dir = dirs[i];
-                    if (GetCon(cs, dir) == RC_NOT_CONNECTED)
+                    if (GetCon(ref cs, dir) == RC_NOT_CONNECTED)
                     {
                         continue;
                     }
@@ -1239,7 +1158,7 @@ namespace DotRecast.Recast
 
                     array.Add(newX);
                     array.Add(newY);
-                    array.Add(chf.cells[(newX + bs) + (newY + bs) * chf.width].index + GetCon(cs, dir));
+                    array.Add(chf.cells[(newX + bs) + (newY + bs) * chf.width].index + GetCon(ref cs, dir));
                 }
 
                 tmp = dirs[3];
@@ -1253,26 +1172,29 @@ namespace DotRecast.Recast
             array.Add(cy + bs);
             array.Add(ci);
             Array.Fill(hp.data, RC_UNSET_HEIGHT, 0, (hp.width * hp.height) - (0));
-            RcCompactSpan cs2 = chf.spans[ci];
+            ref RcCompactSpan cs2 = ref chf.spans[ci];
             hp.data[cx - hp.xmin + (cy - hp.ymin) * hp.width] = cs2.y;
         }
 
-        const int RETRACT_SIZE = 256;
 
-        static void Push3(List<int> queue, int v1, int v2, int v3)
+        public static void Push3(List<int> queue, int v1, int v2, int v3)
         {
             queue.Add(v1);
             queue.Add(v2);
             queue.Add(v3);
         }
 
-        static void GetHeightData(RcTelemetry ctx, RcCompactHeightfield chf, int[] meshpolys, int poly, int npoly, int[] verts,
-            int bs, RcHeightPatch hp, int region)
+        public static void GetHeightData(RcContext ctx, RcCompactHeightfield chf,
+            int[] meshpolys, int poly, int npoly,
+            int[] verts, int bs,
+            ref RcHeightPatch hp, ref List<int> queue,
+            int region)
         {
             // Note: Reads to the compact heightfield are offset by border size (bs)
             // since border size offset is already removed from the polymesh vertices.
 
-            List<int> queue = new List<int>(512);
+            queue.Clear();
+            // Set all heights to RC_UNSET_HEIGHT.
             Array.Fill(hp.data, RC_UNSET_HEIGHT, 0, (hp.width * hp.height) - (0));
 
             bool empty = true;
@@ -1290,10 +1212,10 @@ namespace DotRecast.Recast
                     for (int hx = 0; hx < hp.width; hx++)
                     {
                         int x = hp.xmin + hx + bs;
-                        RcCompactCell c = chf.cells[x + y * chf.width];
+                        ref RcCompactCell c = ref chf.cells[x + y * chf.width];
                         for (int i = c.index, ni = c.index + c.count; i < ni; ++i)
                         {
-                            RcCompactSpan s = chf.spans[i];
+                            ref RcCompactSpan s = ref chf.spans[i];
                             if (s.reg == region)
                             {
                                 // Store height
@@ -1304,12 +1226,12 @@ namespace DotRecast.Recast
                                 bool border = false;
                                 for (int dir = 0; dir < 4; ++dir)
                                 {
-                                    if (GetCon(s, dir) != RC_NOT_CONNECTED)
+                                    if (GetCon(ref s, dir) != RC_NOT_CONNECTED)
                                     {
                                         int ax = x + GetDirOffsetX(dir);
                                         int ay = y + GetDirOffsetY(dir);
-                                        int ai = chf.cells[ax + ay * chf.width].index + GetCon(s, dir);
-                                        RcCompactSpan @as = chf.spans[ai];
+                                        int ai = chf.cells[ax + ay * chf.width].index + GetCon(ref s, dir);
+                                        ref RcCompactSpan @as = ref chf.spans[ai];
                                         if (@as.reg != region)
                                         {
                                             border = true;
@@ -1338,6 +1260,7 @@ namespace DotRecast.Recast
                 SeedArrayWithPolyCenter(ctx, chf, meshpolys, poly, npoly, verts, bs, hp, queue);
             }
 
+            const int RETRACT_SIZE = 256;
             int head = 0;
 
             // We assume the seed is centered in the polygon, so a BFS to collect
@@ -1355,10 +1278,10 @@ namespace DotRecast.Recast
                     queue = queue.GetRange(RETRACT_SIZE * 3, queue.Count - (RETRACT_SIZE * 3));
                 }
 
-                RcCompactSpan cs = chf.spans[ci];
+                ref RcCompactSpan cs = ref chf.spans[ci];
                 for (int dir = 0; dir < 4; ++dir)
                 {
-                    if (GetCon(cs, dir) == RC_NOT_CONNECTED)
+                    if (GetCon(ref cs, dir) == RC_NOT_CONNECTED)
                     {
                         continue;
                     }
@@ -1378,8 +1301,8 @@ namespace DotRecast.Recast
                         continue;
                     }
 
-                    int ai = chf.cells[ax + ay * chf.width].index + GetCon(cs, dir);
-                    RcCompactSpan @as = chf.spans[ai];
+                    int ai = chf.cells[ax + ay * chf.width].index + GetCon(ref cs, dir);
+                    ref RcCompactSpan @as = ref chf.spans[ai];
 
                     hp.data[hx + hy * hp.width] = @as.y;
                     Push3(queue, ax, ay, ai);
@@ -1387,38 +1310,12 @@ namespace DotRecast.Recast
             }
         }
 
-        static int GetEdgeFlags(float[] verts, int va, int vb, float[] vpoly, int npoly)
-        {
-            // The flag returned by this function matches getDetailTriEdgeFlags in Detour.
-            // Figure out if edge (va,vb) is part of the polygon boundary.
-            float thrSqr = 0.001f * 0.001f;
-            for (int i = 0, j = npoly - 1; i < npoly; j = i++)
-            {
-                if (DistancePtSeg2d(verts, va, vpoly, j * 3, i * 3) < thrSqr
-                    && DistancePtSeg2d(verts, vb, vpoly, j * 3, i * 3) < thrSqr)
-                {
-                    return 1;
-                }
-            }
-
-            return 0;
-        }
-
-        static int GetTriFlags(float[] verts, int va, int vb, int vc, float[] vpoly, int npoly)
-        {
-            int flags = 0;
-            flags |= GetEdgeFlags(verts, va, vb, vpoly, npoly) << 0;
-            flags |= GetEdgeFlags(verts, vb, vc, vpoly, npoly) << 2;
-            flags |= GetEdgeFlags(verts, vc, va, vpoly, npoly) << 4;
-            return flags;
-        }
-
         /// @par
         ///
         /// See the #rcConfig documentation for more information on the configuration parameters.
         ///
         /// @see rcAllocPolyMeshDetail, rcPolyMesh, rcCompactHeightfield, rcPolyMeshDetail, rcConfig
-        public static RcPolyMeshDetail BuildPolyMeshDetail(RcTelemetry ctx, RcPolyMesh mesh, RcCompactHeightfield chf,
+        public static RcPolyMeshDetail BuildPolyMeshDetail(RcContext ctx, RcPolyMesh mesh, RcCompactHeightfield chf,
             float sampleDist, float sampleMaxError)
         {
             using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_BUILD_POLYMESHDETAIL);
@@ -1435,7 +1332,10 @@ namespace DotRecast.Recast
             int borderSize = mesh.borderSize;
             int heightSearchRadius = (int)Math.Max(1, MathF.Ceiling(mesh.maxEdgeError));
 
+            List<int> edges = new List<int>(64);
             List<int> tris = new List<int>(512);
+            List<int> arr = new List<int>(512);
+            List<int> samples = new List<int>(512);
             float[] verts = new float[256 * 3];
             RcHeightPatch hp = new RcHeightPatch();
             int nPolyVerts = 0;
@@ -1520,18 +1420,20 @@ namespace DotRecast.Recast
                 hp.ymin = bounds[i * 4 + 2];
                 hp.width = bounds[i * 4 + 1] - bounds[i * 4 + 0];
                 hp.height = bounds[i * 4 + 3] - bounds[i * 4 + 2];
-                GetHeightData(ctx, chf, mesh.polys, p, npoly, mesh.verts, borderSize, hp, mesh.regs[i]);
+                GetHeightData(ctx, chf, mesh.polys, p, npoly, mesh.verts, borderSize, ref hp, ref arr, mesh.regs[i]);
 
                 // Build detail mesh.
-                int nverts = BuildPolyDetail(ctx, poly, npoly, sampleDist, sampleMaxError, heightSearchRadius, chf, hp,
-                    verts, tris);
+                int nverts = BuildPolyDetail(ctx, poly, npoly,
+                    sampleDist, sampleMaxError,
+                    heightSearchRadius, chf, hp,
+                    verts, ref tris,
+                    ref edges, ref samples);
 
                 // Move detail verts to world space.
                 for (int j = 0; j < nverts; ++j)
                 {
                     verts[j * 3 + 0] += orig.X;
                     verts[j * 3 + 1] += orig.Y + chf.ch; // Is this offset necessary? See
-                    // https://groups.google.com/d/msg/recastnavigation/UQFN6BGCcV0/-1Ny4koOBpkJ
                     verts[j * 3 + 2] += orig.Z;
                 }
 
@@ -1562,7 +1464,7 @@ namespace DotRecast.Recast
                     float[] newv = new float[vcap * 3];
                     if (dmesh.nverts != 0)
                     {
-                        Array.Copy(dmesh.verts, 0, newv, 0, 3 * dmesh.nverts);
+                        RcArrays.Copy(dmesh.verts, 0, newv, 0, 3 * dmesh.nverts);
                     }
 
                     dmesh.verts = newv;
@@ -1587,7 +1489,7 @@ namespace DotRecast.Recast
                     int[] newt = new int[tcap * 4];
                     if (dmesh.ntris != 0)
                     {
-                        Array.Copy(dmesh.tris, 0, newt, 0, 4 * dmesh.ntris);
+                        RcArrays.Copy(dmesh.tris, 0, newt, 0, 4 * dmesh.ntris);
                     }
 
                     dmesh.tris = newt;
@@ -1599,8 +1501,7 @@ namespace DotRecast.Recast
                     dmesh.tris[dmesh.ntris * 4 + 0] = tris[t + 0];
                     dmesh.tris[dmesh.ntris * 4 + 1] = tris[t + 1];
                     dmesh.tris[dmesh.ntris * 4 + 2] = tris[t + 2];
-                    dmesh.tris[dmesh.ntris * 4 + 3] = GetTriFlags(verts, tris[t + 0] * 3, tris[t + 1] * 3,
-                        tris[t + 2] * 3, poly, npoly);
+                    dmesh.tris[dmesh.ntris * 4 + 3] = tris[t + 3];
                     dmesh.ntris++;
                 }
             }
@@ -1609,7 +1510,7 @@ namespace DotRecast.Recast
         }
 
         /// @see rcAllocPolyMeshDetail, rcPolyMeshDetail
-        private static RcPolyMeshDetail MergePolyMeshDetails(RcTelemetry ctx, RcPolyMeshDetail[] meshes, int nmeshes)
+        public static RcPolyMeshDetail MergePolyMeshDetails(RcContext ctx, RcPolyMeshDetail[] meshes, int nmeshes)
         {
             using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_MERGE_POLYMESHDETAIL);
 
@@ -1660,7 +1561,7 @@ namespace DotRecast.Recast
 
                 for (int k = 0; k < dm.nverts; ++k)
                 {
-                    RcVecUtils.Copy(mesh.verts, mesh.nverts * 3, dm.verts, k * 3);
+                    RcVec.Copy(mesh.verts, mesh.nverts * 3, dm.verts, k * 3);
                     mesh.nverts++;
                 }
 

src/DotRecast.Recast/RcMeshs.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -24,7 +24,7 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast
 {
-    using static RcConstants;
+    using static RcRecast;
 
     public static class RcMeshs
     {
@@ -558,7 +558,7 @@ namespace DotRecast.Recast
                 n++;
             }
 
-            Array.Copy(polys, tmp, polys, pa, nvp);
+            RcArrays.Copy(polys, tmp, polys, pa, nvp);
         }
 
         private static int PushFront(int v, int[] arr, int an)
@@ -577,7 +577,7 @@ namespace DotRecast.Recast
             return an;
         }
 
-        private static bool CanRemoveVertex(RcTelemetry ctx, RcPolyMesh mesh, int rem)
+        private static bool CanRemoveVertex(RcContext ctx, RcPolyMesh mesh, int rem)
         {
             int nvp = mesh.nvp;
 
@@ -680,7 +680,7 @@ namespace DotRecast.Recast
             return true;
         }
 
-        private static void RemoveVertex(RcTelemetry ctx, RcPolyMesh mesh, int rem, int maxTris)
+        private static void RemoveVertex(RcContext ctx, RcPolyMesh mesh, int rem, int maxTris)
         {
             int nvp = mesh.nvp;
 
@@ -715,8 +715,13 @@ namespace DotRecast.Recast
                 int nv = CountPolyVerts(mesh.polys, p, nvp);
                 bool hasRem = false;
                 for (int j = 0; j < nv; ++j)
+                {
                     if (mesh.polys[p + j] == rem)
+                    {
                         hasRem = true;
+                    }
+                }
+
                 if (hasRem)
                 {
                     // Collect edges which does not touch the removed vertex.
@@ -737,7 +742,7 @@ namespace DotRecast.Recast
                     int p2 = (mesh.npolys - 1) * nvp * 2;
                     if (p != p2)
                     {
-                        Array.Copy(mesh.polys, p2, mesh.polys, p, nvp);
+                        RcArrays.Copy(mesh.polys, p2, mesh.polys, p, nvp);
                     }
 
                     Array.Fill(mesh.polys, RC_MESH_NULL_IDX, p + nvp, (p + nvp + nvp) - (p + nvp));
@@ -927,7 +932,7 @@ namespace DotRecast.Recast
                         int last = (npolys - 1) * nvp;
                         if (pb != last)
                         {
-                            Array.Copy(polys, last, polys, pb, nvp);
+                            RcArrays.Copy(polys, last, polys, pb, nvp);
                         }
 
                         pregs[bestPb] = pregs[npolys - 1];
@@ -956,7 +961,7 @@ namespace DotRecast.Recast
                 mesh.npolys++;
                 if (mesh.npolys > maxTris)
                 {
-                    throw new Exception("removeVertex: Too many polygons " + mesh.npolys + " (max:" + maxTris + ".");
+                    throw new Exception($"removeVertex: Too many polygons {mesh.npolys} max:({maxTris}).");
                 }
             }
         }
@@ -967,7 +972,7 @@ namespace DotRecast.Recast
         /// limit must be restricted to <= #DT_VERTS_PER_POLYGON.
         ///
         /// @see rcAllocPolyMesh, rcContourSet, rcPolyMesh, rcConfig
-        public static RcPolyMesh BuildPolyMesh(RcTelemetry ctx, RcContourSet cset, int nvp)
+        public static RcPolyMesh BuildPolyMesh(RcContext ctx, RcContourSet cset, int nvp)
         {
             using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_BUILD_POLYMESH);
 
@@ -1033,11 +1038,23 @@ namespace DotRecast.Recast
                 // Triangulate contour
                 for (int j = 0; j < cont.nverts; ++j)
                     indices[j] = j;
+
                 int ntris = Triangulate(cont.nverts, cont.verts, indices, tris);
                 if (ntris <= 0)
                 {
                     // Bad triangulation, should not happen.
-                    ctx.Warn("buildPolyMesh: Bad triangulation Contour " + i + ".");
+                    /*
+                    printf("\tconst float bmin[3] = {%ff,%ff,%ff};\n", cset.bmin[0], cset.bmin[1], cset.bmin[2]);
+                    printf("\tconst float cs = %ff;\n", cset.cs);
+                    printf("\tconst float ch = %ff;\n", cset.ch);
+                    printf("\tconst int verts[] = {\n");
+                    for (int k = 0; k < cont.nverts; ++k)
+                    {
+                       const int* v = &cont.verts[k*4];
+                       printf("\t\t%d,%d,%d,%d,\n", v[0], v[1], v[2], v[3]);
+                    }
+                    printf("\t};\n\tconst int nverts = sizeof(verts)/(sizeof(int)*4);\n");*/
+                    ctx.Warn($"BuildPolyMesh: Bad triangulation Contour {i}.");
                     ntris = -ntris;
                 }
 
@@ -1109,7 +1126,7 @@ namespace DotRecast.Recast
                             int lastPoly = (npolys - 1) * nvp;
                             if (pb != lastPoly)
                             {
-                                Array.Copy(polys, lastPoly, polys, pb, nvp);
+                                RcArrays.Copy(polys, lastPoly, polys, pb, nvp);
                             }
 
                             npolys--;
@@ -1198,21 +1215,19 @@ namespace DotRecast.Recast
 
             if (mesh.nverts > MAX_MESH_VERTS_POLY)
             {
-                throw new Exception("rcBuildPolyMesh: The resulting mesh has too many vertices " + mesh.nverts
-                                                                                                 + " (max " + MAX_MESH_VERTS_POLY + "). Data can be corrupted.");
+                throw new Exception($"BuildPolyMesh: The resulting mesh has too many vertices {mesh.nverts} (max {MAX_MESH_VERTS_POLY}). Data can be corrupted.");
             }
 
             if (mesh.npolys > MAX_MESH_VERTS_POLY)
             {
-                throw new Exception("rcBuildPolyMesh: The resulting mesh has too many polygons " + mesh.npolys
-                                                                                                 + " (max " + MAX_MESH_VERTS_POLY + "). Data can be corrupted.");
+                throw new Exception($"BuildPolyMesh: The resulting mesh has too many polygons {mesh.npolys} (max {MAX_MESH_VERTS_POLY}). Data can be corrupted.");
             }
 
             return mesh;
         }
 
         /// @see rcAllocPolyMesh, rcPolyMesh
-        public static RcPolyMesh MergePolyMeshes(RcTelemetry ctx, RcPolyMesh[] meshes, int nmeshes)
+        public static RcPolyMesh MergePolyMeshes(RcContext ctx, RcPolyMesh[] meshes, int nmeshes)
         {
             if (nmeshes == 0 || meshes == null)
                 return null;
@@ -1340,7 +1355,7 @@ namespace DotRecast.Recast
             return mesh;
         }
 
-        public static RcPolyMesh CopyPolyMesh(RcTelemetry ctx, RcPolyMesh src)
+        public static RcPolyMesh CopyPolyMesh(RcContext ctx, RcPolyMesh src)
         {
             RcPolyMesh dst = new RcPolyMesh();
 
@@ -1356,15 +1371,15 @@ namespace DotRecast.Recast
             dst.maxEdgeError = src.maxEdgeError;
 
             dst.verts = new int[src.nverts * 3];
-            Array.Copy(src.verts, 0, dst.verts, 0, dst.verts.Length);
+            RcArrays.Copy(src.verts, 0, dst.verts, 0, dst.verts.Length);
             dst.polys = new int[src.npolys * 2 * src.nvp];
-            Array.Copy(src.polys, 0, dst.polys, 0, dst.polys.Length);
+            RcArrays.Copy(src.polys, 0, dst.polys, 0, dst.polys.Length);
             dst.regs = new int[src.npolys];
-            Array.Copy(src.regs, 0, dst.regs, 0, dst.regs.Length);
+            RcArrays.Copy(src.regs, 0, dst.regs, 0, dst.regs.Length);
             dst.areas = new int[src.npolys];
-            Array.Copy(src.areas, 0, dst.areas, 0, dst.areas.Length);
+            RcArrays.Copy(src.areas, 0, dst.areas, 0, dst.areas.Length);
             dst.flags = new int[src.npolys];
-            Array.Copy(src.flags, 0, dst.flags, 0, dst.flags.Length);
+            RcArrays.Copy(src.flags, 0, dst.flags, 0, dst.flags.Length);
             return dst;
         }
     }

src/DotRecast.Recast/RcPartition.cs

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

src/DotRecast.Recast/RcPartitionType.cs

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

src/DotRecast.Recast/RcPolyMesh.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 Recast4J Copyright (c) 2015 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -22,52 +22,26 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast
 {
-    /** Represents a polygon mesh suitable for use in building a navigation mesh. */
+    /// Represents a polygon mesh suitable for use in building a navigation mesh. 
+    /// @ingroup recast
     public class RcPolyMesh
     {
-        /** The mesh vertices. [Form: (x, y, z) coordinates * #nverts] */
-        public int[] verts;
+        public int[] verts; // The mesh vertices. [Form: (x, y, z) coordinates * #nverts]
+        public int[] polys; // Polygon and neighbor data. [Length: #maxpolys * 2 * #nvp]
+        public int[] regs; // The region id assigned to each polygon. [Length: #maxpolys]
+        public int[] areas; // The area id assigned to each polygon. [Length: #maxpolys]
+        public int nverts; // The number of vertices.
+        public int npolys; // The number of polygons.
+        public int nvp; // The maximum number of vertices per polygon.
+        public int maxpolys; // The number of allocated polygons.
+        public int[] flags; // The user defined flags for each polygon. [Length: #maxpolys]
+        public RcVec3f bmin = new RcVec3f(); // The minimum bounds in world space. [(x, y, z)]
+        public RcVec3f bmax = new RcVec3f(); // The maximum bounds in world space. [(x, y, z)]
 
-        /** Polygon and neighbor data. [Length: #maxpolys * 2 * #nvp] */
-        public int[] polys;
+        public float cs; // The size of each cell. (On the xz-plane.)
+        public float ch; // The height of each cell. (The minimum increment along the y-axis.)
 
-        /** The region id assigned to each polygon. [Length: #maxpolys] */
-        public int[] regs;
-
-        /** The area id assigned to each polygon. [Length: #maxpolys] */
-        public int[] areas;
-
-        /** The number of vertices. */
-        public int nverts;
-
-        /** The number of polygons. */
-        public int npolys;
-
-        /** The maximum number of vertices per polygon. */
-        public int nvp;
-
-        /** The number of allocated polygons. */
-        public int maxpolys;
-
-        /** The user defined flags for each polygon. [Length: #maxpolys] */
-        public int[] flags;
-
-        /** The minimum bounds in world space. [(x, y, z)] */
-        public RcVec3f bmin = new RcVec3f();
-
-        /** The maximum bounds in world space. [(x, y, z)] */
-        public RcVec3f bmax = new RcVec3f();
-
-        /** The size of each cell. (On the xz-plane.) */
-        public float cs;
-
-        /** The height of each cell. (The minimum increment along the y-axis.) */
-        public float ch;
-
-        /** The AABB border size used to generate the source data from which the mesh was derived. */
-        public int borderSize;
-
-        /** The max error of the polygon edges in the mesh. */
-        public float maxEdgeError;
+        public int borderSize; // The AABB border size used to generate the source data from which the mesh was derived.
+        public float maxEdgeError; // The max error of the polygon edges in the mesh.
     }
 }

src/DotRecast.Recast/RcPolyMeshDetail.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -20,28 +20,16 @@ freely, subject to the following restrictions:
 
 namespace DotRecast.Recast
 {
-    /**
- * Contains triangle meshes that represent detailed height data associated with the polygons in its associated polygon
- * mesh object.
- */
+    /// Contains triangle meshes that represent detailed height data associated 
+    /// with the polygons in its associated polygon mesh object.
+    /// @ingroup recast
     public class RcPolyMeshDetail
     {
-        /** The sub-mesh data. [Size: 4*#nmeshes] */
-        public int[] meshes;
-
-        /** The mesh vertices. [Size: 3*#nverts] */
-        public float[] verts;
-
-        /** The mesh triangles. [Size: 4*#ntris] */
-        public int[] tris;
-
-        /** The number of sub-meshes defined by #meshes. */
-        public int nmeshes;
-
-        /** The number of vertices in #verts. */
-        public int nverts;
-
-        /** The number of triangles in #tris. */
-        public int ntris;
+        public int[] meshes; //< The sub-mesh data. [Size: 4*#nmeshes] 
+        public float[] verts; //< The mesh vertices. [Size: 3*#nverts] 
+        public int[] tris; //< The mesh triangles. [Size: 4*#ntris] 
+        public int nmeshes; //< The number of sub-meshes defined by #meshes.
+        public int nverts; //< The number of vertices in #verts.
+        public int ntris; //< The number of triangles in #tris.
     }
 }

src/DotRecast.Recast/RcPolyMeshRaycast.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -17,6 +17,7 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using System;
 using System.Collections.Generic;
 using DotRecast.Core;
 using DotRecast.Core.Numerics;
@@ -30,9 +31,9 @@ namespace DotRecast.Recast
             hitTime = 0.0f;
             foreach (RcBuilderResult result in results)
             {
-                if (result.GetMeshDetail() != null)
+                if (result.MeshDetail != null)
                 {
-                    if (Raycast(result.GetMesh(), result.GetMeshDetail(), src, dst, out hitTime))
+                    if (Raycast(result.Mesh, result.MeshDetail, src, dst, out hitTime))
                     {
                         return true;
                     }
@@ -45,6 +46,7 @@ namespace DotRecast.Recast
         private static bool Raycast(RcPolyMesh poly, RcPolyMeshDetail meshDetail, RcVec3f sp, RcVec3f sq, out float hitTime)
         {
             hitTime = 0;
+            Span<RcVec3f> tempVs = stackalloc RcVec3f[3];
             if (meshDetail != null)
             {
                 for (int i = 0; i < meshDetail.nmeshes; ++i)
@@ -57,7 +59,7 @@ namespace DotRecast.Recast
                     int tris = btris * 4;
                     for (int j = 0; j < ntris; ++j)
                     {
-                        RcVec3f[] vs = new RcVec3f[3];
+                        Span<RcVec3f> vs = tempVs;
                         for (int k = 0; k < 3; ++k)
                         {
                             vs[k].X = meshDetail.verts[verts + meshDetail.tris[tris + j * 4 + k] * 3];

src/DotRecast.Recast/RcPotentialDiagonalComparer.cs

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

src/DotRecast.Recast/RcRasterizations.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -21,41 +21,84 @@ 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
-         *
-         * @param amin
-         *            Min axis extents of bounding box A
-         * @param amax
-         *            Max axis extents of bounding box A
-         * @param bmin
-         *            Min axis extents of bounding box B
-         * @param bmax
-         *            Max axis extents of bounding box B
-         * @returns true if the two bounding boxes overlap. False otherwise
-         */
-        private static bool OverlapBounds(float[] amin, float[] amax, float[] bmin, float[] bmax)
+        /// Check whether two bounding boxes overlap
+        ///
+        /// @param[in]	aMin	Min axis extents of bounding box A
+        /// @param[in]	aMax	Max axis extents of bounding box A
+        /// @param[in]	bMin	Min axis extents of bounding box B
+        /// @param[in]	bMax	Max axis extents of bounding box B
+        /// @returns true if the two bounding boxes overlap.  False otherwise.
+        private static bool OverlapBounds(RcVec3f aMin, RcVec3f aMax, RcVec3f bMin, RcVec3f bMax)
         {
-            bool overlap = true;
-            overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap;
-            overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap;
-            overlap = (amin[2] > bmax[2] || amax[2] < bmin[2]) ? false : overlap;
-            return overlap;
+            return
+                aMin.X <= bMax.X && aMax.X >= bMin.X &&
+                aMin.Y <= bMax.Y && aMax.Y >= bMin.Y &&
+                aMin.Z <= bMax.Z && aMax.Z >= bMin.Z;
         }
 
-        private static bool OverlapBounds(RcVec3f amin, RcVec3f amax, RcVec3f bmin, RcVec3f bmax)
+        /// 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)
         {
-            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;
-            overlap = (amin.Z > bmax.Z || amax.Z < bmin.Z) ? false : overlap;
-            return overlap;
+            // 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;
         }
 
 
@@ -69,72 +112,89 @@ namespace DotRecast.Recast
         /// @param[in]	max					The new span's maximum cell index
         /// @param[in]	areaID				The new span's area type ID
         /// @param[in]	flagMergeThreshold	How close two spans maximum extents need to be to merge area type IDs
-        public static void AddSpan(RcHeightfield heightfield, int x, int y, int spanMin, int spanMax, int areaId, int flagMergeThreshold)
+        public static void AddSpan(RcHeightfield heightfield, int x, int z, int min, int max, int areaID, int flagMergeThreshold)
         {
-            int idx = x + y * heightfield.width;
+            // Create the new span.
+            RcSpan newSpan = new RcSpan();
+            newSpan.smin = min;
+            newSpan.smax = max;
+            newSpan.area = areaID;
+            newSpan.next = null;
 
-            RcSpan s = new RcSpan();
-            s.smin = spanMin;
-            s.smax = spanMax;
-            s.area = areaId;
-            s.next = null;
+            int columnIndex = x + z * heightfield.width;
 
             // Empty cell, add the first span.
-            if (heightfield.spans[idx] == null)
+            if (heightfield.spans[columnIndex] == null)
             {
-                heightfield.spans[idx] = s;
+                heightfield.spans[columnIndex] = newSpan;
                 return;
             }
 
-            RcSpan prev = null;
-            RcSpan cur = heightfield.spans[idx];
+            RcSpan previousSpan = null;
+            RcSpan currentSpan = heightfield.spans[columnIndex];
 
-            // Insert and merge spans.
-            while (cur != null)
+            // Insert the new span, possibly merging it with existing spans.
+            while (currentSpan != null)
             {
-                if (cur.smin > s.smax)
+                if (currentSpan.smin > newSpan.smax)
                 {
                     // Current span is further than the new span, break.
                     break;
                 }
-                else if (cur.smax < s.smin)
+
+                if (currentSpan.smax < newSpan.smin)
                 {
-                    // Current span is before the new span advance.
-                    prev = cur;
-                    cur = cur.next;
+                    // Current span is completely before the new span.  Keep going.
+                    previousSpan = currentSpan;
+                    currentSpan = currentSpan.next;
                 }
                 else
                 {
-                    // Merge spans.
-                    if (cur.smin < s.smin)
-                        s.smin = cur.smin;
-                    if (cur.smax > s.smax)
-                        s.smax = cur.smax;
+                    // The new span overlaps with an existing span.  Merge them.
+                    if (currentSpan.smin < newSpan.smin)
+                    {
+                        newSpan.smin = currentSpan.smin;
+                    }
+
+                    if (currentSpan.smax > newSpan.smax)
+                    {
+                        newSpan.smax = currentSpan.smax;
+                    }
 
                     // Merge flags.
-                    if (MathF.Abs(s.smax - cur.smax) <= flagMergeThreshold)
-                        s.area = Math.Max(s.area, cur.area);
-
-                    // Remove current span.
-                    RcSpan next = cur.next;
-                    if (prev != null)
-                        prev.next = next;
-                    else
-                        heightfield.spans[idx] = next;
-                    cur = next;
-                }
-            }
-
-            // Insert new span.
-            if (prev != null)
+                    if (MathF.Abs(newSpan.smax - currentSpan.smax) <= flagMergeThreshold)
                     {
-                s.next = prev.next;
-                prev.next = s;
+                        // Higher area ID numbers indicate higher resolution priority.
+                        newSpan.area = Math.Max(newSpan.area, currentSpan.area);
+                    }
+
+                    // Remove the current span since it's now merged with newSpan.
+                    // Keep going because there might be other overlapping spans that also need to be merged.
+                    RcSpan next = currentSpan.next;
+                    if (previousSpan != null)
+                    {
+                        previousSpan.next = next;
                     }
                     else
                     {
-                s.next = heightfield.spans[idx];
-                heightfield.spans[idx] = s;
+                        heightfield.spans[columnIndex] = next;
+                    }
+
+                    currentSpan = next;
+                }
+            }
+
+            // Insert new span after prev
+            if (previousSpan != null)
+            {
+                newSpan.next = previousSpan.next;
+                previousSpan.next = newSpan;
+            }
+            else
+            {
+                // This span should go before the others in the list
+                newSpan.next = heightfield.spans[columnIndex];
+                heightfield.spans[columnIndex] = newSpan;
             }
         }
 
@@ -149,62 +209,61 @@ namespace DotRecast.Recast
         /// @param[out]	outVerts2Count	The number of resulting polygon 2 vertices
         /// @param[in]	axisOffset		THe offset along the specified axis
         /// @param[in]	axis			The separating axis
-        private static void DividePoly(float[] inVerts, int inVertsOffset, int inVertsCount,
+        private static void DividePoly(Span<float> inVerts, int inVertsOffset, int inVertsCount,
             int outVerts1, out int outVerts1Count,
             int outVerts2, out int outVerts2Count,
             float axisOffset, int axis)
         {
-            float[] d = new float[12];
-
             // How far positive or negative away from the separating axis is each vertex.
+            Span<float> inVertAxisDelta = stackalloc float[12];
             for (int inVert = 0; inVert < inVertsCount; ++inVert)
             {
-                d[inVert] = axisOffset - inVerts[inVertsOffset + inVert * 3 + axis];
+                inVertAxisDelta[inVert] = axisOffset - inVerts[inVertsOffset + inVert * 3 + axis];
             }
 
             int poly1Vert = 0;
             int poly2Vert = 0;
             for (int inVertA = 0, inVertB = inVertsCount - 1; inVertA < inVertsCount; inVertB = inVertA, ++inVertA)
             {
-                bool ina = d[inVertB] >= 0;
-                bool inb = d[inVertA] >= 0;
-                if (ina != inb)
+                // If the two vertices are on the same side of the separating axis
+                bool sameSide = (inVertAxisDelta[inVertA] >= 0) == (inVertAxisDelta[inVertB] >= 0);
+                if (!sameSide)
                 {
-                    float s = d[inVertB] / (d[inVertB] - d[inVertA]);
-                    inVerts[outVerts1 + poly1Vert * 3 + 0] = inVerts[inVertsOffset + inVertB * 3 + 0] +
-                                                             (inVerts[inVertsOffset + inVertA * 3 + 0] - inVerts[inVertsOffset + inVertB * 3 + 0]) * s;
-                    inVerts[outVerts1 + poly1Vert * 3 + 1] = inVerts[inVertsOffset + inVertB * 3 + 1] +
-                                                             (inVerts[inVertsOffset + inVertA * 3 + 1] - inVerts[inVertsOffset + inVertB * 3 + 1]) * s;
-                    inVerts[outVerts1 + poly1Vert * 3 + 2] = inVerts[inVertsOffset + inVertB * 3 + 2] +
-                                                             (inVerts[inVertsOffset + inVertA * 3 + 2] - inVerts[inVertsOffset + inVertB * 3 + 2]) * s;
-                    RcVecUtils.Copy(inVerts, outVerts2 + poly2Vert * 3, inVerts, outVerts1 + poly1Vert * 3);
+                    float s = inVertAxisDelta[inVertB] / (inVertAxisDelta[inVertB] - inVertAxisDelta[inVertA]);
+                    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);
                     poly1Vert++;
                     poly2Vert++;
+
                     // add the i'th point to the right polygon. Do NOT add points that are on the dividing line
                     // since these were already added above
-                    if (d[inVertA] > 0)
+                    if (inVertAxisDelta[inVertA] > 0)
                     {
-                        RcVecUtils.Copy(inVerts, outVerts1 + poly1Vert * 3, inVerts, inVertsOffset + inVertA * 3);
+                        RcVec.Copy(inVerts, outVerts1 + poly1Vert * 3, inVerts, inVertsOffset + inVertA * 3);
                         poly1Vert++;
                     }
-                    else if (d[inVertA] < 0)
+                    else if (inVertAxisDelta[inVertA] < 0)
                     {
-                        RcVecUtils.Copy(inVerts, outVerts2 + poly2Vert * 3, inVerts, inVertsOffset + inVertA * 3);
+                        RcVec.Copy(inVerts, outVerts2 + poly2Vert * 3, inVerts, inVertsOffset + inVertA * 3);
                         poly2Vert++;
                     }
                 }
-                else // same side
+                else
                 {
                     // add the i'th point to the right polygon. Addition is done even for points on the dividing line
-                    if (d[inVertA] >= 0)
+                    if (inVertAxisDelta[inVertA] >= 0)
                     {
-                        RcVecUtils.Copy(inVerts, outVerts1 + poly1Vert * 3, inVerts, inVertsOffset + inVertA * 3);
+                        RcVec.Copy(inVerts, outVerts1 + poly1Vert * 3, inVerts, inVertsOffset + inVertA * 3);
                         poly1Vert++;
-                        if (d[inVertA] != 0)
+                        if (inVertAxisDelta[inVertA] != 0)
+                        {
                             continue;
                         }
+                    }
 
-                    RcVecUtils.Copy(inVerts, outVerts2 + poly2Vert * 3, inVerts, inVertsOffset + inVertA * 3);
+                    RcVec.Copy(inVerts, outVerts2 + poly2Vert * 3, inVerts, inVertsOffset + inVertA * 3);
                     poly2Vert++;
                 }
             }
@@ -229,64 +288,72 @@ namespace DotRecast.Recast
         /// @param[in] 	inverseCellHeight	1 / cellHeight
         /// @param[in] 	flagMergeThreshold	The threshold in which area flags will be merged 
         /// @returns true if the operation completes successfully.  false if there was an error adding spans to the heightfield.
-        private static void RasterizeTri(float[] verts, int v0, int v1, int v2, int area, RcHeightfield heightfield,
+        private static bool RasterizeTri(float[] verts, int v0, int v1, int v2,
+            int areaID, RcHeightfield heightfield,
             RcVec3f heightfieldBBMin, RcVec3f heightfieldBBMax,
             float cellSize, float inverseCellSize, float inverseCellHeight,
             int flagMergeThreshold)
         {
-            float by = heightfieldBBMax.Y - heightfieldBBMin.Y;
-
             // Calculate the bounding box of the triangle.
-            RcVec3f tmin = RcVecUtils.Create(verts, v0 * 3);
-            RcVec3f tmax = RcVecUtils.Create(verts, v0 * 3);
-            tmin = RcVecUtils.Min(tmin, verts, v1 * 3);
-            tmin = RcVecUtils.Min(tmin, verts, v2 * 3);
-            tmax = RcVecUtils.Max(tmax, verts, v1 * 3);
-            tmax = RcVecUtils.Max(tmax, verts, v2 * 3);
+            RcVec3f triBBMin = RcVec.Create(verts, v0 * 3);
+            triBBMin = RcVec3f.Min(triBBMin, RcVec.Create(verts, v1 * 3));
+            triBBMin = RcVec3f.Min(triBBMin, RcVec.Create(verts, v2 * 3));
 
-            // If the triangle does not touch the bbox of the heightfield, skip the triagle.
-            if (!OverlapBounds(heightfieldBBMin, heightfieldBBMax, tmin, tmax))
-                return;
+            RcVec3f triBBMax = RcVec.Create(verts, v0 * 3);
+            triBBMax = RcVec3f.Max(triBBMax, RcVec.Create(verts, v1 * 3));
+            triBBMax = RcVec3f.Max(triBBMax, RcVec.Create(verts, v2 * 3));
 
-            // Calculate the footprint of the triangle on the grid's y-axis
-            int z0 = (int)((tmin.Z - heightfieldBBMin.Z) * inverseCellSize);
-            int z1 = (int)((tmax.Z - heightfieldBBMin.Z) * inverseCellSize);
+            // If the triangle does not touch the bounding box of the heightfield, skip the triangle.
+            if (!OverlapBounds(triBBMin, triBBMax, heightfieldBBMin, heightfieldBBMax))
+            {
+                return true;
+            }
 
             int w = heightfield.width;
             int h = heightfield.height;
+            float by = heightfieldBBMax.Y - heightfieldBBMin.Y;
+
+            // Calculate the footprint of the triangle on the grid's y-axis
+            int z0 = (int)((triBBMin.Z - heightfieldBBMin.Z) * inverseCellSize);
+            int z1 = (int)((triBBMax.Z - heightfieldBBMin.Z) * inverseCellSize);
+
             // use -1 rather than 0 to cut the polygon properly at the start of the tile
             z0 = Math.Clamp(z0, -1, h - 1);
             z1 = Math.Clamp(z1, 0, h - 1);
 
             // Clip the triangle into all grid cells it touches.
-            float[] buf = new float[7 * 3 * 4];
+            Span<float> buf = stackalloc float[7 * 3 * 4];
             int @in = 0;
             int inRow = 7 * 3;
             int p1 = inRow + 7 * 3;
             int p2 = p1 + 7 * 3;
 
-            RcVecUtils.Copy(buf, 0, verts, v0 * 3);
-            RcVecUtils.Copy(buf, 3, verts, v1 * 3);
-            RcVecUtils.Copy(buf, 6, verts, v2 * 3);
-            int nvRow, nvIn = 3;
+            RcVec.Copy(buf, 0, verts, v0 * 3);
+            RcVec.Copy(buf, 3, verts, v1 * 3);
+            RcVec.Copy(buf, 6, verts, v2 * 3);
+            int nvRow;
+            int nvIn = 3;
 
             for (int z = z0; z <= z1; ++z)
             {
                 // Clip polygon to row. Store the remaining polygon as well
                 float cellZ = heightfieldBBMin.Z + z * cellSize;
-                DividePoly(buf, @in, nvIn, inRow, out nvRow, p1, out nvIn, cellZ + cellSize, 2);
+                DividePoly(buf, @in, nvIn, inRow, out nvRow, p1, out nvIn, cellZ + cellSize, RcAxis.RC_AXIS_Z);
                 (@in, p1) = (p1, @in);
 
                 if (nvRow < 3)
+                {
                     continue;
+                }
 
                 if (z < 0)
                 {
                     continue;
                 }
 
-                // find the horizontal bounds in the row
-                float minX = buf[inRow], maxX = buf[inRow];
+                // find X-axis bounds of the row
+                float minX = buf[inRow];
+                float maxX = buf[inRow];
                 for (int i = 1; i < nvRow; ++i)
                 {
                     float v = buf[inRow + i * 3];
@@ -304,16 +371,19 @@ namespace DotRecast.Recast
                 x0 = Math.Clamp(x0, -1, w - 1);
                 x1 = Math.Clamp(x1, 0, w - 1);
 
-                int nv, nv2 = nvRow;
+                int nv;
+                int nv2 = nvRow;
                 for (int x = x0; x <= x1; ++x)
                 {
                     // Clip polygon to column. store the remaining polygon as well
                     float cx = heightfieldBBMin.X + x * cellSize;
-                    DividePoly(buf, inRow, nv2, p1, out nv, p2, out nv2, cx + cellSize, 0);
+                    DividePoly(buf, inRow, nv2, p1, out nv, p2, out nv2, cx + cellSize, RcAxis.RC_AXIS_X);
                     (inRow, p2) = (p2, inRow);
 
                     if (nv < 3)
+                    {
                         continue;
+                    }
 
                     if (x < 0)
                     {
@@ -331,80 +401,89 @@ namespace DotRecast.Recast
 
                     spanMin -= heightfieldBBMin.Y;
                     spanMax -= heightfieldBBMin.Y;
+
                     // Skip the span if it is outside the heightfield bbox
                     if (spanMax < 0.0f)
+                    {
                         continue;
+                    }
+
                     if (spanMin > by)
+                    {
                         continue;
+                    }
+
                     // Clamp the span to the heightfield bbox.
                     if (spanMin < 0.0f)
+                    {
                         spanMin = 0;
+                    }
+
                     if (spanMax > by)
+                    {
                         spanMax = by;
+                    }
 
                     // Snap the span to the heightfield height grid.
-                    int spanMinCellIndex = Math.Clamp((int)MathF.Floor(spanMin * inverseCellHeight), 0, SPAN_MAX_HEIGHT);
-                    int spanMaxCellIndex = Math.Clamp((int)MathF.Ceiling(spanMax * inverseCellHeight), spanMinCellIndex + 1, SPAN_MAX_HEIGHT);
+                    int spanMinCellIndex = Math.Clamp((int)MathF.Floor(spanMin * inverseCellHeight), 0, RC_SPAN_MAX_HEIGHT);
+                    int spanMaxCellIndex = Math.Clamp((int)MathF.Ceiling(spanMax * inverseCellHeight), spanMinCellIndex + 1, RC_SPAN_MAX_HEIGHT);
 
-                    AddSpan(heightfield, x, z, spanMinCellIndex, spanMaxCellIndex, area, flagMergeThreshold);
-                }
+                    AddSpan(heightfield, x, z, spanMinCellIndex, spanMaxCellIndex, areaID, flagMergeThreshold);
                 }
             }
 
-        /**
-     * Rasterizes a single triangle into the specified heightfield. Calling this for each triangle in a mesh is less
-     * efficient than calling rasterizeTriangles. No spans will be added if the triangle does not overlap the
-     * heightfield grid.
-     *
-     * @param heightfield
-     *            An initialized heightfield.
-     * @param verts
-     *            An array with vertex coordinates [(x, y, z) * N]
-     * @param v0
-     *            Index of triangle vertex 0, will be multiplied by 3 to get vertex coordinates
-     * @param v1
-     *            Triangle vertex 1 index
-     * @param v2
-     *            Triangle vertex 2 index
-     * @param areaId
-     *            The area id of the triangle. [Limit: <= WALKABLE_AREA)
-     * @param flagMergeThreshold
-     *            The distance where the walkable flag is favored over the non-walkable flag. [Limit: >= 0] [Units: vx]
-     * @see Heightfield
-     */
-        public static void RasterizeTriangle(RcHeightfield heightfield, float[] verts, int v0, int v1, int v2, int area,
-            int flagMergeThreshold, RcTelemetry ctx)
+            return true;
+        }
+
+        /// Rasterizes a single triangle into the specified heightfield.
+        ///
+        /// Calling this for each triangle in a mesh is less efficient than calling rcRasterizeTriangles
+        ///
+        /// No spans will be added if the triangle does not overlap the heightfield grid.
+        ///
+        /// @see rcHeightfield
+        /// @ingroup recast
+        /// @param[in,out]	context				The build context to use during the operation.
+        /// @param[in]		v0					Triangle vertex 0 [(x, y, z)]
+        /// @param[in]		v1					Triangle vertex 1 [(x, y, z)]
+        /// @param[in]		v2					Triangle vertex 2 [(x, y, z)]
+        /// @param[in]		areaID				The area id of the triangle. [Limit: <= #RC_WALKABLE_AREA]
+        /// @param[in,out]	heightfield			An initialized heightfield.
+        /// @param[in]		flagMergeThreshold	The distance where the walkable flag is favored over the non-walkable flag.
+        /// 									[Limit: >= 0] [Units: vx]
+        /// @returns True if the operation completed successfully.
+        public static void RasterizeTriangle(RcContext context, float[] verts, int v0, int v1, int v2, int areaID,
+            RcHeightfield heightfield, int flagMergeThreshold)
         {
-            using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_TRIANGLES);
+            using var timer = context.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_TRIANGLES);
 
+            // Rasterize the single triangle.
             float inverseCellSize = 1.0f / heightfield.cs;
             float inverseCellHeight = 1.0f / heightfield.ch;
-            RasterizeTri(verts, v0, v1, v2, area, heightfield, heightfield.bmin, heightfield.bmax, heightfield.cs, inverseCellSize,
+            RasterizeTri(verts, v0, v1, v2, areaID, heightfield, heightfield.bmin, heightfield.bmax, heightfield.cs, inverseCellSize,
                 inverseCellHeight, flagMergeThreshold);
         }
 
-        /**
-     * Rasterizes an indexed triangle mesh into the specified heightfield. Spans will only be added for triangles that
-     * overlap the heightfield grid.
-     *
-     * @param heightfield
-     *            An initialized heightfield.
-     * @param verts
-     *            The vertices. [(x, y, z) * N]
-     * @param tris
-     *            The triangle indices. [(vertA, vertB, vertC) * nt]
-     * @param areaIds
-     *            The area id's of the triangles. [Limit: <= WALKABLE_AREA] [Size: numTris]
-     * @param numTris
-     *            The number of triangles.
-     * @param flagMergeThreshold
-     *            The distance where the walkable flag is favored over the non-walkable flag. [Limit: >= 0] [Units: vx]
-     * @see Heightfield
-     */
-        public static void RasterizeTriangles(RcHeightfield heightfield, float[] verts, int[] tris, int[] areaIds, int numTris,
-            int flagMergeThreshold, RcTelemetry ctx)
+        /// Rasterizes an indexed triangle mesh into the specified heightfield.
+        ///
+        /// Spans will only be added for triangles that overlap the heightfield grid.
+        /// 
+        /// @see rcHeightfield
+        /// @ingroup recast
+        /// @param[in,out]	context				The build context to use during the operation.
+        /// @param[in]		verts				The vertices. [(x, y, z) * @p nv]
+        /// @param[in]		numVerts			The number of vertices. (unused) TODO (graham): Remove in next major release
+        /// @param[in]		tris				The triangle indices. [(vertA, vertB, vertC) * @p nt]
+        /// @param[in]		triAreaIDs			The area id's of the triangles. [Limit: <= #RC_WALKABLE_AREA] [Size: @p nt]
+        /// @param[in]		numTris				The number of triangles.
+        /// @param[in,out]	heightfield			An initialized heightfield.
+        /// @param[in]		flagMergeThreshold	The distance where the walkable flag is favored over the non-walkable flag. 
+        ///										[Limit: >= 0] [Units: vx]
+        /// @returns True if the operation completed successfully.
+        public static void RasterizeTriangles(RcContext context, float[] verts, int[] tris, int[] triAreaIDs, int numTris,
+            RcHeightfield heightfield, int flagMergeThreshold)
         {
-            using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_TRIANGLES);
+            using var timer = context.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_TRIANGLES);
 
             float inverseCellSize = 1.0f / heightfield.cs;
             float inverseCellHeight = 1.0f / heightfield.ch;
@@ -413,33 +492,30 @@ namespace DotRecast.Recast
                 int v0 = tris[triIndex * 3 + 0];
                 int v1 = tris[triIndex * 3 + 1];
                 int v2 = tris[triIndex * 3 + 2];
-                RasterizeTri(verts, v0, v1, v2, areaIds[triIndex], heightfield, heightfield.bmin, heightfield.bmax, heightfield.cs,
+                RasterizeTri(verts, v0, v1, v2, triAreaIDs[triIndex], heightfield, heightfield.bmin, heightfield.bmax, heightfield.cs,
                     inverseCellSize, inverseCellHeight, flagMergeThreshold);
             }
         }
 
-        /**
-     * Rasterizes a triangle list into the specified heightfield. Expects each triangle to be specified as three
-     * sequential vertices of 3 floats. Spans will only be added for triangles that overlap the heightfield grid.
-     *
-     * @param heightfield
-     *            An initialized heightfield.
-     * @param verts
-     *            The vertices. [(x, y, z) * numVerts]
-     * @param areaIds
-     *            The area id's of the triangles. [Limit: <= WALKABLE_AREA] [Size: numTris]
-     * @param tris
-     *            The triangle indices. [(vertA, vertB, vertC) * nt]
-     * @param numTris
-     *            The number of triangles.
-     * @param flagMergeThreshold
-     *            The distance where the walkable flag is favored over the non-walkable flag. [Limit: >= 0] [Units: vx]
-     * @see Heightfield
-     */
-        public static void RasterizeTriangles(RcHeightfield heightfield, float[] verts, int[] areaIds, int numTris,
-            int flagMergeThreshold, RcTelemetry ctx)
+        /// Rasterizes a triangle list into the specified heightfield.
+        ///
+        /// Expects each triangle to be specified as three sequential vertices of 3 floats.
+        ///
+        /// Spans will only be added for triangles that overlap the heightfield grid.
+        /// 
+        /// @see rcHeightfield
+        /// @ingroup recast
+        /// @param[in,out]	context				The build context to use during the operation.
+        /// @param[in]		verts				The triangle vertices. [(ax, ay, az, bx, by, bz, cx, by, cx) * @p nt]
+        /// @param[in]		triAreaIDs			The area id's of the triangles. [Limit: <= #RC_WALKABLE_AREA] [Size: @p nt]
+        /// @param[in]		numTris				The number of triangles.
+        /// @param[in,out]	heightfield			An initialized heightfield.
+        /// @param[in]		flagMergeThreshold	The distance where the walkable flag is favored over the non-walkable flag. 
+        /// 									[Limit: >= 0] [Units: vx]
+        /// @returns True if the operation completed successfully.
+        public static void RasterizeTriangles(RcContext context, float[] verts, int[] triAreaIDs, int numTris, RcHeightfield heightfield, int flagMergeThreshold)
         {
-            using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_TRIANGLES);
+            using var timer = context.ScopedTimer(RcTimerLabel.RC_TIMER_RASTERIZE_TRIANGLES);
 
             float inverseCellSize = 1.0f / heightfield.cs;
             float inverseCellHeight = 1.0f / heightfield.ch;
@@ -448,7 +524,7 @@ namespace DotRecast.Recast
                 int v0 = (triIndex * 3 + 0);
                 int v1 = (triIndex * 3 + 1);
                 int v2 = (triIndex * 3 + 2);
-                RasterizeTri(verts, v0, v1, v2, areaIds[triIndex], heightfield, heightfield.bmin, heightfield.bmax, heightfield.cs,
+                RasterizeTri(verts, v0, v1, v2, triAreaIDs[triIndex], heightfield, heightfield.bmin, heightfield.bmax, heightfield.cs,
                     inverseCellSize, inverseCellHeight, flagMergeThreshold);
             }
         }

src/DotRecast.Recast/RcRecast.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -24,10 +24,81 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast
 {
-    using static RcConstants;
-
-    public static class RcCommons
+    public static class RcRecast
     {
+        /// Represents the null area.
+        /// When a data element is given this value it is considered to no longer be 
+        /// assigned to a usable area.  (E.g. It is un-walkable.)
+        public const int RC_NULL_AREA = 0;
+
+        /// The default area id used to indicate a walkable polygon. 
+        /// This is also the maximum allowed area id, and the only non-null area id 
+        /// recognized by some steps in the build process. 
+        public const int RC_WALKABLE_AREA = 63;
+
+        /// The value returned by #rcGetCon if the specified direction is not connected
+        /// to another span. (Has no neighbor.)
+        public const int RC_NOT_CONNECTED = 0x3f;
+
+        /// Defines the number of bits allocated to rcSpan::smin and rcSpan::smax.
+        public const int RC_SPAN_HEIGHT_BITS = 20;
+
+        /// Defines the maximum value for rcSpan::smin and rcSpan::smax.
+        public const int RC_SPAN_MAX_HEIGHT = (1 << RC_SPAN_HEIGHT_BITS) - 1;
+
+        /// The number of spans allocated per span spool.
+        /// @see rcSpanPool
+        public const int RC_SPANS_PER_POOL = 2048;
+        
+        // Must be 255 or smaller (not 256) because layer IDs are stored as
+        // a byte where 255 is a special value.
+        public const int RC_MAX_LAYERS = RC_NOT_CONNECTED;
+        public const int RC_MAX_NEIS = 16;
+
+        /// Heighfield border flag.
+        /// If a heightfield region ID has this bit set, then the region is a border
+        /// region and its spans are considered unwalkable.
+        /// (Used during the region and contour build process.)
+        /// @see rcCompactSpan::reg
+        public const int RC_BORDER_REG = 0x8000;
+
+        /// Polygon touches multiple regions.
+        /// If a polygon has this region ID it was merged with or created
+        /// from polygons of different regions during the polymesh
+        /// build step that removes redundant border vertices.
+        /// (Used during the polymesh and detail polymesh build processes)
+        /// @see rcPolyMesh::regs
+        public const int RC_MULTIPLE_REGS = 0;
+
+        // Border vertex flag.
+        /// If a region ID has this bit set, then the associated element lies on
+        /// a tile border. If a contour vertex's region ID has this bit set, the
+        /// vertex will later be removed in order to match the segments and vertices
+        /// at tile boundaries.
+        /// (Used during the build process.)
+        /// @see rcCompactSpan::reg, #rcContour::verts, #rcContour::rverts
+        public const int RC_BORDER_VERTEX = 0x10000;
+
+        /// Area border flag.
+        /// If a region ID has this bit set, then the associated element lies on
+        /// the border of an area.
+        /// (Used during the region and contour build process.)
+        /// @see rcCompactSpan::reg, #rcContour::verts, #rcContour::rverts
+        public const int RC_AREA_BORDER = 0x20000;
+
+        /// Applied to the region id field of contour vertices in order to extract the region id.
+        /// The region id field of a vertex may have several flags applied to it. So the
+        /// fields value can't be used directly.
+        /// @see rcContour::verts, rcContour::rverts
+        public const int RC_CONTOUR_REG_MASK = 0xffff;
+
+        /// A value which indicates an invalid index within a mesh.
+        /// @note This does not necessarily indicate an error.
+        /// @see rcPolyMesh::polys
+        public const int RC_MESH_NULL_IDX = 0xffff;
+
+        public const int RC_LOG_WARNING = 1;
+
         private static readonly int[] DirOffsetX = { -1, 0, 1, 0, };
         private static readonly int[] DirOffsetY = { 0, 1, 0, -1 };
         private static readonly int[] DirForOffset = { 3, 0, -1, 2, 1 };
@@ -36,7 +107,7 @@ namespace DotRecast.Recast
         /// @param[in]		span			The span to update.
         /// @param[in]		direction		The direction to set. [Limits: 0 <= value < 4]
         /// @param[in]		neighborIndex	The index of the neighbor span.
-        public static void SetCon(ref RcCompactSpan span, int direction, int neighborIndex)
+        public static void SetCon(RcCompactSpanBuilder span, int direction, int neighborIndex)
         {
             int shift = direction * 6;
             int con = span.con;
@@ -47,7 +118,7 @@ namespace DotRecast.Recast
         /// @param[in]		span		The span to check.
         /// @param[in]		direction	The direction to check. [Limits: 0 <= value < 4]
         /// @return The neighbor connection data for the specified direction, or #RC_NOT_CONNECTED if there is no connection.
-        public static int GetCon(RcCompactSpan s, int dir)
+        public static int GetCon(ref RcCompactSpan s, int dir)
         {
             int shift = dir * 6;
             return (s.con >> shift) & 0x3f;
@@ -119,7 +190,7 @@ namespace DotRecast.Recast
         /// See the #rcConfig documentation for more information on the configuration parameters.
         ///
         /// @see rcHeightfield, rcClearUnwalkableTriangles, rcRasterizeTriangles
-        public static int[] MarkWalkableTriangles(RcTelemetry ctx, float walkableSlopeAngle, float[] verts, int[] tris, int nt, RcAreaModification areaMod)
+        public static int[] MarkWalkableTriangles(RcContext ctx, float walkableSlopeAngle, float[] verts, int[] tris, int nt, RcAreaModification areaMod)
         {
             int[] areas = new int[nt];
             float walkableThr = MathF.Cos(walkableSlopeAngle / 180.0f * MathF.PI);
@@ -127,7 +198,10 @@ namespace DotRecast.Recast
             for (int i = 0; i < nt; ++i)
             {
                 int tri = i * 3;
-                CalcTriNormal(verts, tris[tri], tris[tri + 1], tris[tri + 2], ref norm);
+                RcVec3f v0 = RcVec.Create(verts, tris[tri + 0] * 3);
+                RcVec3f v1 = RcVec.Create(verts, tris[tri + 1] * 3);
+                RcVec3f v2 = RcVec.Create(verts, tris[tri + 2] * 3);
+                CalcTriNormal(v0, v1, v2, ref norm);
                 // Check if the face is walkable.
                 if (norm.Y > walkableThr)
                     areas[i] = areaMod.Apply(areas[i]);
@@ -136,10 +210,10 @@ namespace DotRecast.Recast
             return areas;
         }
 
-        public static void CalcTriNormal(float[] verts, int v0, int v1, int v2, ref RcVec3f norm)
+        public static void CalcTriNormal(RcVec3f v0, RcVec3f v1, RcVec3f v2, ref RcVec3f norm)
         {
-            var e0 = RcVecUtils.Subtract(verts, v1 * 3, v0 * 3);
-            var e1 = RcVecUtils.Subtract(verts, v2 * 3, v0 * 3);
+            var e0 = v1 - v0;
+            var e1 = v2 - v0;
             norm = RcVec3f.Cross(e0, e1);
             norm = RcVec3f.Normalize(norm);
         }
@@ -153,7 +227,7 @@ namespace DotRecast.Recast
         /// See the #rcConfig documentation for more information on the configuration parameters.
         ///
         /// @see rcHeightfield, rcClearUnwalkableTriangles, rcRasterizeTriangles
-        public static void ClearUnwalkableTriangles(RcTelemetry ctx, float walkableSlopeAngle, float[] verts, int nv, int[] tris, int nt, int[] areas)
+        public static void ClearUnwalkableTriangles(RcContext ctx, float walkableSlopeAngle, float[] verts, int nv, int[] tris, int nt, int[] areas)
         {
             float walkableThr = MathF.Cos(walkableSlopeAngle / 180.0f * MathF.PI);
 
@@ -162,7 +236,10 @@ namespace DotRecast.Recast
             for (int i = 0; i < nt; ++i)
             {
                 int tri = i * 3;
-                CalcTriNormal(verts, tris[tri], tris[tri + 1], tris[tri + 2], ref norm);
+                RcVec3f v0 = RcVec.Create(verts, tris[tri + 0] * 3);
+                RcVec3f v1 = RcVec.Create(verts, tris[tri + 1] * 3);
+                RcVec3f v2 = RcVec.Create(verts, tris[tri + 2] * 3);
+                CalcTriNormal(v0, v1, v2, ref norm);
                 // Check if the face is walkable.
                 if (norm.Y <= walkableThr)
                     areas[i] = RC_NULL_AREA;

src/DotRecast.Recast/RcRegion.cs

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

src/DotRecast.Recast/RcSpan.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -20,19 +20,13 @@ freely, subject to the following restrictions:
 
 namespace DotRecast.Recast
 {
-    /** Represents a span in a heightfield. */
+    /// Represents a span in a heightfield.
+    /// @see rcHeightfield
     public class RcSpan
     {
-        /** The lower limit of the span. [Limit: < smax] */
-        public int smin;
-
-        /** The upper limit of the span. [Limit: <= SPAN_MAX_HEIGHT] */
-        public int smax;
-
-        /** The area id assigned to the span. */
-        public int area;
-
-        /** The next span higher up in column. */
-        public RcSpan next;
+        public int smin; //< The lower limit of the span. [Limit: < #smax]
+        public int smax; //< The upper limit of the span. [Limit: <= #RC_SPAN_MAX_HEIGHT]
+        public int area; //< The area id assigned to the span.
+        public RcSpan next; //< The next span higher up in column.
     }
 }

src/DotRecast.Recast/RcSpanPool.cs

@@ -0,0 +1,38 @@
+/*
+Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
+
+This software is provided 'as-is', without any express or implied
+warranty.  In no event will the authors be held liable for any damages
+arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it
+freely, subject to the following restrictions:
+1. The origin of this software must not be misrepresented; you must not
+ claim that you wrote the original software. If you use this software
+ in a product, an acknowledgment in the product documentation would be
+ appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be
+ misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+namespace DotRecast.Recast
+{
+    /// A memory pool used for quick allocation of spans within a heightfield.
+    /// @see rcHeightfield
+    public class RcSpanPool
+    {
+        public RcSpanPool next; //< The next span pool.
+        public readonly RcSpan[] items; //< Array of spans in the pool.
+
+        public RcSpanPool()
+        {
+            items = new RcSpan[RcRecast.RC_SPANS_PER_POOL];
+            for (int i = 0; i < items.Length; ++i)
+            {
+                items[i] = new RcSpan();
+            }
+        }
+    }
+}

src/DotRecast.Recast/RcSweepSpan.cs

@@ -1,6 +1,6 @@
 namespace DotRecast.Recast
 {
-    public struct RcSweepSpan
+    public class RcSweepSpan
     {
         public int rid; // row id
         public int id; // region id

src/DotRecast.Recast/RcVoxelizations.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -19,13 +19,14 @@ freely, subject to the following restrictions:
 
 using System.Collections.Generic;
 using DotRecast.Core;
+using DotRecast.Core.Numerics;
 using DotRecast.Recast.Geom;
 
 namespace DotRecast.Recast
 {
     public static class RcVoxelizations
     {
-        public static RcHeightfield BuildSolidHeightfield(IInputGeomProvider geomProvider, RcBuilderConfig builderCfg, RcTelemetry ctx)
+        public static RcHeightfield BuildSolidHeightfield(RcContext ctx, IInputGeomProvider geomProvider, RcBuilderConfig builderCfg)
         {
             RcConfig cfg = builderCfg.cfg;
 
@@ -34,40 +35,37 @@ namespace DotRecast.Recast
 
             // Allocate array that can hold triangle area types.
             // If you have multiple meshes you need to process, allocate
-            // and array which can hold the max number of triangles you need to
-            // process.
+            // and array which can hold the max number of triangles you need to process.
 
-            // 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
+            // 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.
             foreach (RcTriMesh geom in geomProvider.Meshes())
             {
                 float[] verts = geom.GetVerts();
                 if (cfg.UseTiles)
                 {
-                    float[] tbmin = new float[2];
-                    float[] tbmax = new float[2];
-                    tbmin[0] = builderCfg.bmin.X;
-                    tbmin[1] = builderCfg.bmin.Z;
-                    tbmax[0] = builderCfg.bmax.X;
-                    tbmax[1] = builderCfg.bmax.Z;
+                    RcVec2f tbmin;
+                    RcVec2f tbmax;
+                    tbmin.X = builderCfg.bmin.X;
+                    tbmin.Y = builderCfg.bmin.Z;
+                    tbmax.X = builderCfg.bmax.X;
+                    tbmax.Y = builderCfg.bmax.Z;
                     List<RcChunkyTriMeshNode> nodes = geom.GetChunksOverlappingRect(tbmin, tbmax);
                     foreach (RcChunkyTriMeshNode node in nodes)
                     {
                         int[] tris = node.tris;
                         int ntris = tris.Length / 3;
-                        int[] m_triareas = RcCommons.MarkWalkableTriangles(ctx, cfg.WalkableSlopeAngle, verts, tris, ntris, cfg.WalkableAreaMod);
-                        RcRasterizations.RasterizeTriangles(solid, verts, tris, m_triareas, ntris, cfg.WalkableClimb, ctx);
+                        int[] m_triareas = RcRecast.MarkWalkableTriangles(ctx, cfg.WalkableSlopeAngle, verts, tris, ntris, cfg.WalkableAreaMod);
+                        RcRasterizations.RasterizeTriangles(ctx, verts, tris, m_triareas, ntris, solid, cfg.WalkableClimb);
                     }
                 }
                 else
                 {
                     int[] tris = geom.GetTris();
                     int ntris = tris.Length / 3;
-                    int[] m_triareas = RcCommons.MarkWalkableTriangles(ctx, cfg.WalkableSlopeAngle, verts, tris, ntris, cfg.WalkableAreaMod);
-                    RcRasterizations.RasterizeTriangles(solid, verts, tris, m_triareas, ntris, cfg.WalkableClimb, ctx);
+                    int[] m_triareas = RcRecast.MarkWalkableTriangles(ctx, cfg.WalkableSlopeAngle, verts, tris, ntris, cfg.WalkableAreaMod);
+                    RcRasterizations.RasterizeTriangles(ctx, verts, tris, m_triareas, ntris, solid, cfg.WalkableClimb);
                 }
             }
 

src/package.json

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

test/DotRecast.Benchmark/BenchmarkProgram.cs

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

test/DotRecast.Benchmark/Benchmarks/PriorityQueueBenchmarks.cs

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

test/DotRecast.Benchmark/Benchmarks/StackallocBenchmarks.cs

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

test/DotRecast.Benchmark/Benchmarks/VectorBenchmarks.cs

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

test/DotRecast.Benchmark/DotRecast.Benchmark.csproj

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

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

@@ -1,21 +1,21 @@
 <Project Sdk="Microsoft.NET.Sdk">
 
     <PropertyGroup>
-        <TargetFrameworks>net6.0;net7.0</TargetFrameworks>
+        <TargetFrameworks>net6.0;net7.0;net8.0</TargetFrameworks>
         <IsPackable>false</IsPackable>
         <IsTestProject>true</IsTestProject>
     </PropertyGroup>
 
     <ItemGroup>
-        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.7.2" />
-        <PackageReference Include="Moq" Version="4.20.69" />
-        <PackageReference Include="NUnit" Version="3.13.3"/>
-        <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
-        <PackageReference Include="NUnit.Analyzers" Version="3.9.0">
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.1" />
+        <PackageReference Include="Moq" Version="4.20.72" />
+        <PackageReference Include="NUnit" Version="4.2.2" />
+        <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
+        <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>
-        <PackageReference Include="coverlet.collector" Version="6.0.0">
+        <PackageReference Include="coverlet.collector" Version="6.0.2">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>

test/DotRecast.Core.Test/RcArrayBenchmarkTests.cs

@@ -0,0 +1,157 @@
+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

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

test/DotRecast.Core.Test/RcCyclicBufferTest.cs

@@ -0,0 +1,449 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using DotRecast.Core.Buffers;
+using DotRecast.Core.Collections;
+using NUnit.Framework;
+
+namespace DotRecast.Core.Test;
+
+// https://github.com/joaoportela/CircularBuffer-CSharp/blob/master/CircularBuffer.Tests/CircularBufferTests.cs
+public class RcCyclicBufferTests
+{
+    [Test]
+    public void RcCyclicBuffer_GetEnumeratorConstructorCapacity_ReturnsEmptyCollection()
+    {
+        var buffer = new RcCyclicBuffer<string>(5);
+        Assert.That(buffer.ToArray(), Is.Empty);
+    }
+
+    [Test]
+    public void RcCyclicBuffer_ConstructorSizeIndexAccess_CorrectContent()
+    {
+        var buffer = new RcCyclicBuffer<int>(5, new[] { 0, 1, 2, 3 });
+
+        Assert.That(buffer.Capacity, Is.EqualTo(5));
+        Assert.That(buffer.Size, Is.EqualTo(4));
+        for (int i = 0; i < 4; i++)
+        {
+            Assert.That(buffer[i], Is.EqualTo(i));
+        }
+    }
+
+    [Test]
+    public void RcCyclicBuffer_Constructor_ExceptionWhenSourceIsLargerThanCapacity()
+    {
+        Assert.Throws<ArgumentException>(() => new RcCyclicBuffer<int>(3, new[] { 0, 1, 2, 3 }));
+    }
+
+    [Test]
+    public void RcCyclicBuffer_GetEnumeratorConstructorDefinedArray_CorrectContent()
+    {
+        var buffer = new RcCyclicBuffer<int>(5, new[] { 0, 1, 2, 3 });
+
+        int x = 0;
+        foreach (var item in buffer)
+        {
+            Assert.That(item, Is.EqualTo(x));
+            x++;
+        }
+    }
+
+    [Test]
+    public void RcCyclicBuffer_PushBack_CorrectContent()
+    {
+        var buffer = new RcCyclicBuffer<int>(5);
+
+        for (int i = 0; i < 5; i++)
+        {
+            buffer.PushBack(i);
+        }
+
+        Assert.That(buffer.Front(), Is.EqualTo(0));
+        for (int i = 0; i < 5; i++)
+        {
+            Assert.That(buffer[i], Is.EqualTo(i));
+        }
+    }
+
+    [Test]
+    public void RcCyclicBuffer_PushBackOverflowingBuffer_CorrectContent()
+    {
+        var buffer = new RcCyclicBuffer<int>(5);
+
+        for (int i = 0; i < 10; i++)
+        {
+            buffer.PushBack(i);
+        }
+
+        Assert.That(buffer.ToArray(), Is.EqualTo(new[] { 5, 6, 7, 8, 9 }));
+    }
+
+    [Test]
+    public void RcCyclicBuffer_GetEnumeratorOverflowedArray_CorrectContent()
+    {
+        var buffer = new RcCyclicBuffer<int>(5);
+
+        for (int i = 0; i < 10; i++)
+        {
+            buffer.PushBack(i);
+        }
+
+        // buffer should have [5,6,7,8,9]
+        int x = 5;
+        buffer.ForEach(item =>
+        {
+            Assert.That(item, Is.EqualTo(x));
+            x++;
+        });
+    }
+
+    [Test]
+    public void RcCyclicBuffer_ToArrayConstructorDefinedArray_CorrectContent()
+    {
+        var buffer = new RcCyclicBuffer<int>(5, new[] { 0, 1, 2, 3 });
+
+        Assert.That(buffer.ToArray(), Is.EqualTo(new[] { 0, 1, 2, 3 }));
+    }
+
+    [Test]
+    public void RcCyclicBuffer_ToArrayOverflowedBuffer_CorrectContent()
+    {
+        var buffer = new RcCyclicBuffer<int>(5);
+
+        for (int i = 0; i < 10; i++)
+        {
+            buffer.PushBack(i);
+        }
+
+        Assert.That(buffer.ToArray(), Is.EqualTo(new[] { 5, 6, 7, 8, 9 }));
+    }
+
+    [Test]
+    public void RcCyclicBuffer_PushFront_CorrectContent()
+    {
+        var buffer = new RcCyclicBuffer<int>(5);
+
+        for (int i = 0; i < 5; i++)
+        {
+            buffer.PushFront(i);
+        }
+
+        Assert.That(buffer.ToArray(), Is.EqualTo(new[] { 4, 3, 2, 1, 0 }));
+    }
+
+    [Test]
+    public void RcCyclicBuffer_PushFrontAndOverflow_CorrectContent()
+    {
+        var buffer = new RcCyclicBuffer<int>(5);
+
+        for (int i = 0; i < 10; i++)
+        {
+            buffer.PushFront(i);
+        }
+
+        Assert.That(buffer.ToArray(), Is.EqualTo(new[] { 9, 8, 7, 6, 5 }));
+    }
+
+    [Test]
+    public void RcCyclicBuffer_Front_CorrectItem()
+    {
+        var buffer = new RcCyclicBuffer<int>(5, new[] { 0, 1, 2, 3, 4 });
+
+        Assert.That(buffer.Front(), Is.EqualTo(0));
+    }
+
+    [Test]
+    public void RcCyclicBuffer_Back_CorrectItem()
+    {
+        var buffer = new RcCyclicBuffer<int>(5, new[] { 0, 1, 2, 3, 4 });
+        Assert.That(buffer.Back(), Is.EqualTo(4));
+    }
+
+    [Test]
+    public void RcCyclicBuffer_BackOfBufferOverflowByOne_CorrectItem()
+    {
+        var buffer = new RcCyclicBuffer<int>(5, new[] { 0, 1, 2, 3, 4 });
+        buffer.PushBack(42);
+        Assert.That(buffer.ToArray(), Is.EqualTo(new[] { 1, 2, 3, 4, 42 }));
+        Assert.That(buffer.Back(), Is.EqualTo(42));
+    }
+
+    [Test]
+    public void RcCyclicBuffer_Front_EmptyBufferThrowsException()
+    {
+        var buffer = new RcCyclicBuffer<int>(5);
+
+        Assert.Throws<InvalidOperationException>(() => buffer.Front());
+    }
+
+    [Test]
+    public void RcCyclicBuffer_Back_EmptyBufferThrowsException()
+    {
+        var buffer = new RcCyclicBuffer<int>(5);
+        Assert.Throws<InvalidOperationException>(() => buffer.Back());
+    }
+
+    [Test]
+    public void RcCyclicBuffer_PopBack_RemovesBackElement()
+    {
+        var buffer = new RcCyclicBuffer<int>(5, new[] { 0, 1, 2, 3, 4 });
+
+        Assert.That(buffer.Size, Is.EqualTo(5));
+
+        buffer.PopBack();
+
+        Assert.That(buffer.Size, Is.EqualTo(4));
+        Assert.That(buffer.ToArray(), Is.EqualTo(new[] { 0, 1, 2, 3 }));
+    }
+
+    [Test]
+    public void RcCyclicBuffer_PopBackInOverflowBuffer_RemovesBackElement()
+    {
+        var buffer = new RcCyclicBuffer<int>(5, new[] { 0, 1, 2, 3, 4 });
+        buffer.PushBack(5);
+
+        Assert.That(buffer.Size, Is.EqualTo(5));
+        Assert.That(buffer.ToArray(), Is.EqualTo(new[] { 1, 2, 3, 4, 5 }));
+
+        buffer.PopBack();
+
+        Assert.That(buffer.Size, Is.EqualTo(4));
+        Assert.That(buffer.ToArray(), Is.EqualTo(new[] { 1, 2, 3, 4 }));
+    }
+
+    [Test]
+    public void RcCyclicBuffer_PopFront_RemovesBackElement()
+    {
+        var buffer = new RcCyclicBuffer<int>(5, new[] { 0, 1, 2, 3, 4 });
+
+        Assert.That(buffer.Size, Is.EqualTo(5));
+
+        buffer.PopFront();
+
+        Assert.That(buffer.Size, Is.EqualTo(4));
+        Assert.That(buffer.ToArray(), Is.EqualTo(new[] { 1, 2, 3, 4 }));
+    }
+
+    [Test]
+    public void RcCyclicBuffer_PopFrontInOverflowBuffer_RemovesBackElement()
+    {
+        var buffer = new RcCyclicBuffer<int>(5, new[] { 0, 1, 2, 3, 4 });
+        buffer.PushFront(5);
+
+        Assert.That(buffer.Size, Is.EqualTo(5));
+        Assert.That(buffer.ToArray(), Is.EqualTo(new[] { 5, 0, 1, 2, 3 }));
+
+        buffer.PopFront();
+
+        Assert.That(buffer.Size, Is.EqualTo(4));
+        Assert.That(buffer.ToArray(), Is.EqualTo(new[] { 0, 1, 2, 3 }));
+    }
+
+    [Test]
+    public void RcCyclicBuffer_SetIndex_ReplacesElement()
+    {
+        var buffer = new RcCyclicBuffer<int>(5, new[] { 0, 1, 2, 3, 4 });
+
+        buffer[1] = 10;
+        buffer[3] = 30;
+
+        Assert.That(buffer.ToArray(), Is.EqualTo(new[] { 0, 10, 2, 30, 4 }));
+    }
+
+    [Test]
+    public void RcCyclicBuffer_WithDifferentSizeAndCapacity_BackReturnsLastArrayPosition()
+    {
+        // test to confirm this issue does not happen anymore:
+        // https://github.com/joaoportela/RcCyclicBuffer-CSharp/issues/2
+
+        var buffer = new RcCyclicBuffer<int>(5, new[] { 0, 1, 2, 3, 4 });
+
+        buffer.PopFront(); // (make size and capacity different)
+
+        Assert.That(buffer.Back(), Is.EqualTo(4));
+    }
+
+    [Test]
+    public void RcCyclicBuffer_Clear_ClearsContent()
+    {
+        var buffer = new RcCyclicBuffer<int>(5, new[] { 4, 3, 2, 1, 0 });
+
+        buffer.Clear();
+
+        Assert.That(buffer.Size, Is.EqualTo(0));
+        Assert.That(buffer.Capacity, Is.EqualTo(5));
+        Assert.That(buffer.ToArray(), Is.EqualTo(new int[0]));
+    }
+
+    [Test]
+    public void RcCyclicBuffer_Clear_WorksNormallyAfterClear()
+    {
+        var buffer = new RcCyclicBuffer<int>(5, new[] { 4, 3, 2, 1, 0 });
+
+        buffer.Clear();
+        for (int i = 0; i < 5; i++)
+        {
+            buffer.PushBack(i);
+        }
+
+        Assert.That(buffer.Front(), Is.EqualTo(0));
+        for (int i = 0; i < 5; i++)
+        {
+            Assert.That(buffer[i], Is.EqualTo(i));
+        }
+    }
+
+    [Test]
+    public void RcCyclicBuffer_RegularForEachWorks()
+    {
+        var refValues = new[] { 4, 3, 2, 1, 0 };
+        var buffer = new RcCyclicBuffer<int>(5, refValues);
+
+        var index = 0;
+        foreach (var element in buffer)
+        {
+            Assert.That(element, Is.EqualTo(refValues[index++]));
+        }
+    }
+
+    [Test]
+    public void RcCyclicBuffer_EnumeratorWorks()
+    {
+        var refValues = new int[] { 4, 3, 2, 1, 0 };
+        var buffer = new RcCyclicBuffer<int>(5, refValues);
+
+
+        var index = 0;
+        using var enumerator = buffer.GetEnumerator();
+        enumerator.Reset();
+        while (enumerator.MoveNext())
+        {
+            Assert.That(enumerator.Current, Is.EqualTo(refValues[index++]));
+        }
+
+        // Ensure Reset works properly
+        index = 0;
+        enumerator.Reset();
+        while (enumerator.MoveNext())
+        {
+            Assert.That(enumerator.Current, Is.EqualTo(refValues[index++]));
+        }
+    }
+    
+    [Test]
+    public void RcCyclicBuffers_Sum()
+    {
+        var refValues = Enumerable.Range(-100, 211).Select(x => (long)x).ToArray();
+        var buffer = new RcCyclicBuffer<long>(refValues.Length, refValues);
+        Assert.That(RcCyclicBuffers.Sum(buffer), Is.EqualTo(refValues.Sum()));
+    }
+    
+    [Test]
+    public void RcCyclicBuffers_Average()
+    {
+        var refValues = Enumerable.Range(-100, 211).Select(x => (long)x).ToArray();
+        var buffer = new RcCyclicBuffer<long>(refValues.Length, refValues);
+        Assert.That(RcCyclicBuffers.Average(buffer), Is.EqualTo(refValues.Average()));
+    }
+
+    [Test]
+    public void RcCyclicBuffers_Min()
+    {
+        var refValues = Enumerable.Range(-100, 211).Select(x => (long)x).ToArray();
+        var buffer = new RcCyclicBuffer<long>(refValues.Length, refValues);
+        Assert.That(RcCyclicBuffers.Min(buffer), Is.EqualTo(refValues.Min()));
+    }
+
+    [Test]
+    public void RcCyclicBuffers_Max()
+    {
+        var refValues = Enumerable.Range(-100, 211).Select(x => (long)x).ToArray();
+        var buffer = new RcCyclicBuffer<long>(refValues.Length, refValues);
+        Assert.That(RcCyclicBuffers.Max(buffer), Is.EqualTo(refValues.Max()));
+    }
+    
+    [Test]
+    public void RcCyclicBuffers_SumUnaligned()
+    {
+        var refValues = Enumerable.Range(-1, 3).Select(x => (long)x).ToArray();
+        var buffer = new RcCyclicBuffer<long>(refValues.Length, refValues);
+        Assert.That(RcCyclicBuffers.Sum(buffer), Is.EqualTo(refValues.Sum()));
+    }
+    
+    [Test]
+    public void RcCyclicBuffers_AverageUnaligned()
+    {
+        var refValues = Enumerable.Range(-1, 3).Select(x => (long)x).ToArray();
+        var buffer = new RcCyclicBuffer<long>(refValues.Length, refValues);
+        Assert.That(RcCyclicBuffers.Average(buffer), Is.EqualTo(refValues.Average()));
+    }
+
+    [Test]
+    public void RcCyclicBuffers_MinUnaligned()
+    {
+        var refValues = Enumerable.Range(5, 3).Select(x => (long)x).ToArray();
+        var buffer = new RcCyclicBuffer<long>(refValues.Length, refValues);
+        Assert.That(RcCyclicBuffers.Min(buffer), Is.EqualTo(refValues.Min()));
+    }
+
+    [Test]
+    public void RcCyclicBuffers_MaxUnaligned()
+    {
+        var refValues = Enumerable.Range(-5, 3).Select(x => (long)x).ToArray();
+        var buffer = new RcCyclicBuffer<long>(refValues.Length, refValues);
+        Assert.That(RcCyclicBuffers.Max(buffer), Is.EqualTo(refValues.Max()));
+    }
+    
+    [Test]
+    public void RcCyclicBuffers_SumDeleted()
+    {
+        var initialValues = Enumerable.Range(-100, 211).Select(x => (long)x).ToArray();
+        var refValues = initialValues.Skip(1).SkipLast(1).ToArray();
+        var buffer = new RcCyclicBuffer<long>(initialValues.Length, initialValues);
+        buffer.PopBack();
+        buffer.PopFront();
+        
+        Assert.That(RcCyclicBuffers.Sum(buffer), Is.EqualTo(refValues.Sum()));
+    }
+    
+    [Test]
+    public void RcCyclicBuffers_SumSplit()
+    {
+        var refValues = Enumerable.Range(-100, 211).Select(x => (long)x).ToArray();
+        var buffer = new RcCyclicBuffer<long>(refValues.Length, refValues);
+        buffer.PopFront();
+        buffer.PushBack(refValues[0]);
+        Assert.That(RcCyclicBuffers.Sum(buffer), Is.EqualTo(refValues.Sum()));
+    }
+    
+    [Test]
+    public void RcCyclicBuffers_AverageSplit()
+    {
+        var refValues = Enumerable.Range(-100, 211).Select(x => (long)x).ToArray();
+        var buffer = new RcCyclicBuffer<long>(refValues.Length, refValues);
+        buffer.PopFront();
+        buffer.PushBack(refValues[0]);
+        Assert.That(RcCyclicBuffers.Average(buffer), Is.EqualTo(refValues.Average()));
+    }
+
+    [Test]
+    public void RcCyclicBuffers_MinSplit()
+    {
+        var refValues = Enumerable.Range(-100, 211).Select(x => (long)x).ToArray();
+        var buffer = new RcCyclicBuffer<long>(refValues.Length, refValues);
+        buffer.PopFront();
+        buffer.PushBack(refValues[0]);
+        Assert.That(RcCyclicBuffers.Min(buffer), Is.EqualTo(refValues.Min()));
+    }
+
+    [Test]
+    public void RcCyclicBuffers_MaxSplit()
+    {
+        var refValues = Enumerable.Range(-100, 211).Select(x => (long)x).ToArray();
+        var buffer = new RcCyclicBuffer<long>(refValues.Length, refValues);
+        buffer.PopFront();
+        buffer.PushBack(refValues[0]);
+        Assert.That(RcCyclicBuffers.Max(buffer), Is.EqualTo(refValues.Max()));
+    }
+}

test/DotRecast.Core.Test/RcHashCodesTest.cs

@@ -0,0 +1,40 @@
+using NUnit.Framework;
+
+namespace DotRecast.Core.Test;
+
+public class RcHashCodesTest
+{
+    [Test]
+    public void TestCombineHashCodes()
+    {
+        Assert.That(RcHashCodes.CombineHashCodes(0, 0), Is.EqualTo(0));
+        Assert.That(RcHashCodes.CombineHashCodes(int.MaxValue, int.MaxValue), Is.EqualTo(32));
+        Assert.That(RcHashCodes.CombineHashCodes(int.MaxValue, int.MinValue), Is.EqualTo(-33));
+        Assert.That(RcHashCodes.CombineHashCodes(int.MinValue, int.MinValue), Is.EqualTo(0));
+        Assert.That(RcHashCodes.CombineHashCodes(int.MinValue, int.MaxValue), Is.EqualTo(-1));
+        Assert.That(RcHashCodes.CombineHashCodes(int.MaxValue / 2, int.MaxValue / 2), Is.EqualTo(32));
+    }
+
+    [Test]
+    public void TestIntHash()
+    {
+        Assert.That(RcHashCodes.WangHash(0), Is.EqualTo(4158654902));
+        Assert.That(RcHashCodes.WangHash(1), Is.EqualTo(357654460));
+        Assert.That(RcHashCodes.WangHash(2), Is.EqualTo(715307540));
+        Assert.That(RcHashCodes.WangHash(3), Is.EqualTo(1072960876));
+        
+        Assert.That(RcHashCodes.WangHash(4), Is.EqualTo(1430614333));
+        Assert.That(RcHashCodes.WangHash(5), Is.EqualTo(1788267159));
+        Assert.That(RcHashCodes.WangHash(6), Is.EqualTo(2145921005));
+        Assert.That(RcHashCodes.WangHash(7), Is.EqualTo(2503556531));
+        
+        Assert.That(RcHashCodes.WangHash(8), Is.EqualTo(2861226262));
+        Assert.That(RcHashCodes.WangHash(9), Is.EqualTo(3218863982));
+        Assert.That(RcHashCodes.WangHash(10), Is.EqualTo(3576533554));
+        Assert.That(RcHashCodes.WangHash(11), Is.EqualTo(3934169234));
+        
+        //
+        Assert.That(RcHashCodes.WangHash(int.MaxValue), Is.EqualTo(1755403298));
+        Assert.That(RcHashCodes.WangHash(uint.MaxValue), Is.EqualTo(3971045735));
+    }
+}

test/DotRecast.Core.Test/RcIoTests.cs

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

test/DotRecast.Core.Test/RcMathTest.cs

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

test/DotRecast.Core.Test/RcRentedArrayTest.cs

@@ -0,0 +1,106 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using DotRecast.Core.Buffers;
+using NUnit.Framework;
+
+namespace DotRecast.Core.Test;
+
+public class RcRentedArrayTest
+{
+    public List<int> RandomValues(int length)
+    {
+        var rand = new RcRand();
+
+        // excepted values
+        var list = new List<int>();
+        for (int i = 0; i < length; ++i)
+        {
+            list.Add(rand.NextInt32());
+        }
+
+        return list;
+    }
+
+    [Test]
+    public void TestRentedArray()
+    {
+        var rand = new RcRand();
+        for (int loop = 0; loop < 1024; ++loop)
+        {
+            RcRentedArray<int> rentedArray;
+            {
+                int length = Math.Max(2, (int)(rand.Next() * 2048));
+                var values = RandomValues(length);
+                using var array = RcRentedArray.Rent<int>(length);
+
+                for (int i = 0; i < array.Length; ++i)
+                {
+                    array[i] = values[i];
+                }
+
+                for (int i = 0; i < array.Length; ++i)
+                {
+                    Assert.That(array[i], Is.EqualTo(values[i]));
+                }
+
+                Assert.That(array[^1], Is.EqualTo(values[^1]));
+
+                Assert.Throws<IndexOutOfRangeException>(() => array[-1] = 0);
+                Assert.Throws<IndexOutOfRangeException>(() => array[array.Length + 1] = 0);
+                Assert.Throws<IndexOutOfRangeException>(() => _ = array[-1]);
+                Assert.Throws<IndexOutOfRangeException>(() => _ = array[array.Length + 1]);
+
+                // danger
+                rentedArray = array;
+            }
+            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

@@ -0,0 +1,114 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using DotRecast.Core.Collections;
+using NUnit.Framework;
+
+namespace DotRecast.Core.Test;
+
+public class RcSortedQueueTest
+{
+    [Test]
+    public void TestEnqueueAndDequeue()
+    {
+        var sortedQueue = new RcSortedQueue<int>((a, b) => a.CompareTo(b));
+
+        var r = new RcRand();
+        var expectedList = new List<int>();
+        for (int i = 0; i < 999; ++i)
+        {
+            expectedList.Add(r.NextInt32() % 300); // allow duplication 
+        }
+
+        // ready
+        foreach (var expected in expectedList)
+        {
+            sortedQueue.Enqueue(expected);
+        }
+
+        expectedList.Sort();
+
+        // check count
+        Assert.That(sortedQueue.Count(), Is.EqualTo(expectedList.Count));
+        Assert.That(sortedQueue.IsEmpty(), Is.False);
+
+        Assert.That(sortedQueue.ToList(), Is.EqualTo(expectedList));
+
+        // check Peek and Dequeue
+        for (int i = 0; i < expectedList.Count; ++i)
+        {
+            Assert.That(sortedQueue.Peek(), Is.EqualTo(expectedList[i]));
+            Assert.That(sortedQueue.Count(), Is.EqualTo(expectedList.Count - i));
+
+            Assert.That(sortedQueue.Dequeue(), Is.EqualTo(expectedList[i]));
+            Assert.That(sortedQueue.Count(), Is.EqualTo(expectedList.Count - i - 1));
+        }
+
+        // check count
+        Assert.That(sortedQueue.Count(), Is.EqualTo(0));
+        Assert.That(sortedQueue.IsEmpty(), Is.True);
+    }
+
+    [Test]
+    public void TestRemoveForValueType()
+    {
+        var sortedQueue = new RcSortedQueue<int>((a, b) => a.CompareTo(b));
+
+        var r = new RcRand();
+        var expectedList = new List<int>();
+        for (int i = 0; i < 999; ++i)
+        {
+            expectedList.Add(r.NextInt32() % 300); // allow duplication 
+        }
+
+        // ready
+        foreach (var expected in expectedList)
+        {
+            sortedQueue.Enqueue(expected);
+        }
+
+        expectedList.Shuffle();
+
+        // check
+        Assert.That(sortedQueue.Count(), Is.EqualTo(expectedList.Count));
+
+        foreach (var expected in expectedList)
+        {
+            Assert.That(sortedQueue.Remove(expected), Is.True);
+        }
+
+        Assert.That(sortedQueue.IsEmpty(), Is.True);
+    }
+
+    [Test]
+    public void TestRemoveForReferenceType()
+    {
+        var sortedQueue = new RcSortedQueue<RcAtomicLong>((a, b) => a.Read().CompareTo(b.Read()));
+
+        var r = new RcRand();
+        var expectedList = new List<RcAtomicLong>();
+        for (int i = 0; i < 999; ++i)
+        {
+            expectedList.Add(new RcAtomicLong(r.NextInt32() % 300)); // allow duplication 
+        }
+
+        // ready
+        foreach (var expected in expectedList)
+        {
+            sortedQueue.Enqueue(expected);
+        }
+
+        expectedList.Shuffle();
+
+        // check
+        Assert.That(sortedQueue.Count(), Is.EqualTo(expectedList.Count));
+
+        foreach (var expected in expectedList)
+        {
+            Assert.That(sortedQueue.Remove(expected), Is.True);
+        }
+
+        Assert.That(sortedQueue.IsEmpty(), Is.True);
+    }
+
+}

test/DotRecast.Core.Test/RcSpanTest.cs

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

test/DotRecast.Core.Test/RcStackArrayTest.cs

@@ -0,0 +1,272 @@
+using System;
+using System.Collections.Generic;
+using DotRecast.Core.Collections;
+using NUnit.Framework;
+
+namespace DotRecast.Core.Test;
+
+
+public class RcStackArrayTest
+{
+    public List<int> RandomValues(int size)
+    {
+        var rand = new RcRand();
+
+        // excepted values
+        var list = new List<int>();
+        for (int i = 0; i < size; ++i)
+        {
+            list.Add(rand.NextInt32());
+        }
+
+        return list;
+    }
+
+    [Test]
+    public void TestStackOverflow()
+    {
+        // normal
+        var array_128_512_1 = RcStackArray2<RcStackArray512<float>>.Empty; // 128 * 512 = 65536
+        
+        // warn
+        //var array_128_512_2 = RcStackArray128<RcStackArray512<float>>.Empty; // 128 * 512 = 65536
+
+        // danger
+        // var array_32_512_1 = RcStackArray32<RcStackArray512<float>>.Empty; // 32 * 512 = 16384
+        // var array_16_512_1 = RcStackArray16<RcStackArray512<float>>.Empty; // 16 * 512 = 8192
+        // var array_8_512_1 = RcStackArray8<RcStackArray512<float>>.Empty; // 8 * 512 = 4196
+        // var array_4_256_1 = RcStackArray4<RcStackArray256<float>>.Empty; // 4 * 256 = 1024
+        // var array_4_64_1 = RcStackArray4<RcStackArray64<float>>.Empty; // 4 * 64 = 256
+        // var array_2_8_1 = RcStackArray2<RcStackArray8<float>>.Empty; // 2 * 8 = 16
+        // var array_2_4_1 = RcStackArray2<RcStackArray2<float>>.Empty; // 2 * 2 = 4
+
+        float f1 = 0.0f; // 1
+        //float f2 = 0.0f; // my system stack overflow!
+        Assert.That(f1, Is.EqualTo(0.0f));
+    }
+
+    [Test]
+    public void TestRcStackArray2()
+    {
+        var array = RcStackArray2<int>.Empty;
+        Assert.That(array.Length, Is.EqualTo(2));
+
+        var values = RandomValues(array.Length);
+        for (int i = 0; i < array.Length; ++i)
+        {
+            array[i] = values[i];
+        }
+
+        for (int i = 0; i < array.Length; ++i)
+        {
+            Assert.That(array[i], Is.EqualTo(values[i]));
+        }
+
+        Assert.That(array[^1], Is.EqualTo(values[^1]));
+
+        Assert.Throws<IndexOutOfRangeException>(() => array[-1] = 0);
+        Assert.Throws<IndexOutOfRangeException>(() => array[array.Length + 1] = 0);
+        Assert.Throws<IndexOutOfRangeException>(() => _ = array[-1]);
+        Assert.Throws<IndexOutOfRangeException>(() => _ = array[array.Length + 1]);
+    }
+
+    [Test]
+    public void TestRcStackArray4()
+    {
+        var array = RcStackArray4<int>.Empty;
+        Assert.That(array.Length, Is.EqualTo(4));
+
+        var values = RandomValues(array.Length);
+        for (int i = 0; i < array.Length; ++i)
+        {
+            array[i] = values[i];
+        }
+
+        for (int i = 0; i < array.Length; ++i)
+        {
+            Assert.That(array[i], Is.EqualTo(values[i]));
+        }
+
+        Assert.That(array[^1], Is.EqualTo(values[^1]));
+
+        Assert.Throws<IndexOutOfRangeException>(() => array[-1] = 0);
+        Assert.Throws<IndexOutOfRangeException>(() => array[array.Length + 1] = 0);
+        Assert.Throws<IndexOutOfRangeException>(() => _ = array[-1]);
+        Assert.Throws<IndexOutOfRangeException>(() => _ = array[array.Length + 1]);
+    }
+
+    [Test]
+    public void TestRcStackArray8()
+    {
+        var array = RcStackArray8<int>.Empty;
+        Assert.That(array.Length, Is.EqualTo(8));
+
+        var values = RandomValues(array.Length);
+        for (int i = 0; i < array.Length; ++i)
+        {
+            array[i] = values[i];
+        }
+
+        for (int i = 0; i < array.Length; ++i)
+        {
+            Assert.That(array[i], Is.EqualTo(values[i]));
+        }
+
+        Assert.That(array[^1], Is.EqualTo(values[^1]));
+
+        Assert.Throws<IndexOutOfRangeException>(() => array[-1] = 0);
+        Assert.Throws<IndexOutOfRangeException>(() => array[array.Length + 1] = 0);
+        Assert.Throws<IndexOutOfRangeException>(() => _ = array[-1]);
+        Assert.Throws<IndexOutOfRangeException>(() => _ = array[array.Length + 1]);
+    }
+
+    [Test]
+    public void TestRcStackArray16()
+    {
+        var array = RcStackArray16<int>.Empty;
+        Assert.That(array.Length, Is.EqualTo(16));
+
+        var values = RandomValues(array.Length);
+        for (int i = 0; i < array.Length; ++i)
+        {
+            array[i] = values[i];
+        }
+
+        for (int i = 0; i < array.Length; ++i)
+        {
+            Assert.That(array[i], Is.EqualTo(values[i]));
+        }
+
+        Assert.That(array[^1], Is.EqualTo(values[^1]));
+
+        Assert.Throws<IndexOutOfRangeException>(() => array[-1] = 0);
+        Assert.Throws<IndexOutOfRangeException>(() => array[array.Length + 1] = 0);
+        Assert.Throws<IndexOutOfRangeException>(() => _ = array[-1]);
+        Assert.Throws<IndexOutOfRangeException>(() => _ = array[array.Length + 1]);
+    }
+
+    [Test]
+    public void TestRcStackArray32()
+    {
+        var array = RcStackArray32<int>.Empty;
+        Assert.That(array.Length, Is.EqualTo(32));
+
+        var values = RandomValues(array.Length);
+        for (int i = 0; i < array.Length; ++i)
+        {
+            array[i] = values[i];
+        }
+
+        for (int i = 0; i < array.Length; ++i)
+        {
+            Assert.That(array[i], Is.EqualTo(values[i]));
+        }
+
+        Assert.That(array[^1], Is.EqualTo(values[^1]));
+
+        Assert.Throws<IndexOutOfRangeException>(() => array[-1] = 0);
+        Assert.Throws<IndexOutOfRangeException>(() => array[array.Length + 1] = 0);
+        Assert.Throws<IndexOutOfRangeException>(() => _ = array[-1]);
+        Assert.Throws<IndexOutOfRangeException>(() => _ = array[array.Length + 1]);
+    }
+
+    [Test]
+    public void TestRcStackArray64()
+    {
+        var array = RcStackArray64<int>.Empty;
+        Assert.That(array.Length, Is.EqualTo(64));
+
+        var values = RandomValues(array.Length);
+        for (int i = 0; i < array.Length; ++i)
+        {
+            array[i] = values[i];
+        }
+
+        for (int i = 0; i < array.Length; ++i)
+        {
+            Assert.That(array[i], Is.EqualTo(values[i]));
+        }
+
+        Assert.That(array[^1], Is.EqualTo(values[^1]));
+
+        Assert.Throws<IndexOutOfRangeException>(() => array[-1] = 0);
+        Assert.Throws<IndexOutOfRangeException>(() => array[array.Length + 1] = 0);
+        Assert.Throws<IndexOutOfRangeException>(() => _ = array[-1]);
+        Assert.Throws<IndexOutOfRangeException>(() => _ = array[array.Length + 1]);
+    }
+
+    [Test]
+    public void TestRcStackArray128()
+    {
+        var array = RcStackArray128<int>.Empty;
+        Assert.That(array.Length, Is.EqualTo(128));
+
+        var values = RandomValues(array.Length);
+        for (int i = 0; i < array.Length; ++i)
+        {
+            array[i] = values[i];
+        }
+
+        for (int i = 0; i < array.Length; ++i)
+        {
+            Assert.That(array[i], Is.EqualTo(values[i]));
+        }
+
+        Assert.That(array[^1], Is.EqualTo(values[^1]));
+
+        Assert.Throws<IndexOutOfRangeException>(() => array[-1] = 0);
+        Assert.Throws<IndexOutOfRangeException>(() => array[array.Length + 1] = 0);
+        Assert.Throws<IndexOutOfRangeException>(() => _ = array[-1]);
+        Assert.Throws<IndexOutOfRangeException>(() => _ = array[array.Length + 1]);
+    }
+
+    [Test]
+    public void TestRcStackArray256()
+    {
+        var array = RcStackArray256<int>.Empty;
+        Assert.That(array.Length, Is.EqualTo(256));
+
+        var values = RandomValues(array.Length);
+        for (int i = 0; i < array.Length; ++i)
+        {
+            array[i] = values[i];
+        }
+
+        for (int i = 0; i < array.Length; ++i)
+        {
+            Assert.That(array[i], Is.EqualTo(values[i]));
+        }
+
+        Assert.That(array[^1], Is.EqualTo(values[^1]));
+
+        Assert.Throws<IndexOutOfRangeException>(() => array[-1] = 0);
+        Assert.Throws<IndexOutOfRangeException>(() => array[array.Length + 1] = 0);
+        Assert.Throws<IndexOutOfRangeException>(() => _ = array[-1]);
+        Assert.Throws<IndexOutOfRangeException>(() => _ = array[array.Length + 1]);
+    }
+
+    [Test]
+    public void TestRcStackArray512()
+    {
+        var array = RcStackArray512<int>.Empty;
+        Assert.That(array.Length, Is.EqualTo(512));
+
+        var values = RandomValues(array.Length);
+        for (int i = 0; i < array.Length; ++i)
+        {
+            array[i] = values[i];
+        }
+
+        for (int i = 0; i < array.Length; ++i)
+        {
+            Assert.That(array[i], Is.EqualTo(values[i]));
+        }
+
+        Assert.That(array[^1], Is.EqualTo(values[^1]));
+
+        Assert.Throws<IndexOutOfRangeException>(() => array[-1] = 0);
+        Assert.Throws<IndexOutOfRangeException>(() => array[array.Length + 1] = 0);
+        Assert.Throws<IndexOutOfRangeException>(() => _ = array[-1]);
+        Assert.Throws<IndexOutOfRangeException>(() => _ = array[array.Length + 1]);
+    }
+}

test/DotRecast.Core.Test/Vector3Test.cs

@@ -1,11 +1,11 @@
-using System;
+using System;
 using System.Numerics;
 using DotRecast.Core.Numerics;
 using NUnit.Framework;
 
 namespace DotRecast.Core.Test;
 
-public class Vector3Tests
+public class Vector3Test
 {
     [Test]
     [Repeat(100000)]

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -25,7 +25,6 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Crowd.Test;
 
-[Parallelizable]
 public class AbstractCrowdTest
 {
     protected readonly long[] startRefs =
@@ -63,8 +62,9 @@ public class AbstractCrowdTest
     [SetUp]
     public void SetUp()
     {
-        nmd = new RecastTestMeshBuilder().GetMeshData();
-        navmesh = new DtNavMesh(nmd, 6, 0);
+        nmd = TestMeshDataFactory.Create();
+        navmesh = new DtNavMesh();
+        navmesh.Init(nmd, 6, 0);
         query = new DtNavMeshQuery(navmesh);
         DtCrowdConfig config = new DtCrowdConfig(0.6f);
         crowd = new DtCrowd(config, navmesh);
@@ -153,7 +153,7 @@ public class AbstractCrowdTest
         RcVec3f vel = RcVec3f.Subtract(tgt, pos);
         vel.Y = 0.0f;
         vel = RcVec3f.Normalize(vel);
-        vel = vel.Scale(speed);
+        vel = vel * speed;
         return vel;
     }
 

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -22,7 +22,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Crowd.Test;
 
-[Parallelizable]
+
 public class Crowd1Test : AbstractCrowdTest
 {
     static readonly float[][] EXPECTED_A1Q0TVTA =

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -24,7 +24,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Crowd.Test;
 
-[Parallelizable]
+
 public class Crowd4Test : AbstractCrowdTest
 {
     static readonly float[][] EXPECTED_A1Q2TVTA =

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -22,7 +22,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Crowd.Test;
 
-[Parallelizable]
+
 public class Crowd4VelocityTest : AbstractCrowdTest
 {
     static readonly float[][] EXPECTED_A1Q3TVTA =

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

@@ -1,21 +1,21 @@
 <Project Sdk="Microsoft.NET.Sdk">
 
     <PropertyGroup>
-        <TargetFrameworks>net6.0;net7.0</TargetFrameworks>
+        <TargetFrameworks>net6.0;net7.0;net8.0</TargetFrameworks>
         <IsPackable>false</IsPackable>
         <IsTestProject>true</IsTestProject>
     </PropertyGroup>
 
     <ItemGroup>
-        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.7.2" />
-        <PackageReference Include="Moq" Version="4.20.69" />
-        <PackageReference Include="NUnit" Version="3.13.3"/>
-        <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
-        <PackageReference Include="NUnit.Analyzers" Version="3.9.0">
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.1" />
+        <PackageReference Include="Moq" Version="4.20.72" />
+        <PackageReference Include="NUnit" Version="4.2.2" />
+        <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
+        <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>
-        <PackageReference Include="coverlet.collector" Version="6.0.0">
+        <PackageReference Include="coverlet.collector" Version="6.0.2">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>

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

@@ -0,0 +1,73 @@
+/*
+recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
+
+This software is provided 'as-is', without any express or implied
+warranty.  In no event will the authors be held liable for any damages
+arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it
+freely, subject to the following restrictions:
+1. The origin of this software must not be misrepresented; you must not
+ claim that you wrote the original software. If you use this software
+ in a product, an acknowledgment in the product documentation would be
+ appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be
+ misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+using System;
+using System.Collections.Generic;
+using DotRecast.Core.Numerics;
+using NUnit.Framework;
+
+namespace DotRecast.Detour.Crowd.Test;
+
+public class DtPathCorridorTest
+{
+    private readonly DtPathCorridor corridor = new DtPathCorridor();
+    private readonly IDtQueryFilter filter = new DtQueryDefaultFilter();
+
+    [SetUp]
+    public void SetUp()
+    {
+        corridor.Init(256);
+        corridor.Reset(0, new RcVec3f(10, 20, 30));
+    }
+
+    [Test]
+    public void ShouldKeepOriginalPathInFindCornersWhenNothingCanBePruned()
+    {
+        var straightPath = new DtStraightPath[4];
+        straightPath[0] = new DtStraightPath(new RcVec3f(11, 20, 30.00001f), 0, 0);
+        straightPath[1] = new DtStraightPath(new RcVec3f(12, 20, 30.00002f), 0, 0);
+        straightPath[2] = new DtStraightPath(new RcVec3f(11f, 21, 32f), 0, 0);
+        straightPath[3] = new DtStraightPath(new RcVec3f(11f, 21, 32f), 0, 0);
+        var query = new DtNavMeshQueryMock(straightPath, DtStatus.DT_SUCCESS);
+
+        Span<DtStraightPath> path = stackalloc DtStraightPath[8];
+        var npath = corridor.FindCorners(path, 8, query, filter);
+        Assert.That(npath, Is.EqualTo(4));
+        Assert.That(path.Slice(0, npath).ToArray(), Is.EqualTo(straightPath));
+    }
+
+
+    [Test]
+    public void ShouldPrunePathInFindCorners()
+    {
+        DtStraightPath[] straightPath = new DtStraightPath[5];
+        straightPath[0] = (new DtStraightPath(new RcVec3f(10, 20, 30.00001f), 0, 0)); // too close
+        straightPath[1] = (new DtStraightPath(new RcVec3f(10, 20, 30.00002f), 0, 0)); // too close
+        straightPath[2] = (new DtStraightPath(new RcVec3f(11f, 21, 32f), 0, 0));
+        straightPath[3] = (new DtStraightPath(new RcVec3f(12f, 22, 33f), DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION, 0)); // offmesh
+        straightPath[4] = (new DtStraightPath(new RcVec3f(11f, 21, 32f), DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION, 0)); // offmesh
+
+        var query = new DtNavMeshQueryMock(straightPath, DtStatus.DT_SUCCESS);
+
+        Span<DtStraightPath> path = stackalloc DtStraightPath[8];
+        int npath = corridor.FindCorners(path, 8, query, filter);
+        Assert.That(npath, Is.EqualTo(2));
+        Assert.That(path.Slice(0, npath).ToArray(), Is.EqualTo(new DtStraightPath[] { straightPath[2], straightPath[3] }));
+    }
+}

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

@@ -1,100 +0,0 @@
-/*
-recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
-
-This software is provided 'as-is', without any express or implied
-warranty.  In no event will the authors be held liable for any damages
-arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it
-freely, subject to the following restrictions:
-1. The origin of this software must not be misrepresented; you must not
- claim that you wrote the original software. If you use this software
- in a product, an acknowledgment in the product documentation would be
- appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be
- misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-using System.Collections.Generic;
-using DotRecast.Core.Numerics;
-
-using Moq;
-using NUnit.Framework;
-
-namespace DotRecast.Detour.Crowd.Test;
-
-[Parallelizable]
-public class PathCorridorTest
-{
-    private readonly DtPathCorridor corridor = new DtPathCorridor();
-    private readonly IDtQueryFilter filter = new DtQueryDefaultFilter();
-
-    [SetUp]
-    public void SetUp()
-    {
-        corridor.Reset(0, new RcVec3f(10, 20, 30));
-    }
-
-    [Test]
-    public void ShouldKeepOriginalPathInFindCornersWhenNothingCanBePruned()
-    {
-        List<DtStraightPath> straightPath = new();
-        straightPath.Add(new DtStraightPath(new RcVec3f(11, 20, 30.00001f), 0, 0));
-        straightPath.Add(new DtStraightPath(new RcVec3f(12, 20, 30.00002f), 0, 0));
-        straightPath.Add(new DtStraightPath(new RcVec3f(11f, 21, 32f), 0, 0));
-        straightPath.Add(new DtStraightPath(new RcVec3f(11f, 21, 32f), 0, 0));
-        var mockQuery = new Mock<DtNavMeshQuery>(It.IsAny<DtNavMesh>());
-        mockQuery.Setup(q => q.FindStraightPath(
-                It.IsAny<RcVec3f>(),
-                It.IsAny<RcVec3f>(),
-                It.IsAny<List<long>>(),
-                ref It.Ref<List<DtStraightPath>>.IsAny,
-                It.IsAny<int>(),
-                It.IsAny<int>())
-            )
-            .Callback((RcVec3f startPos, RcVec3f endPos, List<long> path,
-                ref List<DtStraightPath> refStraightPath, int maxStraightPath, int options) =>
-            {
-                refStraightPath = straightPath;
-            })
-            .Returns(() => DtStatus.DT_SUCCSESS);
-
-        var path = new List<DtStraightPath>();
-        corridor.FindCorners(ref path, int.MaxValue, mockQuery.Object, filter);
-        Assert.That(path.Count, Is.EqualTo(4));
-        Assert.That(path, Is.EqualTo(straightPath));
-    }
-
-    [Test]
-    public void ShouldPrunePathInFindCorners()
-    {
-        List<DtStraightPath> straightPath = new();
-        straightPath.Add(new DtStraightPath(new RcVec3f(10, 20, 30.00001f), 0, 0)); // too close
-        straightPath.Add(new DtStraightPath(new RcVec3f(10, 20, 30.00002f), 0, 0)); // too close
-        straightPath.Add(new DtStraightPath(new RcVec3f(11f, 21, 32f), 0, 0));
-        straightPath.Add(new DtStraightPath(new RcVec3f(12f, 22, 33f), DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION, 0)); // offmesh
-        straightPath.Add(new DtStraightPath(new RcVec3f(11f, 21, 32f), DtStraightPathFlags.DT_STRAIGHTPATH_OFFMESH_CONNECTION, 0)); // offmesh
-
-        var mockQuery = new Mock<DtNavMeshQuery>(It.IsAny<DtNavMesh>());
-        mockQuery.Setup(q => q.FindStraightPath(
-                It.IsAny<RcVec3f>(),
-                It.IsAny<RcVec3f>(),
-                It.IsAny<List<long>>(),
-                ref It.Ref<List<DtStraightPath>>.IsAny,
-                It.IsAny<int>(),
-                It.IsAny<int>())
-            ).Callback((RcVec3f startPos, RcVec3f endPos, List<long> path,
-                ref List<DtStraightPath> refStraightPath, int maxStraightPath, int options) =>
-            {
-                refStraightPath = straightPath;
-            })
-            .Returns(() => DtStatus.DT_SUCCSESS);
-
-        var path = new List<DtStraightPath>();
-        corridor.FindCorners(ref path, int.MaxValue, mockQuery.Object, filter);
-        Assert.That(path.Count, Is.EqualTo(2));
-        Assert.That(path, Is.EqualTo(new List<DtStraightPath> { straightPath[2], straightPath[3] }));
-    }
-}

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

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

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

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -22,46 +23,42 @@ using DotRecast.Recast.Geom;
 
 namespace DotRecast.Detour.Crowd.Test;
 
-public class RecastTestMeshBuilder
+public class TestMeshDataFactory
 {
-    private readonly DtMeshData meshData;
-    public const float m_cellSize = 0.3f;
-    public const float m_cellHeight = 0.2f;
-    public const float m_agentHeight = 2.0f;
-    public const float m_agentRadius = 0.6f;
-    public const float m_agentMaxClimb = 0.9f;
-    public const float m_agentMaxSlope = 45.0f;
-    public const int m_regionMinSize = 8;
-    public const int m_regionMergeSize = 20;
-    public const float m_edgeMaxLen = 12.0f;
-    public const float m_edgeMaxError = 1.3f;
-    public const int m_vertsPerPoly = 6;
-    public const float m_detailSampleDist = 6.0f;
-    public const float m_detailSampleMaxError = 1.0f;
+    private const float m_cellSize = 0.3f;
+    private const float m_cellHeight = 0.2f;
+    private const float m_agentHeight = 2.0f;
+    private const float m_agentRadius = 0.6f;
+    private const float m_agentMaxClimb = 0.9f;
+    private const float m_agentMaxSlope = 45.0f;
+    private const int m_regionMinSize = 8;
+    private const int m_regionMergeSize = 20;
+    private const float m_edgeMaxLen = 12.0f;
+    private const float m_edgeMaxError = 1.3f;
+    private const int m_vertsPerPoly = 6;
+    private const float m_detailSampleDist = 6.0f;
+    private const float m_detailSampleMaxError = 1.0f;
 
-    public RecastTestMeshBuilder()
-        : this(SimpleInputGeomProvider.LoadFile("dungeon.obj"),
-            RcPartition.WATERSHED,
-            m_cellSize, m_cellHeight,
-            m_agentMaxSlope, m_agentHeight, m_agentRadius, m_agentMaxClimb,
-            m_regionMinSize, m_regionMergeSize,
-            m_edgeMaxLen, m_edgeMaxError,
-            m_vertsPerPoly,
-            m_detailSampleDist, m_detailSampleMaxError)
+    public static DtMeshData Create()
     {
-    }
+        IInputGeomProvider geom = SimpleInputGeomProvider.LoadFile("dungeon.obj");
+        RcPartition partition = RcPartition.WATERSHED;
+        float cellSize = m_cellSize;
+        float cellHeight = m_cellHeight;
+        float agentMaxSlope = m_agentMaxSlope;
+        float agentHeight = m_agentHeight;
+        float agentRadius = m_agentRadius;
+        float agentMaxClimb = m_agentMaxClimb;
+        int regionMinSize = m_regionMinSize;
+        int regionMergeSize = m_regionMergeSize;
+        float edgeMaxLen = m_edgeMaxLen;
+        float edgeMaxError = m_edgeMaxError;
+        int vertsPerPoly = m_vertsPerPoly;
+        float detailSampleDist = m_detailSampleDist;
+        float detailSampleMaxError = m_detailSampleMaxError;
 
-    public RecastTestMeshBuilder(IInputGeomProvider geom,
-        RcPartition partitionType,
-        float cellSize, float cellHeight,
-        float agentMaxSlope, float agentHeight, float agentRadius, float agentMaxClimb,
-        int regionMinSize, int regionMergeSize,
-        float edgeMaxLen, float edgeMaxError,
-        int vertsPerPoly,
-        float detailSampleDist, float detailSampleMaxError)
-    {
         RcConfig cfg = new RcConfig(
-            partitionType,
+            partition,
             cellSize, cellHeight,
             agentMaxSlope, agentHeight, agentRadius, agentMaxClimb,
             regionMinSize, regionMergeSize,
@@ -72,32 +69,32 @@ public class RecastTestMeshBuilder
             SampleAreaModifications.SAMPLE_AREAMOD_GROUND, true);
         RcBuilderConfig bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax());
         RcBuilder rcBuilder = new RcBuilder();
-        RcBuilderResult rcResult = rcBuilder.Build(geom, bcfg);
-        RcPolyMesh m_pmesh = rcResult.GetMesh();
-        for (int i = 0; i < m_pmesh.npolys; ++i)
+        RcBuilderResult rcResult = rcBuilder.Build(geom, bcfg, false);
+        RcPolyMesh pmesh = rcResult.Mesh;
+        for (int i = 0; i < pmesh.npolys; ++i)
         {
-            m_pmesh.flags[i] = 1;
+            pmesh.flags[i] = 1;
         }
 
-        RcPolyMeshDetail m_dmesh = rcResult.GetMeshDetail();
+        RcPolyMeshDetail dmesh = rcResult.MeshDetail;
         DtNavMeshCreateParams option = new DtNavMeshCreateParams();
-        option.verts = m_pmesh.verts;
-        option.vertCount = m_pmesh.nverts;
-        option.polys = m_pmesh.polys;
-        option.polyAreas = m_pmesh.areas;
-        option.polyFlags = m_pmesh.flags;
-        option.polyCount = m_pmesh.npolys;
-        option.nvp = m_pmesh.nvp;
-        option.detailMeshes = m_dmesh.meshes;
-        option.detailVerts = m_dmesh.verts;
-        option.detailVertsCount = m_dmesh.nverts;
-        option.detailTris = m_dmesh.tris;
-        option.detailTriCount = m_dmesh.ntris;
+        option.verts = pmesh.verts;
+        option.vertCount = pmesh.nverts;
+        option.polys = pmesh.polys;
+        option.polyAreas = pmesh.areas;
+        option.polyFlags = pmesh.flags;
+        option.polyCount = pmesh.npolys;
+        option.nvp = pmesh.nvp;
+        option.detailMeshes = dmesh.meshes;
+        option.detailVerts = dmesh.verts;
+        option.detailVertsCount = dmesh.nverts;
+        option.detailTris = dmesh.tris;
+        option.detailTriCount = dmesh.ntris;
         option.walkableHeight = agentHeight;
         option.walkableRadius = agentRadius;
         option.walkableClimb = agentMaxClimb;
-        option.bmin = m_pmesh.bmin;
-        option.bmax = m_pmesh.bmax;
+        option.bmin = pmesh.bmin;
+        option.bmax = pmesh.bmax;
         option.cs = cellSize;
         option.ch = cellHeight;
         option.buildBvTree = true;
@@ -120,11 +117,8 @@ public class RecastTestMeshBuilder
         option.offMeshConUserID = new int[1];
         option.offMeshConUserID[0] = 0x4567;
         option.offMeshConCount = 1;
-        meshData = DtNavMeshBuilder.CreateNavMeshData(option);
-    }
+        var meshData = DtNavMeshBuilder.CreateNavMeshData(option);
 
-    public DtMeshData GetMeshData()
-    {
         return meshData;
     }
 }

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

@@ -1,25 +1,25 @@
 <Project Sdk="Microsoft.NET.Sdk">
 
     <PropertyGroup>
-        <TargetFrameworks>net6.0;net7.0</TargetFrameworks>
+        <TargetFrameworks>net6.0;net7.0;net8.0</TargetFrameworks>
         <IsPackable>false</IsPackable>
         <IsTestProject>true</IsTestProject>
     </PropertyGroup>
 
     <ItemGroup>
-        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.7.2" />
-        <PackageReference Include="Moq" Version="4.20.69" />
-        <PackageReference Include="NUnit" Version="3.13.3"/>
-        <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
-        <PackageReference Include="NUnit.Analyzers" Version="3.9.0">
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.1" />
+        <PackageReference Include="Moq" Version="4.20.72" />
+        <PackageReference Include="NUnit" Version="4.2.2" />
+        <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
+        <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>
-        <PackageReference Include="coverlet.collector" Version="6.0.0">
+        <PackageReference Include="coverlet.collector" Version="6.0.2">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>
-        <PackageReference Include="K4os.Compression.LZ4" Version="1.3.6" />
+        <PackageReference Include="K4os.Compression.LZ4" Version="1.3.8" />
     </ItemGroup>
 
     <ItemGroup>

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

@@ -1,3 +1,4 @@
+using System;
 using System.Collections.Generic;
 using System.IO;
 using System.Threading.Tasks;
@@ -6,11 +7,11 @@ using DotRecast.Core.Numerics;
 using DotRecast.Detour.Dynamic.Colliders;
 using DotRecast.Detour.Dynamic.Io;
 using DotRecast.Detour.Dynamic.Test.Io;
+using DotRecast.Detour.Io;
 using NUnit.Framework;
 
 namespace DotRecast.Detour.Dynamic.Test;
 
-[Parallelizable]
 public class DynamicNavMeshTest
 {
     private static readonly RcVec3f START_POS = new RcVec3f(70.87453f, 0.0010070801f, 86.69021f);
@@ -22,7 +23,7 @@ public class DynamicNavMeshTest
     [Test]
     public void E2eTest()
     {
-        byte[] bytes = RcResources.Load("test_tiles.voxels");
+        byte[] bytes = RcIO.ReadFileIfFound("test_tiles.voxels");
         using var ms = new MemoryStream(bytes);
         using var br = new BinaryReader(ms);
 
@@ -32,9 +33,7 @@ public class DynamicNavMeshTest
         // create dynamic navmesh
         DtDynamicNavMesh mesh = new DtDynamicNavMesh(f);
         // build navmesh asynchronously using multiple threads
-        Task<bool> future = mesh.Build(Task.Factory);
-        // wait for build to complete
-        bool _ = future.Result;
+        mesh.Build(Task.Factory);
 
         // create new query
         DtNavMeshQuery query = new DtNavMeshQuery(mesh.NavMesh());
@@ -54,9 +53,8 @@ public class DynamicNavMeshTest
         long colliderId = mesh.AddCollider(colldier);
 
         // update navmesh asynchronously
-        future = mesh.Update(Task.Factory);
-        // wait for update to complete
-        _ = future.Result;
+        mesh.Update(Task.Factory);
+
         // create new query
         query = new DtNavMeshQuery(mesh.NavMesh());
 
@@ -70,9 +68,7 @@ public class DynamicNavMeshTest
         // remove obstacle
         mesh.RemoveCollider(colliderId);
         // update navmesh asynchronously
-        future = mesh.Update(Task.Factory);
-        // wait for update to complete
-        _ = future.Result;
+        mesh.Update(Task.Factory);
         // create new query
         query = new DtNavMeshQuery(mesh.NavMesh());
 
@@ -84,4 +80,101 @@ public class DynamicNavMeshTest
         // path length should be back to the initial value
         Assert.That(path.Count, Is.EqualTo(16));
     }
+
+
+    [Test]
+    public void ShouldSaveAndLoadDynamicNavMesh()
+    {
+        using var writerMs = new MemoryStream();
+        using var bw = new BinaryWriter(writerMs);
+
+
+        int maxVertsPerPoly = 6;
+        // load voxels from file
+
+        {
+            byte[] bytes = RcIO.ReadFileIfFound("test_tiles.voxels");
+            using var readMs = new MemoryStream(bytes);
+            using var br = new BinaryReader(readMs);
+
+            DtVoxelFileReader reader = new DtVoxelFileReader(DtVoxelTileLZ4ForTestCompressor.Shared);
+            DtVoxelFile f = reader.Read(br);
+
+            // create dynamic navmesh
+            DtDynamicNavMesh mesh = new DtDynamicNavMesh(f);
+
+            // build navmesh asynchronously using multiple threads
+            mesh.Build(Task.Factory);
+
+            // Save the resulting nav mesh and re-use it
+            new DtMeshSetWriter().Write(bw, mesh.NavMesh(), RcByteOrder.LITTLE_ENDIAN, true);
+            maxVertsPerPoly = mesh.NavMesh().GetMaxVertsPerPoly();
+        }
+
+        {
+            byte[] bytes = RcIO.ReadFileIfFound("test_tiles.voxels");
+            using var readMs = new MemoryStream(bytes);
+            using var br = new BinaryReader(readMs);
+
+            // load voxels from file
+            DtVoxelFileReader reader = new DtVoxelFileReader(DtVoxelTileLZ4ForTestCompressor.Shared);
+            DtVoxelFile f = reader.Read(br);
+
+            // create dynamic navmesh
+            DtDynamicNavMesh mesh = new DtDynamicNavMesh(f);
+            // use the saved nav mesh instead of building from scratch
+            DtNavMesh navMesh = new DtMeshSetReader().Read(new RcByteBuffer(writerMs.ToArray()), maxVertsPerPoly);
+            mesh.NavMesh(navMesh);
+
+            DtNavMeshQuery query = new DtNavMeshQuery(mesh.NavMesh());
+            IDtQueryFilter filter = new DtQueryDefaultFilter();
+
+            // find path
+            _ = query.FindNearestPoly(START_POS, EXTENT, filter, out var startNearestRef, out var startNearestPos, out var _);
+            _ = query.FindNearestPoly(END_POS, EXTENT, filter, out var endNearestRef, out var endNearestPos, out var _);
+
+            List<long> path = new List<long>();
+            query.FindPath(startNearestRef, endNearestRef, startNearestPos, endNearestPos, filter, ref path, DtFindPathOption.AnyAngle);
+
+            // check path length without any obstacles
+            Assert.That(path.Count, Is.EqualTo(16));
+
+            // place obstacle
+            DtCollider colldier = new DtSphereCollider(SPHERE_POS, 20, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_GROUND, 0.1f);
+            long colliderId = mesh.AddCollider(colldier);
+
+            // update navmesh asynchronously
+            mesh.Update(Task.Factory);
+
+            // create new query
+            query = new DtNavMeshQuery(mesh.NavMesh());
+
+            // find path again
+            _ = query.FindNearestPoly(START_POS, EXTENT, filter, out startNearestRef, out startNearestPos, out var _);
+            _ = query.FindNearestPoly(END_POS, EXTENT, filter, out endNearestRef, out endNearestPos, out var _);
+
+            path = new List<long>();
+            query.FindPath(startNearestRef, endNearestRef, startNearestPos, endNearestPos, filter, ref path, DtFindPathOption.AnyAngle);
+
+            // check path length with obstacles
+            Assert.That(path.Count, Is.EqualTo(19));
+
+            // remove obstacle
+            mesh.RemoveCollider(colliderId);
+            // update navmesh asynchronously
+            mesh.Update(Task.Factory);
+
+            // create new query
+            query = new DtNavMeshQuery(mesh.NavMesh());
+            // find path one more time
+            _ = query.FindNearestPoly(START_POS, EXTENT, filter, out startNearestRef, out startNearestPos, out var _);
+            _ = query.FindNearestPoly(END_POS, EXTENT, filter, out endNearestRef, out endNearestPos, out var _);
+
+            path = new List<long>();
+            query.FindPath(startNearestRef, endNearestRef, startNearestPos, endNearestPos, filter, ref path, DtFindPathOption.AnyAngle);
+
+            // path length should be back to the initial value
+            Assert.That(path.Count, Is.EqualTo(16));
+        }
+    }
 }

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

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -47,7 +47,7 @@ namespace DotRecast.Detour.Dynamic.Test.Io
             byte[] compressed = LZ4Pickler.Pickle(data, LZ4Level.L12_MAX);
             byte[] result = new byte[4 + compressed.Length];
             RcByteUtils.PutInt(compressed.Length, result, 0, RcByteOrder.BIG_ENDIAN);
-            Array.Copy(compressed, 0, result, 4, compressed.Length);
+            RcArrays.Copy(compressed, 0, result, 4, compressed.Length);
             return result;
         }
     }

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

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -25,13 +25,13 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Dynamic.Test.Io;
 
-[Parallelizable]
+
 public class VoxelFileReaderTest
 {
     [Test]
     public void ShouldReadSingleTileFile()
     {
-        byte[] bytes = RcResources.Load("test.voxels");
+        byte[] bytes = RcIO.ReadFileIfFound("test.voxels");
         using var ms = new MemoryStream(bytes);
         using var br = new BinaryReader(ms);
 
@@ -57,7 +57,7 @@ public class VoxelFileReaderTest
     [Test]
     public void ShouldReadMultiTileFile()
     {
-        byte[] bytes = RcResources.Load("test_tiles.voxels");
+        byte[] bytes = RcIO.ReadFileIfFound("test_tiles.voxels");
         using var ms = new MemoryStream(bytes);
         using var br = new BinaryReader(ms);
 

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

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -25,14 +25,14 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Dynamic.Test.Io;
 
-[Parallelizable]
+
 public class VoxelFileReaderWriterTest
 {
     [TestCase(false)]
     [TestCase(true)]
     public void ShouldReadSingleTileFile(bool compression)
     {
-        byte[] bytes = RcResources.Load("test.voxels");
+        byte[] bytes = RcIO.ReadFileIfFound("test.voxels");
         using var ms = new MemoryStream(bytes);
         using var br = new BinaryReader(ms);
 
@@ -60,7 +60,7 @@ public class VoxelFileReaderWriterTest
     [TestCase(true)]
     public void ShouldReadMultiTileFile(bool compression)
     {
-        byte[] bytes = RcResources.Load("test_tiles.voxels");
+        byte[] bytes = RcIO.ReadFileIfFound("test_tiles.voxels");
         using var ms = new MemoryStream(bytes);
         using var br = new BinaryReader(ms);
 

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

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

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

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -31,7 +31,6 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Dynamic.Test;
 
-[Parallelizable]
 public class VoxelQueryTest
 {
     private const int TILE_WIDTH = 100;
@@ -94,19 +93,19 @@ public class VoxelQueryTest
 
     private DtDynamicNavMesh CreateDynaMesh()
     {
-        var bytes = RcResources.Load("test_tiles.voxels");
+        var bytes = RcIO.ReadFileIfFound("test_tiles.voxels");
         using var ms = new MemoryStream(bytes);
         using var br = new BinaryReader(ms);
 
         // load voxels from file
         DtVoxelFileReader reader = new DtVoxelFileReader(DtVoxelTileLZ4ForTestCompressor.Shared);
         DtVoxelFile f = reader.Read(br);
+        
         // create dynamic navmesh
         var mesh = new DtDynamicNavMesh(f);
+        
         // build navmesh asynchronously using multiple threads
-        Task<bool> future = mesh.Build(Task.Factory);
-        // wait for build to complete
-        var _ = future.Result;
+        mesh.Build(Task.Factory);
         return mesh;
     }
 }

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

@@ -1,21 +1,21 @@
 <Project Sdk="Microsoft.NET.Sdk">
 
     <PropertyGroup>
-        <TargetFrameworks>net6.0;net7.0</TargetFrameworks>
+        <TargetFrameworks>net6.0;net7.0;net8.0</TargetFrameworks>
         <IsPackable>false</IsPackable>
         <IsTestProject>true</IsTestProject>
     </PropertyGroup>
 
     <ItemGroup>
-        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.7.2" />
-        <PackageReference Include="Moq" Version="4.20.69" />
-        <PackageReference Include="NUnit" Version="3.13.3"/>
-        <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
-        <PackageReference Include="NUnit.Analyzers" Version="3.9.0">
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.1" />
+        <PackageReference Include="Moq" Version="4.20.72" />
+        <PackageReference Include="NUnit" Version="4.2.2" />
+        <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
+        <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>
-        <PackageReference Include="coverlet.collector" Version="6.0.0">
+        <PackageReference Include="coverlet.collector" Version="6.0.2">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>

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

@@ -1,5 +1,6 @@
 /*
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -26,7 +27,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Extras.Test.Unity.Astar;
 
-[Parallelizable]
+
 public class UnityAStarPathfindingImporterTest
 {
     [Test]
@@ -37,7 +38,7 @@ public class UnityAStarPathfindingImporterTest
         RcVec3f endPos = new RcVec3f(11.971109f, 0.000000f, 8.663261f);
         var path = new List<long>();
         var status = FindPath(mesh, startPos, endPos, ref path);
-        Assert.That(status, Is.EqualTo(DtStatus.DT_SUCCSESS));
+        Assert.That(status, Is.EqualTo(DtStatus.DT_SUCCESS));
         Assert.That(path.Count, Is.EqualTo(57));
         SaveMesh(mesh, "v4_0_6");
     }

test/DotRecast.Detour.Test/AbstractDetourTest.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -21,7 +22,6 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-[Parallelizable]
 public abstract class AbstractDetourTest
 {
     protected static readonly long[] startRefs =
@@ -64,6 +64,8 @@ public abstract class AbstractDetourTest
 
     protected DtNavMesh CreateNavMesh()
     {
-        return new DtNavMesh(new RecastTestMeshBuilder().GetMeshData(), 6, 0);
+        var mesh = new DtNavMesh();
+        mesh.Init(TestMeshDataFactory.Create(), 6, 0);
+        return mesh;
     }
 }

test/DotRecast.Detour.Test/ConvexConvexIntersectionTest.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -17,11 +17,12 @@ 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;
 
-[Parallelizable]
+
 public class ConvexConvexIntersectionTest
 {
     [Test]
@@ -29,9 +30,10 @@ public class ConvexConvexIntersectionTest
     {
         float[] p = { -4, 0, 0, -3, 0, 3, 2, 0, 3, 3, 0, -3, -2, 0, -4 };
         float[] q = { -4, 0, 0, -3, 0, 3, 2, 0, 3, 3, 0, -3, -2, 0, -4 };
-        float[] intersection = DtConvexConvexIntersections.Intersect(p, q);
+        float[] buffer = new float[128];
+        Span<float> intersection = DtConvexConvexIntersections.Intersect(p, q, buffer);
         Assert.That(intersection.Length, Is.EqualTo(5 * 3));
-        Assert.That(intersection, Is.EqualTo(p));
+        Assert.That(intersection.ToArray(), Is.EquivalentTo(p));
     }
 
     [Test]
@@ -39,8 +41,9 @@ public class ConvexConvexIntersectionTest
     {
         float[] p = { -5, 0, -5, -5, 0, 4, 1, 0, 4, 1, 0, -5 };
         float[] q = { -4, 0, 0, -3, 0, 3, 2, 0, 3, 3, 0, -3, -2, 0, -4 };
-        float[] intersection = DtConvexConvexIntersections.Intersect(p, q);
+        float[] buffer = new float[128];
+        Span<float> intersection = DtConvexConvexIntersections.Intersect(p, q, buffer);
         Assert.That(intersection.Length, Is.EqualTo(5 * 3));
-        Assert.That(intersection, Is.EqualTo(new[] { 1, 0, 3, 1, 0, -3.4f, -2, 0, -4, -4, 0, 0, -3, 0, 3 }));
+        Assert.That(intersection.ToArray(), Is.EquivalentTo(new[] { 1, 0, 3, 1, 0, -3.4f, -2, 0, -4, -4, 0, 0, -3, 0, 3 }));
     }
 }

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

@@ -1,21 +1,21 @@
 <Project Sdk="Microsoft.NET.Sdk">
 
     <PropertyGroup>
-        <TargetFrameworks>net6.0;net7.0</TargetFrameworks>
+        <TargetFrameworks>net6.0;net7.0;net8.0</TargetFrameworks>
         <IsPackable>false</IsPackable>
         <IsTestProject>true</IsTestProject>
     </PropertyGroup>
 
     <ItemGroup>
-        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.7.2" />
-        <PackageReference Include="Moq" Version="4.20.69" />
-        <PackageReference Include="NUnit" Version="3.13.3"/>
-        <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
-        <PackageReference Include="NUnit.Analyzers" Version="3.9.0">
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.1" />
+        <PackageReference Include="Moq" Version="4.20.72" />
+        <PackageReference Include="NUnit" Version="4.2.2" />
+        <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
+        <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>
-        <PackageReference Include="coverlet.collector" Version="6.0.0">
+        <PackageReference Include="coverlet.collector" Version="6.0.2">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>

test/DotRecast.Detour.Test/DtNodePoolTest.cs

@@ -0,0 +1,84 @@
+using System.Collections.Immutable;
+using System.Linq;
+using NUnit.Framework;
+
+namespace DotRecast.Detour.Test;
+
+public class DtNodePoolTest
+{
+    [Test]
+    public void TestGetNode()
+    {
+        var pool = new DtNodePool();
+
+        var node1St = pool.GetNode(0);
+        var node2St = pool.GetNode(0);
+        Assert.That(node1St, Is.SameAs(node2St));
+
+        node1St.state = 1;
+        var node3St = pool.GetNode(0);
+        Assert.That(node1St, Is.Not.SameAs(node3St));
+    }
+
+    [Test]
+    public void TestFindNode()
+    {
+        var pool = new DtNodePool();
+
+        var counts = ImmutableArray.Create(2, 3, 5);
+
+        // get and create
+        for (int i = 0; i < counts.Length; ++i)
+        {
+            var count = counts[i];
+            for (int ii = 0; ii < count; ++ii)
+            {
+                var node = pool.GetNode(i);
+                node.state = ii + 1;
+            }
+        }
+
+        int sum = counts.Sum();
+        Assert.That(sum, Is.EqualTo(10));
+
+        // check GetNodeIdx GetNodeAtIdx
+        for (int i = 0; i < sum; ++i)
+        {
+            var node = pool.GetNodeAtIdx(i);
+            var nodeIdx = pool.GetNodeIdx(node);
+            var nodeByIdx = pool.GetNodeAtIdx(nodeIdx);
+
+            Assert.That(node, Is.SameAs(nodeByIdx));
+            Assert.That(nodeIdx, Is.EqualTo(i));
+        }
+
+        // check count
+        for (int i = 0; i < counts.Length; ++i)
+        {
+            var count = counts[i];
+            var n = pool.FindNodes(i, out var nodes);
+            Assert.That(n, Is.EqualTo(count));
+            Assert.That(nodes, Has.Count.EqualTo(count));
+
+            var node = pool.FindNode(i);
+            Assert.That(nodes[0], Is.SameAs(node));
+
+            var node2 = pool.FindNode(i);
+            Assert.That(nodes[0], Is.SameAs(node2));
+        }
+
+        // check other count
+        {
+            var n = pool.FindNodes(4, out var nodes);
+            Assert.That(n, Is.EqualTo(0));
+            Assert.That(nodes, Is.Null);
+        }
+
+        var totalCount = pool.GetNodeCount();
+        Assert.That(totalCount, Is.EqualTo(sum));
+
+        pool.Clear();
+        totalCount = pool.GetNodeCount();
+        Assert.That(totalCount, Is.EqualTo(0));
+    }
+}

test/DotRecast.Detour.Test/DtNodeQueueTest.cs

@@ -0,0 +1,112 @@
+using System.Collections.Generic;
+using DotRecast.Core;
+using DotRecast.Core.Collections;
+using NUnit.Framework;
+
+namespace DotRecast.Detour.Test;
+
+public class DtNodeQueueTest
+{
+    private static List<DtNode> ShuffledNodes(int count)
+    {
+        var nodes = new List<DtNode>();
+        for (int i = 0; i < count; ++i)
+        {
+            var node = new DtNode(i);
+            node.total = i;
+            nodes.Add(node);
+        }
+
+        nodes.Shuffle();
+        return nodes;
+    }
+
+    [Test]
+    public void TestPushAndPop()
+    {
+        var queue = new DtNodeQueue();
+
+        // check count
+        Assert.That(queue.Count(), Is.EqualTo(0));
+        
+        // null push
+        queue.Push(null);
+        Assert.That(queue.Count(), Is.EqualTo(0));
+
+        // test push
+        const int count = 1000;
+        var expectedNodes = ShuffledNodes(count);
+        foreach (var node in expectedNodes)
+        {
+            queue.Push(node);
+        }
+
+        Assert.That(queue.Count(), Is.EqualTo(count));
+
+        // test pop
+        expectedNodes.Sort(DtNode.ComparisonNodeTotal);
+        foreach (var node in expectedNodes)
+        {
+            Assert.That(queue.Peek(), Is.SameAs(node));
+            Assert.That(queue.Pop(), Is.SameAs(node));
+        }
+
+        Assert.That(queue.Count(), Is.EqualTo(0));
+    }
+
+    [Test]
+    public void TestClear()
+    {
+        var queue = new DtNodeQueue();
+
+        const int count = 555;
+        var expectedNodes = ShuffledNodes(count);
+        foreach (var node in expectedNodes)
+        {
+            queue.Push(node);
+        }
+
+        Assert.That(queue.Count(), Is.EqualTo(count));
+
+        queue.Clear();
+        Assert.That(queue.Count(), Is.EqualTo(0));
+        Assert.That(queue.IsEmpty(), Is.True);
+    }
+    
+    [Test]
+    public void TestModify()
+    {
+        var queue = new DtNodeQueue();
+
+        const int count = 5000;
+        var expectedNodes = ShuffledNodes(count);
+        
+        foreach (var node in expectedNodes)
+        {
+            queue.Push(node);
+        }
+
+        // check modify
+        queue.Modify(null);
+
+        // change total
+        var r = new RcRand();
+        foreach (var node in expectedNodes)
+        {
+            node.total = r.NextInt32() % (count / 50); // duplication for test
+        }
+
+        // test modify
+        foreach (var node in expectedNodes)
+        {
+            queue.Modify(node);
+        }
+        
+        // check
+        expectedNodes.Sort(DtNode.ComparisonNodeTotal);
+        foreach (var node in expectedNodes)
+        {
+            Assert.That(queue.Pop(), Is.SameAs(node));
+        }
+    } 
+}

test/DotRecast.Detour.Test/FindCollectPolyTest.cs

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

test/DotRecast.Detour.Test/FindDistanceToWallTest.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -22,7 +23,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-[Parallelizable]
+
 public class FindDistanceToWallTest : AbstractDetourTest
 {
     private static readonly float[] DISTANCES_TO_WALL = { 0.597511f, 3.201085f, 0.603713f, 2.791475f, 2.815544f };

test/DotRecast.Detour.Test/FindLocalNeighbourhoodTest.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -22,7 +23,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-[Parallelizable]
+
 public class FindLocalNeighbourhoodTest : AbstractDetourTest
 {
     private static readonly long[][] REFS =

test/DotRecast.Detour.Test/FindNearestPolyTest.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -21,10 +22,12 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-[Parallelizable]
 public class FindNearestPolyTest : AbstractDetourTest
 {
-    private static readonly long[] POLY_REFS = { 281474976710696L, 281474976710773L, 281474976710680L, 281474976710753L, 281474976710733L };
+    private static readonly long[] POLY_REFS =
+    {
+        281474976710696L, 281474976710773L, 281474976710680L, 281474976710753L, 281474976710733L
+    };
 
     private static readonly RcVec3f[] POLY_POS =
     {
@@ -44,11 +47,11 @@ public class FindNearestPolyTest : AbstractDetourTest
         {
             RcVec3f startPos = startPoss[i];
             var status = query.FindNearestPoly(startPos, extents, filter, out var nearestRef, out var nearestPt, out var _);
-            Assert.That(status.Succeeded(), Is.True);
-            Assert.That(nearestRef, Is.EqualTo(POLY_REFS[i]));
-            Assert.That(nearestPt.X, Is.EqualTo(POLY_POS[i].X).Within(0.001f));
-            Assert.That(nearestPt.Y, Is.EqualTo(POLY_POS[i].Y).Within(0.001f));
-            Assert.That(nearestPt.Z, Is.EqualTo(POLY_POS[i].Z).Within(0.001f));
+            Assert.That(status.Succeeded(), Is.True, $"index({i})");
+            Assert.That(nearestRef, Is.EqualTo(POLY_REFS[i]), $"index({i})");
+            Assert.That(nearestPt.X, Is.EqualTo(POLY_POS[i].X).Within(0.001f), $"index({i})");
+            Assert.That(nearestPt.Y, Is.EqualTo(POLY_POS[i].Y).Within(0.001f), $"index({i})");
+            Assert.That(nearestPt.Z, Is.EqualTo(POLY_POS[i].Z).Within(0.001f), $"index({i})");
         }
     }
 

test/DotRecast.Detour.Test/FindPathTest.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -16,22 +17,22 @@ 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;
 
-[Parallelizable]
 public class FindPathTest : AbstractDetourTest
 {
     private static readonly DtStatus[] STATUSES =
     {
-        DtStatus.DT_SUCCSESS,
-        DtStatus.DT_SUCCSESS | DtStatus.DT_PARTIAL_RESULT,
-        DtStatus.DT_SUCCSESS,
-        DtStatus.DT_SUCCSESS,
-        DtStatus.DT_SUCCSESS
+        DtStatus.DT_SUCCESS,
+        DtStatus.DT_SUCCESS | DtStatus.DT_PARTIAL_RESULT,
+        DtStatus.DT_SUCCESS,
+        DtStatus.DT_SUCCESS,
+        DtStatus.DT_SUCCESS
     };
 
     private static readonly long[][] RESULTS =
@@ -184,6 +185,7 @@ public class FindPathTest : AbstractDetourTest
     {
         IDtQueryFilter filter = new DtQueryDefaultFilter();
         var path = new List<long>();
+        Span<DtStraightPath> straightPath = stackalloc DtStraightPath[256];
         for (int i = 0; i < STRAIGHT_PATHS.Length; i++)
         {
             // startRefs.Length; i++) {
@@ -192,9 +194,8 @@ public class FindPathTest : AbstractDetourTest
             var startPos = startPoss[i];
             var endPos = endPoss[i];
             var status = query.FindPath(startRef, endRef, startPos, endPos, filter, ref path, DtFindPathOption.NoOption);
-            var straightPath = new List<DtStraightPath>();
-            query.FindStraightPath(startPos, endPos, path, ref straightPath, int.MaxValue, 0);
-            Assert.That(straightPath.Count, Is.EqualTo(STRAIGHT_PATHS[i].Length));
+            query.FindStraightPath(startPos, endPos, path, path.Count, straightPath, out var nstraightPath, 256, 0);
+            Assert.That(nstraightPath, Is.EqualTo(STRAIGHT_PATHS[i].Length));
             for (int j = 0; j < STRAIGHT_PATHS[i].Length; j++)
             {
                 Assert.That(straightPath[j].refs, Is.EqualTo(STRAIGHT_PATHS[i][j].refs));

test/DotRecast.Detour.Test/FindPolysAroundCircleTest.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -22,7 +23,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-[Parallelizable]
+
 public class FindPolysAroundCircleTest : AbstractDetourTest
 {
     private static readonly long[][] REFS =

test/DotRecast.Detour.Test/FindPolysAroundShapeTest.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -22,7 +23,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-[Parallelizable]
+
 public class FindPolysAroundShapeTest : AbstractDetourTest
 {
     private static readonly long[][] REFS =

test/DotRecast.Detour.Test/GetPolyWallSegmentsTest.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -16,13 +17,13 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using System;
 using System.Collections.Generic;
 using DotRecast.Core;
 using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-[Parallelizable]
 public class GetPolyWallSegmentsTest : AbstractDetourTest
 {
     private static readonly RcSegmentVert[][] VERTICES =
@@ -82,28 +83,30 @@ public class GetPolyWallSegmentsTest : AbstractDetourTest
     [Test]
     public void TestFindDistanceToWall()
     {
-        var segmentVerts = new List<RcSegmentVert>();
-        var segmentRefs = new List<long>();
+        const int MAX_SEGS = DtDetour.DT_VERTS_PER_POLYGON * 4;
+        Span<RcSegmentVert> segs = stackalloc RcSegmentVert[MAX_SEGS];
+        Span<long> refs = stackalloc long[MAX_SEGS];
+        int nsegs = 0;
 
         IDtQueryFilter filter = new DtQueryDefaultFilter();
         for (int i = 0; i < startRefs.Length; i++)
         {
-            var result = query.GetPolyWallSegments(startRefs[i], true, filter, ref segmentVerts, ref segmentRefs);
-            Assert.That(segmentVerts.Count, Is.EqualTo(VERTICES[i].Length));
-            Assert.That(segmentRefs.Count, Is.EqualTo(REFS[i].Length));
+            var result = query.GetPolyWallSegments(startRefs[i], filter, segs, refs, ref nsegs, MAX_SEGS);
+            Assert.That(nsegs, Is.EqualTo(VERTICES[i].Length));
+            Assert.That(nsegs, Is.EqualTo(REFS[i].Length));
             for (int v = 0; v < VERTICES[i].Length / 6; v++)
             {
-                Assert.That(segmentVerts[v].vmin.X, Is.EqualTo(VERTICES[i][v].vmin.X).Within(0.001f));
-                Assert.That(segmentVerts[v].vmin.Y, Is.EqualTo(VERTICES[i][v].vmin.Y).Within(0.001f));
-                Assert.That(segmentVerts[v].vmin.Z, Is.EqualTo(VERTICES[i][v].vmin.Z).Within(0.001f));
-                Assert.That(segmentVerts[v].vmax.X, Is.EqualTo(VERTICES[i][v].vmax.X).Within(0.001f));
-                Assert.That(segmentVerts[v].vmax.Y, Is.EqualTo(VERTICES[i][v].vmax.Y).Within(0.001f));
-                Assert.That(segmentVerts[v].vmax.Z, Is.EqualTo(VERTICES[i][v].vmax.Z).Within(0.001f));
+                Assert.That(segs[v].vmin.X, Is.EqualTo(VERTICES[i][v].vmin.X).Within(0.001f));
+                Assert.That(segs[v].vmin.Y, Is.EqualTo(VERTICES[i][v].vmin.Y).Within(0.001f));
+                Assert.That(segs[v].vmin.Z, Is.EqualTo(VERTICES[i][v].vmin.Z).Within(0.001f));
+                Assert.That(segs[v].vmax.X, Is.EqualTo(VERTICES[i][v].vmax.X).Within(0.001f));
+                Assert.That(segs[v].vmax.Y, Is.EqualTo(VERTICES[i][v].vmax.Y).Within(0.001f));
+                Assert.That(segs[v].vmax.Z, Is.EqualTo(VERTICES[i][v].vmax.Z).Within(0.001f));
             }
 
             for (int v = 0; v < REFS[i].Length; v++)
             {
-                Assert.That(segmentRefs[v], Is.EqualTo(REFS[i][v]));
+                Assert.That(refs[v], Is.EqualTo(REFS[i][v]));
             }
         }
     }

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

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -23,7 +24,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test.Io;
 
-[Parallelizable]
+
 public class MeshDataReaderWriterTest
 {
     private const int VERTS_PER_POLYGON = 6;
@@ -32,8 +33,7 @@ public class MeshDataReaderWriterTest
     [SetUp]
     public void SetUp()
     {
-        RecastTestMeshBuilder rcBuilder = new RecastTestMeshBuilder();
-        meshData = rcBuilder.GetMeshData();
+        meshData = TestMeshDataFactory.Create();
     }
 
     [Test]
@@ -117,11 +117,8 @@ public class MeshDataReaderWriterTest
         for (int i = 0; i < meshData.header.bvNodeCount; i++)
         {
             Assert.That(readData.bvTree[i].i, Is.EqualTo(meshData.bvTree[i].i));
-            for (int j = 0; j < 3; j++)
-            {
-                Assert.That(readData.bvTree[i].bmin[j], Is.EqualTo(meshData.bvTree[i].bmin[j]));
-                Assert.That(readData.bvTree[i].bmax[j], Is.EqualTo(meshData.bvTree[i].bmax[j]));
-            }
+            Assert.That(readData.bvTree[i].bmin, Is.EqualTo(meshData.bvTree[i].bmin));
+            Assert.That(readData.bvTree[i].bmax, Is.EqualTo(meshData.bvTree[i].bmax));
         }
 
         for (int i = 0; i < meshData.header.offMeshConCount; i++)
@@ -131,7 +128,7 @@ public class MeshDataReaderWriterTest
             Assert.That(readData.offMeshCons[i].poly, Is.EqualTo(meshData.offMeshCons[i].poly));
             Assert.That(readData.offMeshCons[i].side, Is.EqualTo(meshData.offMeshCons[i].side));
             Assert.That(readData.offMeshCons[i].userId, Is.EqualTo(meshData.offMeshCons[i].userId));
-            for (int j = 0; j < 6; j++)
+            for (int j = 0; j < 2; j++)
             {
                 Assert.That(readData.offMeshCons[i].pos[j], Is.EqualTo(meshData.offMeshCons[i].pos[j]));
             }

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

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -24,7 +25,6 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test.Io;
 
-[Parallelizable]
 public class MeshSetReaderTest
 {
     private readonly DtMeshSetReader reader = new DtMeshSetReader();
@@ -32,27 +32,35 @@ public class MeshSetReaderTest
     [Test]
     public void TestNavmesh()
     {
-        byte[] @is = RcResources.Load("all_tiles_navmesh.bin");
+        byte[] @is = RcIO.ReadFileIfFound("all_tiles_navmesh.bin");
         using var ms = new MemoryStream(@is);
         using var br = new BinaryReader(ms);
         DtNavMesh mesh = reader.Read(br, 6);
         Assert.That(mesh.GetMaxTiles(), Is.EqualTo(128));
         Assert.That(mesh.GetParams().maxPolys, Is.EqualTo(0x8000));
         Assert.That(mesh.GetParams().tileWidth, Is.EqualTo(9.6f).Within(0.001f));
-        List<DtMeshTile> tiles = mesh.GetTilesAt(4, 7);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        const int MAX_NEIS = 32;
+        DtMeshTile[] tiles = new DtMeshTile[MAX_NEIS];
+        int nneis = 0;
+
+        nneis = mesh.GetTilesAt(4, 7, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(7));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(22 * 3));
-        tiles = mesh.GetTilesAt(1, 6);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        nneis = mesh.GetTilesAt(1, 6, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(7));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(26 * 3));
-        tiles = mesh.GetTilesAt(6, 2);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        nneis = mesh.GetTilesAt(6, 2, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(1));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(4 * 3));
-        tiles = mesh.GetTilesAt(7, 6);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        nneis = mesh.GetTilesAt(7, 6, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(8));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(24 * 3));
     }
@@ -60,7 +68,7 @@ public class MeshSetReaderTest
     [Test]
     public void TestDungeon()
     {
-        byte[] @is = RcResources.Load("dungeon_all_tiles_navmesh.bin");
+        byte[] @is = RcIO.ReadFileIfFound("dungeon_all_tiles_navmesh.bin");
         using var ms = new MemoryStream(@is);
         using var br = new BinaryReader(ms);
 
@@ -68,20 +76,28 @@ public class MeshSetReaderTest
         Assert.That(mesh.GetMaxTiles(), Is.EqualTo(128));
         Assert.That(mesh.GetParams().maxPolys, Is.EqualTo(0x8000));
         Assert.That(mesh.GetParams().tileWidth, Is.EqualTo(9.6f).Within(0.001f));
-        List<DtMeshTile> tiles = mesh.GetTilesAt(6, 9);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        const int MAX_NEIS = 32;
+        DtMeshTile[] tiles = new DtMeshTile[MAX_NEIS];
+        int nneis = 0;
+
+        nneis = mesh.GetTilesAt(6, 9, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(2));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(7 * 3));
-        tiles = mesh.GetTilesAt(2, 9);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        nneis = mesh.GetTilesAt(2, 9, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(2));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(9 * 3));
-        tiles = mesh.GetTilesAt(4, 3);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        nneis = mesh.GetTilesAt(4, 3, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(3));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(6 * 3));
-        tiles = mesh.GetTilesAt(2, 8);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        nneis = mesh.GetTilesAt(2, 8, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(5));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(17 * 3));
     }
@@ -89,7 +105,7 @@ public class MeshSetReaderTest
     [Test]
     public void TestDungeon32Bit()
     {
-        byte[] @is = RcResources.Load("dungeon_all_tiles_navmesh_32bit.bin");
+        byte[] @is = RcIO.ReadFileIfFound("dungeon_all_tiles_navmesh_32bit.bin");
         using var ms = new MemoryStream(@is);
         using var br = new BinaryReader(ms);
 
@@ -97,20 +113,28 @@ public class MeshSetReaderTest
         Assert.That(mesh.GetMaxTiles(), Is.EqualTo(128));
         Assert.That(mesh.GetParams().maxPolys, Is.EqualTo(0x8000));
         Assert.That(mesh.GetParams().tileWidth, Is.EqualTo(9.6f).Within(0.001f));
-        List<DtMeshTile> tiles = mesh.GetTilesAt(6, 9);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        const int MAX_NEIS = 32;
+        DtMeshTile[] tiles = new DtMeshTile[MAX_NEIS];
+        int nneis = 0;
+
+        nneis = mesh.GetTilesAt(6, 9, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(2));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(7 * 3));
-        tiles = mesh.GetTilesAt(2, 9);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        nneis = mesh.GetTilesAt(2, 9, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(2));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(9 * 3));
-        tiles = mesh.GetTilesAt(4, 3);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        nneis = mesh.GetTilesAt(4, 3, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(3));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(6 * 3));
-        tiles = mesh.GetTilesAt(2, 8);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        nneis = mesh.GetTilesAt(2, 8, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(5));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(17 * 3));
     }

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

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -28,7 +29,6 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test.Io;
 
-[Parallelizable]
 public class MeshSetReaderWriterTest
 {
     private readonly DtMeshSetWriter writer = new DtMeshSetWriter();
@@ -66,11 +66,12 @@ public class MeshSetReaderWriterTest
         header.option.maxTiles = m_maxTiles;
         header.option.maxPolys = m_maxPolysPerTile;
         header.numTiles = 0;
-        DtNavMesh mesh = new DtNavMesh(header.option, 6);
+        DtNavMesh mesh = new DtNavMesh();
+        mesh.Init(header.option, 6);
 
         RcVec3f bmin = geom.GetMeshBoundsMin();
         RcVec3f bmax = geom.GetMeshBoundsMax();
-        RcCommons.CalcTileCount(bmin, bmax, m_cellSize, m_tileSize, m_tileSize, out var tw, out var th);
+        RcRecast.CalcTileCount(bmin, bmax, m_cellSize, m_tileSize, m_tileSize, out var tw, out var th);
         for (int y = 0; y < th; ++y)
         {
             for (int x = 0; x < tw; ++x)
@@ -92,7 +93,7 @@ public class MeshSetReaderWriterTest
                 if (data != null)
                 {
                     mesh.RemoveTile(mesh.GetTileRefAt(x, y, 0));
-                    mesh.AddTile(data, 0, 0);
+                    mesh.AddTile(data, 0, 0, out _);
                 }
             }
         }
@@ -107,20 +108,28 @@ public class MeshSetReaderWriterTest
         Assert.That(mesh.GetMaxTiles(), Is.EqualTo(128));
         Assert.That(mesh.GetParams().maxPolys, Is.EqualTo(0x8000));
         Assert.That(mesh.GetParams().tileWidth, Is.EqualTo(9.6f).Within(0.001f));
-        List<DtMeshTile> tiles = mesh.GetTilesAt(6, 9);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        const int MAX_NEIS = 32;
+        DtMeshTile[] tiles = new DtMeshTile[MAX_NEIS];
+        int nneis = 0;
+
+        nneis = mesh.GetTilesAt(6, 9, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(2));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(7 * 3));
-        tiles = mesh.GetTilesAt(2, 9);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        nneis = mesh.GetTilesAt(2, 9, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(2));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(9 * 3));
-        tiles = mesh.GetTilesAt(4, 3);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        nneis = mesh.GetTilesAt(4, 3, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(3));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(6 * 3));
-        tiles = mesh.GetTilesAt(2, 8);
-        Assert.That(tiles.Count, Is.EqualTo(1));
+
+        nneis = mesh.GetTilesAt(2, 8, tiles, MAX_NEIS);
+        Assert.That(nneis, Is.EqualTo(1));
         Assert.That(tiles[0].data.polys.Length, Is.EqualTo(5));
         Assert.That(tiles[0].data.verts.Length, Is.EqualTo(17 * 3));
     }

test/DotRecast.Detour.Test/MoveAlongSurfaceTest.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -16,13 +17,13 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using System;
 using System.Collections.Generic;
 using DotRecast.Core.Numerics;
 using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-[Parallelizable]
 public class MoveAlongSurfaceTest : AbstractDetourTest
 {
     private static readonly long[][] VISITED =
@@ -69,20 +70,21 @@ public class MoveAlongSurfaceTest : AbstractDetourTest
     public void TestMoveAlongSurface()
     {
         IDtQueryFilter filter = new DtQueryDefaultFilter();
-        var visited = new List<long>();
+        const int MAX_VISITED = 32;
+        Span<long> visited = stackalloc long[MAX_VISITED];
         for (int i = 0; i < startRefs.Length; i++)
         {
             long startRef = startRefs[i];
             RcVec3f startPos = startPoss[i];
             RcVec3f endPos = endPoss[i];
-            var status = query.MoveAlongSurface(startRef, startPos, endPos, filter, out var result, ref visited);
+            var status = query.MoveAlongSurface(startRef, startPos, endPos, filter, out var result, visited, out var nvisited, MAX_VISITED);
             Assert.That(status.Succeeded(), Is.True);
 
             Assert.That(result.X, Is.EqualTo(POSITION[i].X).Within(0.01f));
             Assert.That(result.Y, Is.EqualTo(POSITION[i].Y).Within(0.01f));
             Assert.That(result.Z, Is.EqualTo(POSITION[i].Z).Within(0.01f));
 
-            Assert.That(visited.Count, Is.EqualTo(VISITED[i].Length));
+            Assert.That(nvisited, Is.EqualTo(VISITED[i].Length));
             for (int j = 0; j < 3; j++)
             {
                 Assert.That(visited[j], Is.EqualTo(VISITED[i][j]));

test/DotRecast.Detour.Test/NavMeshBuilderTest.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -16,11 +17,13 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using DotRecast.Core.Numerics;
 using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-[Parallelizable]
+using static DtDetour;
+
 public class NavMeshBuilderTest
 {
     private DtMeshData nmd;
@@ -28,7 +31,7 @@ public class NavMeshBuilderTest
     [SetUp]
     public void SetUp()
     {
-        nmd = new RecastTestMeshBuilder().GetMeshData();
+        nmd = TestMeshDataFactory.Create();
     }
 
     [Test]
@@ -49,14 +52,14 @@ public class NavMeshBuilderTest
             Assert.That(nmd.bvTree[i], Is.Not.Null);
         }
 
-        for (int i = 0; i < 6; i++)
+        for (int i = 0; i < 2; i++)
         {
-            Assert.That(nmd.verts[223 * 3 + i], Is.EqualTo(nmd.offMeshCons[0].pos[i]));
+            Assert.That(RcVec.Create(nmd.verts, 223 * 3 + (i * 3)), Is.EqualTo(nmd.offMeshCons[0].pos[i]));
         }
 
         Assert.That(nmd.offMeshCons[0].rad, Is.EqualTo(0.1f));
         Assert.That(nmd.offMeshCons[0].poly, Is.EqualTo(118));
-        Assert.That(nmd.offMeshCons[0].flags, Is.EqualTo(DtNavMesh.DT_OFFMESH_CON_BIDIR));
+        Assert.That(nmd.offMeshCons[0].flags, Is.EqualTo(DT_OFFMESH_CON_BIDIR));
         Assert.That(nmd.offMeshCons[0].side, Is.EqualTo(0xFF));
         Assert.That(nmd.offMeshCons[0].userId, Is.EqualTo(0x4567));
         Assert.That(nmd.polys[118].vertCount, Is.EqualTo(2));

test/DotRecast.Detour.Test/PolygonByCircleConstraintTest.cs

@@ -1,6 +1,6 @@
 /*
 recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -17,12 +17,13 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using System;
 using DotRecast.Core.Numerics;
 using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-[Parallelizable]
+
 public class PolygonByCircleConstraintTest
 {
     private readonly IDtPolygonByCircleConstraint _constraint = DtStrictDtPolygonByCircleConstraint.Shared;
@@ -32,9 +33,12 @@ public class PolygonByCircleConstraintTest
     {
         float[] polygon = { -2, 0, 2, 2, 0, 2, 2, 0, -2, -2, 0, -2 };
         RcVec3f center = new RcVec3f(1, 0, 1);
-        float[] constrained = _constraint.Apply(polygon, center, 6);
+        var radius = 6;
         
-        Assert.That(constrained, Is.EqualTo(polygon));
+        float[] buffer = new float[128];
+        Span<float> constrained = _constraint.Apply(polygon, center, radius, buffer);
+
+        Assert.That(constrained.ToArray(), Is.EquivalentTo(polygon));
     }
 
     [Test]
@@ -43,10 +47,13 @@ public class PolygonByCircleConstraintTest
         int expectedSize = 21;
         float[] polygon = { -2, 0, 2, 2, 0, 2, 2, 0, -2, -2, 0, -2 };
         RcVec3f center = new RcVec3f(2, 0, 0);
+        var radius = 3;
+
+        float[] buffer = new float[128];
+        Span<float> constrained = _constraint.Apply(polygon, center, radius, buffer);
 
-        float[] constrained = _constraint.Apply(polygon, center, 3);
         Assert.That(constrained.Length, Is.EqualTo(expectedSize));
-        Assert.That(constrained, Is.SupersetOf(new[] { 2f, 0f, 2f, 2f, 0f, -2f }));
+        Assert.That(constrained.ToArray(), Is.SupersetOf(new[] { 2f, 0f, 2f, 2f, 0f, -2f }));
     }
 
     [Test]
@@ -55,7 +62,10 @@ public class PolygonByCircleConstraintTest
         int expectedSize = 12 * 3;
         float[] polygon = { -4, 0, 0, -3, 0, 3, 2, 0, 3, 3, 0, -3, -2, 0, -4 };
         RcVec3f center = new RcVec3f(-1, 0, -1);
-        float[] constrained = _constraint.Apply(polygon, center, 2);
+        var radius = 2;
+        
+        float[] buffer = new float[128];
+        Span<float> constrained = _constraint.Apply(polygon, center, radius, buffer);
 
         Assert.That(constrained.Length, Is.EqualTo(expectedSize));
 
@@ -73,10 +83,13 @@ public class PolygonByCircleConstraintTest
         int expectedSize = 9 * 3;
         float[] polygon = { -4, 0, 0, -3, 0, 3, 2, 0, 3, 3, 0, -3, -2, 0, -4 };
         RcVec3f center = new RcVec3f(-2, 0, -1);
-        float[] constrained = _constraint.Apply(polygon, center, 3);
+        var radius = 3;
+        
+        float[] buffer = new float[128];
+        Span<float> constrained = _constraint.Apply(polygon, center, radius, buffer);
 
         Assert.That(constrained.Length, Is.EqualTo(expectedSize));
-        Assert.That(constrained, Is.SupersetOf(new[] { -2f, 0f, -4f, -4f, 0f, 0f, -3.4641016f, 0.0f, 1.60769534f, -2.0f, 0.0f, 2.0f }));
+        Assert.That(constrained.ToArray(), Is.SupersetOf(new[] { -2f, 0f, -4f, -4f, 0f, 0f, -3.4641016f, 0.0f, 1.60769534f, -2.0f, 0.0f, 2.0f }));
     }
 
     [Test]
@@ -85,9 +98,12 @@ public class PolygonByCircleConstraintTest
         int expectedSize = 7 * 3;
         float[] polygon = { -4, 0, 0, -3, 0, 3, 2, 0, 3, 3, 0, -3, -2, 0, -4 };
         RcVec3f center = new RcVec3f(4, 0, 0);
-        float[] constrained = _constraint.Apply(polygon, center, 4);
+        var radius = 4;
+        
+        float[] buffer = new float[128];
+        Span<float> constrained = _constraint.Apply(polygon, center, radius, buffer);
 
         Assert.That(constrained.Length, Is.EqualTo(expectedSize));
-        Assert.That(constrained, Is.SupersetOf(new[] { 1.53589869f, 0f, 3f, 2f, 0f, 3f, 3f, 0f, -3f }));
+        Assert.That(constrained.ToArray(), Is.SupersetOf(new[] { 1.53589869f, 0f, 3f, 2f, 0f, 3f, 3f, 0f, -3f }));
     }
 }

test/DotRecast.Detour.Test/RandomPointTest.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2021 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -19,21 +20,22 @@ freely, subject to the following restrictions:
 using System;
 using DotRecast.Core;
 using DotRecast.Core.Numerics;
-
 using NUnit.Framework;
 
 
 namespace DotRecast.Detour.Test;
 
-[Parallelizable]
 public class RandomPointTest : AbstractDetourTest
 {
     [Test]
+    [Repeat(10)]
     public void TestRandom()
     {
         RcRand f = new RcRand(1);
         IDtQueryFilter filter = new DtQueryDefaultFilter();
-        for (int i = 0; i < 1000; i++)
+
+        var begin = RcFrequency.Ticks;
+        for (int i = 0; i < 10000; i++)
         {
             var status = query.FindRandomPoint(filter, f, out var randomRef, out var randomPt);
             Assert.That(status.Succeeded(), Is.True);
@@ -55,6 +57,9 @@ public class RandomPointTest : AbstractDetourTest
             Assert.That(randomPt.Z >= bmin[1], Is.True);
             Assert.That(randomPt.Z <= bmax[1], Is.True);
         }
+
+        var ticks = RcFrequency.Ticks - begin;
+        Console.WriteLine($"RandomPointTest::TestRandom() - {(double)ticks / TimeSpan.TicksPerMillisecond} ms");
     }
 
     [Test]
@@ -103,7 +108,7 @@ public class RandomPointTest : AbstractDetourTest
             var status = query.FindRandomPointWithinCircle(randomRef, randomPt, radius, filter, f, out var nextRandomRef, out var nextRandomPt);
             Assert.That(status.Failed(), Is.False);
 
-            float distance = RcVecUtils.Dist2D(randomPt, nextRandomPt);
+            float distance = RcVec.Dist2D(randomPt, nextRandomPt);
             Assert.That(distance <= radius, Is.True);
 
             randomRef = nextRandomRef;

test/DotRecast.Detour.Test/SampleAreaModifications.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

test/DotRecast.Detour.Test/TestDetourBuilder.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -27,8 +28,8 @@ public class TestDetourBuilder : DetourBuilder
         float agentMaxClimb, int x, int y, bool applyRecastDemoFlags)
     {
         RcBuilder rcBuilder = new RcBuilder();
-        RcBuilderResult rcResult = rcBuilder.Build(geom, rcConfig);
-        RcPolyMesh pmesh = rcResult.GetMesh();
+        RcBuilderResult rcResult = rcBuilder.Build(geom, rcConfig, false);
+        RcPolyMesh pmesh = rcResult.Mesh;
 
         if (applyRecastDemoFlags)
         {
@@ -58,7 +59,7 @@ public class TestDetourBuilder : DetourBuilder
             }
         }
 
-        RcPolyMeshDetail dmesh = rcResult.GetMeshDetail();
+        RcPolyMeshDetail dmesh = rcResult.MeshDetail;
         DtNavMeshCreateParams option = GetNavMeshCreateParams(rcConfig.cfg, pmesh, dmesh, agentHeight, agentRadius,
             agentMaxClimb);
         return Build(option, x, y);

test/DotRecast.Detour.Test/TestMeshDataFactory.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -16,15 +17,13 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-using DotRecast.Core.Numerics;
 using DotRecast.Recast;
 using DotRecast.Recast.Geom;
 
 namespace DotRecast.Detour.Test;
 
-public class RecastTestMeshBuilder
+public static class TestMeshDataFactory
 {
-    private readonly DtMeshData meshData;
     private const float m_cellSize = 0.3f;
     private const float m_cellHeight = 0.2f;
     private const float m_agentHeight = 2.0f;
@@ -39,27 +38,24 @@ public class RecastTestMeshBuilder
     private const float m_detailSampleDist = 6.0f;
     private const float m_detailSampleMaxError = 1.0f;
 
-    public RecastTestMeshBuilder()
-        : this(SimpleInputGeomProvider.LoadFile("dungeon.obj"),
-            RcPartition.WATERSHED,
-            m_cellSize, m_cellHeight,
-            m_agentMaxSlope, m_agentHeight, m_agentRadius, m_agentMaxClimb,
-            m_regionMinSize, m_regionMergeSize,
-            m_edgeMaxLen, m_edgeMaxError,
-            m_vertsPerPoly,
-            m_detailSampleDist, m_detailSampleMaxError)
+    public static DtMeshData Create()
     {
-    }
+        IInputGeomProvider geom = SimpleInputGeomProvider.LoadFile("dungeon.obj");
+        RcPartition partition = RcPartition.WATERSHED;
+        float cellSize = m_cellSize;
+        float cellHeight = m_cellHeight;
+        float agentMaxSlope = m_agentMaxSlope;
+        float agentHeight = m_agentHeight;
+        float agentRadius = m_agentRadius;
+        float agentMaxClimb = m_agentMaxClimb;
+        int regionMinSize = m_regionMinSize;
+        int regionMergeSize = m_regionMergeSize;
+        float edgeMaxLen = m_edgeMaxLen;
+        float edgeMaxError = m_edgeMaxError;
+        int vertsPerPoly = m_vertsPerPoly;
+        float detailSampleDist = m_detailSampleDist;
+        float detailSampleMaxError = m_detailSampleMaxError;
 
-    public RecastTestMeshBuilder(IInputGeomProvider geom,
-        RcPartition partition,
-        float cellSize, float cellHeight,
-        float agentMaxSlope, float agentHeight, float agentRadius, float agentMaxClimb,
-        int regionMinSize, int regionMergeSize,
-        float edgeMaxLen, float edgeMaxError,
-        int vertsPerPoly,
-        float detailSampleDist, float detailSampleMaxError)
-    {
         RcConfig cfg = new RcConfig(
             partition,
             cellSize, cellHeight,
@@ -72,32 +68,32 @@ public class RecastTestMeshBuilder
             SampleAreaModifications.SAMPLE_AREAMOD_GROUND, true);
         RcBuilderConfig bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax());
         RcBuilder rcBuilder = new RcBuilder();
-        RcBuilderResult rcResult = rcBuilder.Build(geom, bcfg);
-        RcPolyMesh m_pmesh = rcResult.GetMesh();
-        for (int i = 0; i < m_pmesh.npolys; ++i)
+        RcBuilderResult rcResult = rcBuilder.Build(geom, bcfg, false);
+        RcPolyMesh pmesh = rcResult.Mesh;
+        for (int i = 0; i < pmesh.npolys; ++i)
         {
-            m_pmesh.flags[i] = 1;
+            pmesh.flags[i] = 1;
         }
 
-        RcPolyMeshDetail m_dmesh = rcResult.GetMeshDetail();
+        RcPolyMeshDetail dmesh = rcResult.MeshDetail;
         DtNavMeshCreateParams option = new DtNavMeshCreateParams();
-        option.verts = m_pmesh.verts;
-        option.vertCount = m_pmesh.nverts;
-        option.polys = m_pmesh.polys;
-        option.polyAreas = m_pmesh.areas;
-        option.polyFlags = m_pmesh.flags;
-        option.polyCount = m_pmesh.npolys;
-        option.nvp = m_pmesh.nvp;
-        option.detailMeshes = m_dmesh.meshes;
-        option.detailVerts = m_dmesh.verts;
-        option.detailVertsCount = m_dmesh.nverts;
-        option.detailTris = m_dmesh.tris;
-        option.detailTriCount = m_dmesh.ntris;
+        option.verts = pmesh.verts;
+        option.vertCount = pmesh.nverts;
+        option.polys = pmesh.polys;
+        option.polyAreas = pmesh.areas;
+        option.polyFlags = pmesh.flags;
+        option.polyCount = pmesh.npolys;
+        option.nvp = pmesh.nvp;
+        option.detailMeshes = dmesh.meshes;
+        option.detailVerts = dmesh.verts;
+        option.detailVertsCount = dmesh.nverts;
+        option.detailTris = dmesh.tris;
+        option.detailTriCount = dmesh.ntris;
         option.walkableHeight = agentHeight;
         option.walkableRadius = agentRadius;
         option.walkableClimb = agentMaxClimb;
-        option.bmin = m_pmesh.bmin;
-        option.bmax = m_pmesh.bmax;
+        option.bmin = pmesh.bmin;
+        option.bmax = pmesh.bmax;
         option.cs = cellSize;
         option.ch = cellHeight;
         option.buildBvTree = true;
@@ -120,11 +116,8 @@ public class RecastTestMeshBuilder
         option.offMeshConUserID = new int[1];
         option.offMeshConUserID[0] = 0x4567;
         option.offMeshConCount = 1;
-        meshData = DtNavMeshBuilder.CreateNavMeshData(option);
-    }
+        var meshData = DtNavMeshBuilder.CreateNavMeshData(option);
 
-    public DtMeshData GetMeshData()
-    {
         return meshData;
     }
 }

test/DotRecast.Detour.Test/TestTiledNavMeshBuilder.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -17,7 +18,6 @@ freely, subject to the following restrictions:
 */
 
 using System.Collections.Generic;
-using DotRecast.Core.Numerics;
 using DotRecast.Recast;
 using DotRecast.Recast.Geom;
 
@@ -64,7 +64,8 @@ public class TestTiledNavMeshBuilder
         navMeshParams.tileHeight = tileSize * cellSize;
         navMeshParams.maxTiles = 128;
         navMeshParams.maxPolys = 32768;
-        navMesh = new DtNavMesh(navMeshParams, 6);
+        navMesh = new DtNavMesh();
+        navMesh.Init(navMeshParams, 6);
 
         // Build all tiles
         RcConfig cfg = new RcConfig(true, tileSize, tileSize, RcConfig.CalcBorder(agentRadius, cellSize),
@@ -78,13 +79,13 @@ public class TestTiledNavMeshBuilder
             true, true, true,
             SampleAreaModifications.SAMPLE_AREAMOD_GROUND, true);
         RcBuilder rcBuilder = new RcBuilder();
-        List<RcBuilderResult> rcResult = rcBuilder.BuildTiles(geom, cfg, null);
+        List<RcBuilderResult> rcResult = rcBuilder.BuildTiles(geom, cfg, false, true);
 
         // Add tiles to nav mesh
 
         foreach (RcBuilderResult result in rcResult)
         {
-            RcPolyMesh pmesh = result.GetMesh();
+            RcPolyMesh pmesh = result.Mesh;
             if (pmesh.npolys == 0)
             {
                 continue;
@@ -103,7 +104,7 @@ public class TestTiledNavMeshBuilder
             option.polyFlags = pmesh.flags;
             option.polyCount = pmesh.npolys;
             option.nvp = pmesh.nvp;
-            RcPolyMeshDetail dmesh = result.GetMeshDetail();
+            RcPolyMeshDetail dmesh = result.MeshDetail;
             option.detailMeshes = dmesh.meshes;
             option.detailVerts = dmesh.verts;
             option.detailVertsCount = dmesh.nverts;
@@ -116,10 +117,10 @@ public class TestTiledNavMeshBuilder
             option.bmax = pmesh.bmax;
             option.cs = cellSize;
             option.ch = cellHeight;
-            option.tileX = result.tileX;
-            option.tileZ = result.tileZ;
+            option.tileX = result.TileX;
+            option.tileZ = result.TileZ;
             option.buildBvTree = true;
-            navMesh.AddTile(DtNavMeshBuilder.CreateNavMeshData(option), 0, 0);
+            navMesh.AddTile(Detour.DtNavMeshBuilder.CreateNavMeshData(option), 0, 0, out _);
         }
     }
 

test/DotRecast.Detour.Test/TiledFindPathTest.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -23,10 +24,10 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
-[Parallelizable]
+
 public class TiledFindPathTest
 {
-    private static readonly DtStatus[] STATUSES = { DtStatus.DT_SUCCSESS };
+    private static readonly DtStatus[] STATUSES = { DtStatus.DT_SUCCESS };
 
     private static readonly long[][] RESULTS =
     {

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -27,7 +27,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.TileCache.Test;
 
-[Parallelizable]
+
 public class AbstractTileCacheTest
 {
     private const int EXPECTED_LAYERS_PER_TILE = 4;
@@ -44,7 +44,7 @@ public class AbstractTileCacheTest
     public DtTileCache GetTileCache(IInputGeomProvider geom, RcByteOrder order, bool cCompatibility)
     {
         DtTileCacheParams option = new DtTileCacheParams();
-        RcCommons.CalcTileCount(geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), m_cellSize, m_tileSize, m_tileSize, out var tw, out var th);
+        RcRecast.CalcTileCount(geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), m_cellSize, m_tileSize, m_tileSize, out var tw, out var th);
         option.ch = m_cellHeight;
         option.cs = m_cellSize;
         option.orig = geom.GetMeshBoundsMin();
@@ -64,7 +64,8 @@ public class AbstractTileCacheTest
         navMeshParams.maxTiles = 256;
         navMeshParams.maxPolys = 16384;
 
-        var navMesh = new DtNavMesh(navMeshParams, 6);
+        var navMesh = new DtNavMesh();
+        navMesh.Init(navMeshParams, 6);
         var comp = DtTileCacheCompressorFactory.Shared.Create(cCompatibility ? 0 : 1);
         var storageParams = new DtTileCacheStorageParams(order, cCompatibility);
         var process = new TestTileCacheMeshProcess();

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

@@ -1,25 +1,25 @@
 <Project Sdk="Microsoft.NET.Sdk">
 
     <PropertyGroup>
-        <TargetFrameworks>net6.0;net7.0</TargetFrameworks>
+        <TargetFrameworks>net6.0;net7.0;net8.0</TargetFrameworks>
         <IsPackable>false</IsPackable>
         <IsTestProject>true</IsTestProject>
     </PropertyGroup>
 
     <ItemGroup>
-        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.7.2" />
-        <PackageReference Include="Moq" Version="4.20.69" />
-        <PackageReference Include="NUnit" Version="3.13.3"/>
-        <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
-        <PackageReference Include="NUnit.Analyzers" Version="3.9.0">
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.1" />
+        <PackageReference Include="Moq" Version="4.20.72" />
+        <PackageReference Include="NUnit" Version="4.2.2" />
+        <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
+        <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>
-        <PackageReference Include="coverlet.collector" Version="6.0.0">
+        <PackageReference Include="coverlet.collector" Version="6.0.2">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>
-        <PackageReference Include="K4os.Compression.LZ4" Version="1.3.6" />
+        <PackageReference Include="K4os.Compression.LZ4" Version="1.3.8" />
     </ItemGroup>
 
     <ItemGroup>

test/DotRecast.Detour.TileCache.Test/Io/DtTileCacheLZ4ForTestCompressor.cs

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -27,7 +27,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.TileCache.Test.Io;
 
-[Parallelizable]
+
 public class TileCacheReaderTest
 {
     private readonly DtTileCacheReader reader = new DtTileCacheReader(DtTileCacheCompressorFactory.Shared);
@@ -35,7 +35,7 @@ public class TileCacheReaderTest
     [Test]
     public void TestNavmesh()
     {
-        using var ms = new MemoryStream(RcResources.Load("all_tiles_tilecache.bin"));
+        using var ms = new MemoryStream(RcIO.ReadFileIfFound("all_tiles_tilecache.bin"));
         using var br = new BinaryReader(ms);
         DtTileCache tc = reader.Read(br, 6, null);
         Assert.That(tc.GetNavMesh().GetMaxTiles(), Is.EqualTo(256));
@@ -133,7 +133,7 @@ public class TileCacheReaderTest
     [Test]
     public void TestDungeon()
     {
-        using var ms = new MemoryStream(RcResources.Load("dungeon_all_tiles_tilecache.bin"));
+        using var ms = new MemoryStream(RcIO.ReadFileIfFound("dungeon_all_tiles_tilecache.bin"));
         using var br = new BinaryReader(ms);
         DtTileCache tc = reader.Read(br, 6, null);
         Assert.That(tc.GetNavMesh().GetMaxTiles(), Is.EqualTo(256));

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -28,7 +28,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.TileCache.Test.Io;
 
-[Parallelizable]
+
 public class TileCacheReaderWriterTest : AbstractTileCacheTest
 {
     private readonly DtTileCacheReader reader = new DtTileCacheReader(DtTileCacheCompressorFactory.Shared);

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -26,7 +26,6 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.TileCache.Test;
 
-[Parallelizable]
 public class TempObstaclesTest : AbstractTileCacheTest
 {
     [Test]
@@ -43,21 +42,29 @@ public class TempObstaclesTest : AbstractTileCacheTest
             tc.BuildNavMeshTile(refs);
         }
 
-        List<DtMeshTile> tiles = tc.GetNavMesh().GetTilesAt(1, 4);
+        const int MAX_NEIS = 32;
+        DtMeshTile[] tiles = new DtMeshTile[MAX_NEIS];
+        int nneis = 0;
+
+        nneis = tc.GetNavMesh().GetTilesAt(1, 4, tiles, MAX_NEIS);
         DtMeshTile tile = tiles[0];
         Assert.That(tile.data.header.vertCount, Is.EqualTo(16));
         Assert.That(tile.data.header.polyCount, Is.EqualTo(6));
+
         long o = tc.AddObstacle(new RcVec3f(-1.815208f, 9.998184f, -20.307983f), 1f, 2f);
         bool upToDate = tc.Update();
         Assert.That(upToDate, Is.True);
-        tiles = tc.GetNavMesh().GetTilesAt(1, 4);
+
+        nneis = tc.GetNavMesh().GetTilesAt(1, 4, tiles, MAX_NEIS);
         tile = tiles[0];
         Assert.That(tile.data.header.vertCount, Is.EqualTo(22));
         Assert.That(tile.data.header.polyCount, Is.EqualTo(11));
+
         tc.RemoveObstacle(o);
         upToDate = tc.Update();
         Assert.That(upToDate, Is.True);
-        tiles = tc.GetNavMesh().GetTilesAt(1, 4);
+
+        nneis = tc.GetNavMesh().GetTilesAt(1, 4, tiles, MAX_NEIS);
         tile = tiles[0];
         Assert.That(tile.data.header.vertCount, Is.EqualTo(16));
         Assert.That(tile.data.header.polyCount, Is.EqualTo(6));
@@ -77,24 +84,32 @@ public class TempObstaclesTest : AbstractTileCacheTest
             tc.BuildNavMeshTile(refs);
         }
 
-        List<DtMeshTile> tiles = tc.GetNavMesh().GetTilesAt(1, 4);
+        const int MAX_NEIS = 32;
+        DtMeshTile[] tiles = new DtMeshTile[MAX_NEIS];
+        int nneis = 0;
+
+        nneis = tc.GetNavMesh().GetTilesAt(1, 4, tiles, MAX_NEIS);
         DtMeshTile tile = tiles[0];
         Assert.That(tile.data.header.vertCount, Is.EqualTo(16));
         Assert.That(tile.data.header.polyCount, Is.EqualTo(6));
+
         long o = tc.AddBoxObstacle(
             new RcVec3f(-2.315208f, 9.998184f, -20.807983f),
             new RcVec3f(-1.315208f, 11.998184f, -19.807983f)
         );
         bool upToDate = tc.Update();
         Assert.That(upToDate, Is.True);
-        tiles = tc.GetNavMesh().GetTilesAt(1, 4);
+
+        nneis = tc.GetNavMesh().GetTilesAt(1, 4, tiles, MAX_NEIS);
         tile = tiles[0];
         Assert.That(tile.data.header.vertCount, Is.EqualTo(22));
         Assert.That(tile.data.header.polyCount, Is.EqualTo(11));
+
         tc.RemoveObstacle(o);
         upToDate = tc.Update();
         Assert.That(upToDate, Is.True);
-        tiles = tc.GetNavMesh().GetTilesAt(1, 4);
+
+        nneis = tc.GetNavMesh().GetTilesAt(1, 4, tiles, MAX_NEIS);
         tile = tiles[0];
         Assert.That(tile.data.header.vertCount, Is.EqualTo(16));
         Assert.That(tile.data.header.polyCount, Is.EqualTo(6));

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

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

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -73,7 +73,7 @@ public class TestTileLayerBuilder : DtTileCacheLayerBuilder
 
         RcVec3f bmin = geom.GetMeshBoundsMin();
         RcVec3f bmax = geom.GetMeshBoundsMax();
-        RcCommons.CalcTileCount(bmin, bmax, CellSize, m_tileSize, m_tileSize, out tw, out th);
+        RcRecast.CalcTileCount(bmin, bmax, CellSize, m_tileSize, m_tileSize, out tw, out th);
     }
 
     public List<byte[]> Build(RcByteOrder order, bool cCompatibility, int threads)

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -18,6 +18,7 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using System;
 using System.Collections.Generic;
 using System.IO;
 using DotRecast.Core;
@@ -29,7 +30,6 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.TileCache.Test;
 
-[Parallelizable]
 public class TileCacheFindPathTest : AbstractTileCacheTest
 {
     private readonly RcVec3f start = new RcVec3f(39.44734f, 9.998177f, -0.784811f);
@@ -39,7 +39,7 @@ public class TileCacheFindPathTest : AbstractTileCacheTest
 
     public TileCacheFindPathTest()
     {
-        using var msr = new MemoryStream(RcResources.Load("dungeon_all_tiles_tilecache.bin"));
+        using var msr = new MemoryStream(RcIO.ReadFileIfFound("dungeon_all_tiles_tilecache.bin"));
         using var br = new BinaryReader(msr);
         DtTileCache tcC = new DtTileCacheReader(DtTileCacheCompressorFactory.Shared).Read(br, 6, new TestTileCacheMeshProcess());
         navmesh = tcC.GetNavMesh();
@@ -56,11 +56,11 @@ public class TileCacheFindPathTest : AbstractTileCacheTest
 
         var path = new List<long>();
         var status = query.FindPath(startRef, endRef, startPos, endPos, filter, ref path, DtFindPathOption.NoOption);
-        int maxStraightPath = 256;
+        const int maxStraightPath = 256;
         int options = 0;
 
-        var pathStr = new List<DtStraightPath>();
-        query.FindStraightPath(startPos, endPos, path, ref pathStr, maxStraightPath, options);
-        Assert.That(pathStr.Count, Is.EqualTo(8));
+        Span<DtStraightPath> pathStr = stackalloc DtStraightPath[maxStraightPath];
+        query.FindStraightPath(startPos, endPos, path, path.Count, pathStr, out var npathStr, maxStraightPath, options);
+        Assert.That(npathStr, Is.EqualTo(8));
     }
 }

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -26,14 +26,14 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.TileCache.Test;
 
-[Parallelizable]
+
 public class TileCacheNavigationTest : AbstractTileCacheTest
 {
     protected readonly long[] startRefs = { 281475006070787L };
     protected readonly long[] endRefs = { 281474986147841L };
     protected readonly RcVec3f[] startPoss = { new RcVec3f(39.447338f, 9.998177f, -0.784811f) };
     protected readonly RcVec3f[] endPoss = { new RcVec3f(19.292645f, 11.611748f, -57.750366f) };
-    private readonly DtStatus[] statuses = { DtStatus.DT_SUCCSESS };
+    private readonly DtStatus[] statuses = { DtStatus.DT_SUCCESS };
 
     private readonly long[][] results =
     {

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

@@ -1,7 +1,7 @@
 /*
 Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
 recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -26,7 +26,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.TileCache.Test;
 
-[Parallelizable]
+
 public class TileCacheTest : AbstractTileCacheTest
 {
     [Test]

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

@@ -1,21 +1,21 @@
 <Project Sdk="Microsoft.NET.Sdk">
 
     <PropertyGroup>
-        <TargetFrameworks>net6.0;net7.0</TargetFrameworks>
+        <TargetFrameworks>net6.0;net7.0;net8.0</TargetFrameworks>
         <IsPackable>false</IsPackable>
         <IsTestProject>true</IsTestProject>
     </PropertyGroup>
 
     <ItemGroup>
-        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.7.2" />
-        <PackageReference Include="Moq" Version="4.20.69" />
-        <PackageReference Include="NUnit" Version="3.13.3"/>
-        <PackageReference Include="NUnit3TestAdapter" Version="4.5.0"/>
-        <PackageReference Include="NUnit.Analyzers" Version="3.9.0">
+        <PackageReference Include="Microsoft.NET.Test.Sdk" Version="17.11.1" />
+        <PackageReference Include="Moq" Version="4.20.72" />
+        <PackageReference Include="NUnit" Version="4.2.2" />
+        <PackageReference Include="NUnit3TestAdapter" Version="4.6.0" />
+        <PackageReference Include="NUnit.Analyzers" Version="4.3.0">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>
-        <PackageReference Include="coverlet.collector" Version="6.0.0">
+        <PackageReference Include="coverlet.collector" Version="6.0.2">
             <PrivateAssets>all</PrivateAssets>
             <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>

test/DotRecast.Recast.Test/RecastLayersTest.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -24,9 +25,6 @@ using NUnit.Framework;
 
 namespace DotRecast.Recast.Test;
 
-using static RcConstants;
-
-[Parallelizable]
 public class RecastLayersTest
 {
     private const float m_cellSize = 0.3f;

test/DotRecast.Recast.Test/RecastSoloMeshTest.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -25,10 +26,9 @@ using NUnit.Framework;
 
 namespace DotRecast.Recast.Test;
 
-using static RcConstants;
+using static RcRecast;
 using static RcAreas;
 
-[Parallelizable]
 public class RecastSoloMeshTest
 {
     private const float m_cellSize = 0.3f;
@@ -101,7 +101,7 @@ public class RecastSoloMeshTest
         long time = RcFrequency.Ticks;
         RcVec3f bmin = geomProvider.GetMeshBoundsMin();
         RcVec3f bmax = geomProvider.GetMeshBoundsMax();
-        RcTelemetry m_ctx = new RcTelemetry();
+        RcContext m_ctx = new RcContext();
         //
         // Step 1. Initialize build config.
         //
@@ -139,8 +139,8 @@ public class RecastSoloMeshTest
             // Find triangles which are walkable based on their slope and rasterize them.
             // If your input data is multiple meshes, you can transform them here, calculate
             // the are type for each of the meshes and rasterize them.
-            int[] m_triareas = RcCommons.MarkWalkableTriangles(m_ctx, cfg.WalkableSlopeAngle, verts, tris, ntris, cfg.WalkableAreaMod);
-            RcRasterizations.RasterizeTriangles(m_solid, verts, tris, m_triareas, ntris, cfg.WalkableClimb, m_ctx);
+            int[] m_triareas = RcRecast.MarkWalkableTriangles(m_ctx, cfg.WalkableSlopeAngle, verts, tris, ntris, cfg.WalkableAreaMod);
+            RcRasterizations.RasterizeTriangles(m_ctx, verts, tris, m_triareas, ntris, m_solid, cfg.WalkableClimb);
         }
 
         //
@@ -217,10 +217,20 @@ public class RecastSoloMeshTest
             // Prepare for region partitioning, by calculating distance field
             // along the walkable surface.
             RcRegions.BuildDistanceField(m_ctx, m_chf);
-        }
-
             // Partition the walkable surface into simple regions without holes.
-        RcRegions.BuildRegions(m_ctx, m_chf, cfg.MinRegionArea, cfg.MergeRegionArea, RcPartitionType.OfValue(cfg.Partition));
+            RcRegions.BuildRegions(m_ctx, m_chf, cfg.MinRegionArea, cfg.MergeRegionArea);
+        }
+        else if (m_partitionType == RcPartition.MONOTONE)
+        {
+            // Partition the walkable surface into simple regions without holes.
+            // Monotone partitioning does not need distancefield.
+            RcRegions.BuildRegionsMonotone(m_ctx, m_chf, cfg.MinRegionArea, cfg.MergeRegionArea);
+        }
+        else
+        {
+            // Partition the walkable surface into simple regions without holes.
+            RcRegions.BuildLayerRegions(m_ctx, m_chf, cfg.MinRegionArea);
+        }
 
         Assert.That(m_chf.maxDistance, Is.EqualTo(expDistance), "maxDistance");
         Assert.That(m_chf.maxRegions, Is.EqualTo(expRegions), "Regions");

test/DotRecast.Recast.Test/RecastTest.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -21,9 +22,8 @@ using DotRecast.Core;
 
 namespace DotRecast.Recast.Test;
 
-using static RcConstants;
+using static RcRecast;
 
-[Parallelizable]
 public class RecastTest
 {
     [Test]
@@ -36,21 +36,21 @@ public class RecastTest
         int[] unwalkable_tri = { 0, 2, 1 };
         int nt = 1;
 
-        RcTelemetry ctx = new RcTelemetry();
+        RcContext ctx = new RcContext();
         {
             int[] areas = { 42 };
-            RcCommons.ClearUnwalkableTriangles(ctx, walkableSlopeAngle, verts, nv, unwalkable_tri, nt, areas);
+            RcRecast.ClearUnwalkableTriangles(ctx, walkableSlopeAngle, verts, nv, unwalkable_tri, nt, areas);
             Assert.That(areas[0], Is.EqualTo(RC_NULL_AREA), "Sets area ID of unwalkable triangle to RC_NULL_AREA");
         }
         {
             int[] areas = { 42 };
-            RcCommons.ClearUnwalkableTriangles(ctx, walkableSlopeAngle, verts, nv, walkable_tri, nt, areas);
+            RcRecast.ClearUnwalkableTriangles(ctx, walkableSlopeAngle, verts, nv, walkable_tri, nt, areas);
             Assert.That(areas[0], Is.EqualTo(42), "Does not modify walkable triangle aread ID's");
         }
         {
             int[] areas = { 42 };
             walkableSlopeAngle = 0;
-            RcCommons.ClearUnwalkableTriangles(ctx, walkableSlopeAngle, verts, nv, walkable_tri, nt, areas);
+            RcRecast.ClearUnwalkableTriangles(ctx, walkableSlopeAngle, verts, nv, walkable_tri, nt, areas);
             Assert.That(areas[0], Is.EqualTo(RC_NULL_AREA), "Slopes equal to the max slope are considered unwalkable.");
         }
     }

test/DotRecast.Recast.Test/RecastTileMeshTest.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages
@@ -27,7 +28,6 @@ using NUnit.Framework;
 
 namespace DotRecast.Recast.Test;
 
-[Parallelizable]
 public class RecastTileMeshTest
 {
     private const float m_cellSize = 0.3f;
@@ -70,29 +70,29 @@ public class RecastTileMeshTest
             true, true, true,
             SampleAreaModifications.SAMPLE_AREAMOD_GROUND, true);
         RcBuilderConfig bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), 7, 8);
-        RcBuilderResult rcResult = builder.Build(geom, bcfg);
-        Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(1));
-        Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(5));
+        RcBuilderResult rcResult = builder.Build(geom, bcfg, false);
+        Assert.That(rcResult.Mesh.npolys, Is.EqualTo(1));
+        Assert.That(rcResult.Mesh.nverts, Is.EqualTo(5));
         bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), 6, 9);
-        rcResult = builder.Build(geom, bcfg);
-        Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(2));
-        Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(7));
+        rcResult = builder.Build(geom, bcfg, false);
+        Assert.That(rcResult.Mesh.npolys, Is.EqualTo(2));
+        Assert.That(rcResult.Mesh.nverts, Is.EqualTo(7));
         bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), 2, 9);
-        rcResult = builder.Build(geom, bcfg);
-        Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(2));
-        Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(9));
+        rcResult = builder.Build(geom, bcfg, false);
+        Assert.That(rcResult.Mesh.npolys, Is.EqualTo(2));
+        Assert.That(rcResult.Mesh.nverts, Is.EqualTo(9));
         bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), 4, 3);
-        rcResult = builder.Build(geom, bcfg);
-        Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(3));
-        Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(6));
+        rcResult = builder.Build(geom, bcfg, false);
+        Assert.That(rcResult.Mesh.npolys, Is.EqualTo(3));
+        Assert.That(rcResult.Mesh.nverts, Is.EqualTo(6));
         bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), 2, 8);
-        rcResult = builder.Build(geom, bcfg);
-        Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(5));
-        Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(17));
+        rcResult = builder.Build(geom, bcfg, false);
+        Assert.That(rcResult.Mesh.npolys, Is.EqualTo(5));
+        Assert.That(rcResult.Mesh.nverts, Is.EqualTo(17));
         bcfg = new RcBuilderConfig(cfg, geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), 0, 8);
-        rcResult = builder.Build(geom, bcfg);
-        Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(6));
-        Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(15));
+        rcResult = builder.Build(geom, bcfg, false);
+        Assert.That(rcResult.Mesh.npolys, Is.EqualTo(6));
+        Assert.That(rcResult.Mesh.nverts, Is.EqualTo(15));
     }
 
     [Test]
@@ -138,28 +138,27 @@ public class RecastTileMeshTest
     private void Build(IInputGeomProvider geom, RcBuilder builder, RcConfig cfg, int threads, bool validate)
     {
         CancellationTokenSource cts = new CancellationTokenSource();
-        List<RcBuilderResult> tiles = new();
-        var task = builder.BuildTilesAsync(geom, cfg, threads, tiles, Task.Factory, cts.Token);
+        List<RcBuilderResult> tiles = builder.BuildTiles(geom, cfg, false, true, threads, Task.Factory, cts.Token);
         if (validate)
         {
             RcBuilderResult rcResult = GetTile(tiles, 7, 8);
-            Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(1));
-            Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(5));
+            Assert.That(rcResult.Mesh.npolys, Is.EqualTo(1));
+            Assert.That(rcResult.Mesh.nverts, Is.EqualTo(5));
             rcResult = GetTile(tiles, 6, 9);
-            Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(2));
-            Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(7));
+            Assert.That(rcResult.Mesh.npolys, Is.EqualTo(2));
+            Assert.That(rcResult.Mesh.nverts, Is.EqualTo(7));
             rcResult = GetTile(tiles, 2, 9);
-            Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(2));
-            Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(9));
+            Assert.That(rcResult.Mesh.npolys, Is.EqualTo(2));
+            Assert.That(rcResult.Mesh.nverts, Is.EqualTo(9));
             rcResult = GetTile(tiles, 4, 3);
-            Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(3));
-            Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(6));
+            Assert.That(rcResult.Mesh.npolys, Is.EqualTo(3));
+            Assert.That(rcResult.Mesh.nverts, Is.EqualTo(6));
             rcResult = GetTile(tiles, 2, 8);
-            Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(5));
-            Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(17));
+            Assert.That(rcResult.Mesh.npolys, Is.EqualTo(5));
+            Assert.That(rcResult.Mesh.nverts, Is.EqualTo(17));
             rcResult = GetTile(tiles, 0, 8);
-            Assert.That(rcResult.GetMesh().npolys, Is.EqualTo(6));
-            Assert.That(rcResult.GetMesh().nverts, Is.EqualTo(15));
+            Assert.That(rcResult.Mesh.npolys, Is.EqualTo(6));
+            Assert.That(rcResult.Mesh.nverts, Is.EqualTo(15));
         }
 
         try
@@ -175,6 +174,6 @@ public class RecastTileMeshTest
 
     private RcBuilderResult GetTile(List<RcBuilderResult> tiles, int x, int z)
     {
-        return tiles.FirstOrDefault(tile => tile.tileX == x && tile.tileZ == z);
+        return tiles.FirstOrDefault(tile => tile.TileX == x && tile.TileZ == z);
     }
 }

test/DotRecast.Recast.Test/SampleAreaModifications.cs

@@ -1,5 +1,6 @@
 /*
 recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
+DotRecast Copyright (c) 2023-2024 Choi Ikpil ikpil@naver.com
 
 This software is provided 'as-is', without any express or implied
 warranty.  In no event will the authors be held liable for any damages

tool/DotRecast.Tool.PublishToUniRecast/CsProj.cs

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

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

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

tool/DotRecast.Tool.PublishToUniRecast/Program.cs

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