[Upstream] update DotRecast

src/UniRecast.Unity/Assets/Plugins/DotRecast/src/DotRecast.Core/RcArrayUtils.cs

@@ -15,7 +15,7 @@ public static T[] CopyOf<T>(T[] source, int startIdx, int length)
             return deatArr;
         }
 
-        public static T[] CopyOf<T>(T[] source, int length)
+        public static T[] CopyOf<T>(T[] source, long length)
         {
             var deatArr = new T[length];
             var count = Math.Max(0, Math.Min(source.Length, length));

src/UniRecast.Unity/Assets/Plugins/DotRecast/src/DotRecast.Core/Intersections.cs → src/UniRecast.Unity/Assets/Plugins/DotRecast/src/DotRecast.Core/RcIntersections.cs

@@ -1,4 +1,5 @@
 /*
+Copyright (c) 2009-2010 Mikko Mononen [email protected]
 recast4j copyright (c) 2021 Piotr Piastucki [email protected]
 DotRecast Copyright (c) 2023 Choi Ikpil [email protected]
 
@@ -21,7 +22,7 @@ 3. This notice may not be removed or altered from any source distribution.
 
 namespace DotRecast.Core
 {
-    public static class Intersections
+    public static class RcIntersections
     {
         public static bool IntersectSegmentTriangle(RcVec3f sp, RcVec3f sq, RcVec3f a, RcVec3f b, RcVec3f c, out float t)
         {

src/UniRecast.Unity/Assets/Plugins/DotRecast/src/DotRecast.Core/RcMatrix4x4f.cs

@@ -1,4 +1,5 @@
 using System;
+using System.Runtime.CompilerServices;
 
 namespace DotRecast.Core
 {
@@ -107,6 +108,7 @@ public void CopyTo(float[] m)
             M31 == 0f && M32 == 0f && M34 == 0f &&
             M41 == 0f && M42 == 0f && M43 == 0f;
 
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static RcMatrix4x4f Mul(ref RcMatrix4x4f left, ref RcMatrix4x4f right)
         {
             float m11 = left.M11 * right.M11 + left.M21 * right.M12 + left.M31 * right.M13 + left.M41 * right.M14;
@@ -147,6 +149,7 @@ public static RcMatrix4x4f Mul(ref RcMatrix4x4f left, ref RcMatrix4x4f right)
             return dest;
         }
 
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static RcMatrix4x4f Mul(float[] left, float[] right)
         {
             float m00 = left[0] * right[0] + left[4] * right[1] + left[8] * right[2] + left[12] * right[3];
@@ -174,6 +177,7 @@ public static RcMatrix4x4f Mul(float[] left, float[] right)
             );
         }
 
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static RcMatrix4x4f CreateFromRotate(float a, float x, float y, float z)
         {
             var matrix = new RcMatrix4x4f();

src/UniRecast.Unity/Assets/Plugins/DotRecast/src/DotRecast.Core/FRand.cs → src/UniRecast.Unity/Assets/Plugins/DotRecast/src/DotRecast.Core/RcRand.cs

@@ -2,16 +2,16 @@
 
 namespace DotRecast.Core
 {
-    public class FRand : IRcRand
+    public class RcRand : IRcRand
     {
         private readonly Random _r;
 
-        public FRand()
+        public RcRand()
         {
             _r = new Random();
         }
 
-        public FRand(long seed)
+        public RcRand(long seed)
         {
             _r = new Random((int)seed); // TODO : 랜덤 시드 확인 필요
         }

src/UniRecast.Unity/Assets/Plugins/DotRecast/src/DotRecast.Core/RcVec3f.cs

@@ -554,32 +554,37 @@ public static bool IsFinite2D(RcVec3f v)
         }
 
 
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static void Copy(ref RcVec3f @out, float[] @in, int i)
         {
             Copy(ref @out, 0, @in, i);
         }
 
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static void Copy(float[] @out, int n, float[] @in, int m)
         {
             @out[n] = @in[m];
             @out[n + 1] = @in[m + 1];
             @out[n + 2] = @in[m + 2];
         }
 
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static void Copy(float[] @out, int n, RcVec3f @in, int m)
         {
             @out[n] = @in[m];
             @out[n + 1] = @in[m + 1];
             @out[n + 2] = @in[m + 2];
         }
 
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static void Copy(ref RcVec3f @out, int n, float[] @in, int m)
         {
             @out[n] = @in[m];
             @out[n + 1] = @in[m + 1];
             @out[n + 2] = @in[m + 2];
         }
 
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static void Add(ref RcVec3f e0, RcVec3f a, float[] verts, int i)
         {
             e0.x = a.x + verts[i];
@@ -588,6 +593,7 @@ public static void Add(ref RcVec3f e0, RcVec3f a, float[] verts, int i)
         }
 
 
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static void Sub(ref RcVec3f e0, float[] verts, int i, int j)
         {
             e0.x = verts[i] - verts[j];
@@ -596,6 +602,7 @@ public static void Sub(ref RcVec3f e0, float[] verts, int i, int j)
         }
 
 
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static void Sub(ref RcVec3f e0, RcVec3f i, float[] verts, int j)
         {
             e0.x = i.x - verts[j];
@@ -604,20 +611,23 @@ public static void Sub(ref RcVec3f e0, RcVec3f i, float[] verts, int j)
         }
 
 
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static void Cross(float[] dest, float[] v1, float[] v2)
         {
             dest[0] = v1[1] * v2[2] - v1[2] * v2[1];
             dest[1] = v1[2] * v2[0] - v1[0] * v2[2];
             dest[2] = v1[0] * v2[1] - v1[1] * v2[0];
         }
 
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static void Cross(float[] dest, RcVec3f v1, RcVec3f v2)
         {
             dest[0] = v1.y * v2.z - v1.z * v2.y;
             dest[1] = v1.z * v2.x - v1.x * v2.z;
             dest[2] = v1.x * v2.y - v1.y * v2.x;
         }
 
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static void Cross(ref RcVec3f dest, RcVec3f v1, RcVec3f v2)
         {
             dest.x = v1.y * v2.z - v1.z * v2.y;
@@ -626,14 +636,7 @@ public static void Cross(ref RcVec3f dest, RcVec3f v1, RcVec3f v2)
         }
 
 
-        public static void Normalize(float[] v)
-        {
-            float d = (float)(1.0f / Math.Sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]));
-            v[0] *= d;
-            v[1] *= d;
-            v[2] *= d;
-        }
-
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static void Normalize(ref RcVec3f v)
         {
             float d = (float)(1.0f / Math.Sqrt(v.x * v.x + v.y * v.y + v.z * v.z));

src/UniRecast.Unity/Assets/Plugins/DotRecast/src/DotRecast.Detour.Crowd/DtCrowdAgent.cs

@@ -76,7 +76,7 @@ public class DtCrowdAgent
         public DtCrowdAgentParams option;
 
         /// The local path corridor corners for the agent.
-        public List<StraightPathItem> corners = new List<StraightPathItem>();
+        public List<DtStraightPath> corners = new List<DtStraightPath>();
 
         public DtMoveRequestState targetState;
 

src/UniRecast.Unity/Assets/Plugins/DotRecast/src/DotRecast.Detour.Crowd/DtPathCorridor.cs

@@ -114,14 +114,14 @@ public void Reset(long refs, RcVec3f pos)
      * @param[in] navquery The query object used to build the corridor.
      * @return Corners
      */
-        public int FindCorners(ref List<StraightPathItem> corners, int maxCorners, DtNavMeshQuery navquery, IDtQueryFilter filter)
+        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())
             {
                 // Prune points in the beginning of the path which are too close.
                 int start = 0;
-                foreach (StraightPathItem spi in corners)
+                foreach (DtStraightPath spi in corners)
                 {
                     if ((spi.flags & DtNavMeshQuery.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0
                         || RcVec3f.Dist2DSqr(spi.pos, m_pos) > MIN_TARGET_DIST)
@@ -136,7 +136,7 @@ public int FindCorners(ref List<StraightPathItem> corners, int maxCorners, DtNav
                 // Prune points after an off-mesh connection.
                 for (int i = start; i < corners.Count; i++)
                 {
-                    StraightPathItem spi = corners[i];
+                    DtStraightPath spi = corners[i];
                     if ((spi.flags & DtNavMeshQuery.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0)
                     {
                         end = i + 1;
@@ -201,7 +201,7 @@ public void OptimizePathVisibility(RcVec3f next, float pathOptimizationRange, Dt
             {
                 if (rayHit.path.Count > 1 && rayHit.t > 0.99f)
                 {
-                    m_path = PathUtils.MergeCorridorStartShortcut(m_path, rayHit.path);
+                    m_path = DtPathUtils.MergeCorridorStartShortcut(m_path, rayHit.path);
                 }
             }
         }
@@ -236,7 +236,7 @@ public bool OptimizePathTopology(DtNavMeshQuery navquery, IDtQueryFilter filter,
 
             if (status.Succeeded() && res.Count > 0)
             {
-                m_path = PathUtils.MergeCorridorStartShortcut(m_path, res);
+                m_path = DtPathUtils.MergeCorridorStartShortcut(m_path, res);
                 return true;
             }
 
@@ -307,7 +307,7 @@ public bool MovePosition(RcVec3f npos, DtNavMeshQuery navquery, IDtQueryFilter f
             var status = navquery.MoveAlongSurface(m_path[0], m_pos, npos, filter, out var result, ref visited);
             if (status.Succeeded())
             {
-                m_path = PathUtils.MergeCorridorStartMoved(m_path, visited);
+                m_path = DtPathUtils.MergeCorridorStartMoved(m_path, visited);
 
                 // Adjust the position to stay on top of the navmesh.
                 m_pos = result;
@@ -347,7 +347,7 @@ public bool MoveTargetPosition(RcVec3f npos, DtNavMeshQuery navquery, IDtQueryFi
             var status = navquery.MoveAlongSurface(m_path[m_path.Count - 1], m_target, npos, filter, out var result, ref visited);
             if (status.Succeeded())
             {
-                m_path = PathUtils.MergeCorridorEndMoved(m_path, visited);
+                m_path = DtPathUtils.MergeCorridorEndMoved(m_path, visited);
                 // TODO: should we do that?
                 // Adjust the position to stay on top of the navmesh.
                 /*

src/UniRecast.Unity/Assets/Plugins/DotRecast/src/DotRecast.Detour.Extras/PolyUtils.cs → src/UniRecast.Unity/Assets/Plugins/DotRecast/src/DotRecast.Detour.Extras/DtPolyUtils.cs

@@ -16,13 +16,13 @@ misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
 
+using System;
+
 namespace DotRecast.Detour.Extras
 {
-    public static class PolyUtils
+    public static class DtPolyUtils
     {
-        /**
-     * Find edge shared by 2 polygons within the same tile
-     */
+        // Find edge shared by 2 polygons within the same tile
         public static int FindEdge(DtPoly node, DtPoly neighbour, DtMeshData tile, DtMeshData neighbourTile)
         {
             // Compare indices first assuming there are no duplicate vertices
@@ -64,7 +64,7 @@ private static bool SamePosition(float[] verts, int v, float[] verts2, int v2)
         {
             for (int i = 0; i < 3; i++)
             {
-                if (verts[3 * v + i] != verts2[3 * v2 + 1])
+                if (Math.Abs(verts[3 * v + i] - verts2[3 * v2 + 1]) > float.Epsilon)
                 {
                     return false;
                 }
@@ -73,9 +73,7 @@ private static bool SamePosition(float[] verts, int v, float[] verts2, int v2)
             return true;
         }
 
-        /**
-     * Find edge closest to the given coordinate
-     */
+        // Find edge closest to the given coordinate
         public static int FindEdge(DtPoly node, DtMeshData tile, float value, int comp)
         {
             float error = float.MaxValue;

src/UniRecast.Unity/Assets/Plugins/DotRecast/src/DotRecast.Detour.Extras/Unity/Astar/LinkBuilder.cs

@@ -49,7 +49,7 @@ public void Build(int nodeOffset, GraphMeshData graphData, List<int[]> connectio
 
         private void BuildInternalLink(DtMeshData tile, DtPoly node, DtMeshData neighbourTile, DtPoly neighbour)
         {
-            int edge = PolyUtils.FindEdge(node, neighbour, tile, neighbourTile);
+            int edge = DtPolyUtils.FindEdge(node, neighbour, tile, neighbourTile);
             if (edge >= 0)
             {
                 node.neis[edge] = neighbour.index + 1;
@@ -65,19 +65,19 @@ private void BuildExternalLink(DtMeshData tile, DtPoly node, DtMeshData neighbou
         {
             if (neighbourTile.header.bmin.x > tile.header.bmin.x)
             {
-                node.neis[PolyUtils.FindEdge(node, tile, neighbourTile.header.bmin.x, 0)] = DtNavMesh.DT_EXT_LINK;
+                node.neis[DtPolyUtils.FindEdge(node, tile, neighbourTile.header.bmin.x, 0)] = DtNavMesh.DT_EXT_LINK;
             }
             else if (neighbourTile.header.bmin.x < tile.header.bmin.x)
             {
-                node.neis[PolyUtils.FindEdge(node, tile, tile.header.bmin.x, 0)] = DtNavMesh.DT_EXT_LINK | 4;
+                node.neis[DtPolyUtils.FindEdge(node, tile, tile.header.bmin.x, 0)] = DtNavMesh.DT_EXT_LINK | 4;
             }
             else if (neighbourTile.header.bmin.z > tile.header.bmin.z)
             {
-                node.neis[PolyUtils.FindEdge(node, tile, neighbourTile.header.bmin.z, 2)] = DtNavMesh.DT_EXT_LINK | 2;
+                node.neis[DtPolyUtils.FindEdge(node, tile, neighbourTile.header.bmin.z, 2)] = DtNavMesh.DT_EXT_LINK | 2;
             }
             else
             {
-                node.neis[PolyUtils.FindEdge(node, tile, tile.header.bmin.z, 2)] = DtNavMesh.DT_EXT_LINK | 6;
+                node.neis[DtPolyUtils.FindEdge(node, tile, tile.header.bmin.z, 2)] = DtNavMesh.DT_EXT_LINK | 6;
             }
         }
     }

src/UniRecast.Unity/Assets/Plugins/DotRecast/src/DotRecast.Detour.TileCache/Io/Compress/DtTileCacheFastLzCompressor.cs

@@ -45,8 +45,8 @@ public byte[] Decompress(byte[] buf, int offset, int len, int outputlen)
 
         public byte[] Compress(byte[] buf)
         {
-            byte[] output = new byte[FastLZ.CalculateOutputBufferLength(buf.Length)];
-            int len = FastLZ.Compress(buf, 0, buf.Length, output, 0, output.Length);
+            byte[] output = new byte[FastLZ.EstimateCompressedSize(buf.Length)];
+            long len = FastLZ.CompressLevel(2, buf, 0, buf.Length, output);
             return RcArrayUtils.CopyOf(output, len);
         }
     }

src/UniRecast.Unity/Assets/Plugins/DotRecast/src/DotRecast.Detour/InFlag.cs → src/UniRecast.Unity/Assets/Plugins/DotRecast/src/DotRecast.Detour/DtConvexConvexInFlag.cs

@@ -1,6 +1,6 @@
 namespace DotRecast.Detour
 {
-    public enum InFlag
+    public enum DtConvexConvexInFlag
     {
         Pin,
         Qin,

src/UniRecast.Unity/Assets/Plugins/DotRecast/src/DotRecast.Detour/Intersection.cs → src/UniRecast.Unity/Assets/Plugins/DotRecast/src/DotRecast.Detour/DtConvexConvexIntersection.cs

@@ -1,6 +1,6 @@
 namespace DotRecast.Detour
 {
-    public enum Intersection
+    public enum DtConvexConvexIntersection
     {
         None,
         Single,