Increase max query filter types count

src/DotRecast.Detour.Crowd/DtCrowd.cs

@@ -425,11 +425,13 @@ namespace DotRecast.Detour.Crowd
             // Optimize path topology.
             UpdateTopologyOptimization(agents, dt);
 
+            #region Disabled for performance issues
             // Register agents to proximity grid.
-            BuildProximityGrid(agents);
+            // BuildProximityGrid(agents);
 
             // Get nearby navmesh segments and agents to collide with.
-            BuildNeighbours(agents);
+            // BuildNeighbours(agents);
+            #endregion
 
             // Find next corner to steer to.
             FindCorners(agents, debug);

src/DotRecast.Detour.Crowd/DtCrowdConfig.cs

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

src/DotRecast.Detour.Crowd/DtCrowdConst.cs

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

src/DotRecast.Detour/DtNavMeshQuery.cs

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