Replaced arrays with spans in query. Replaced array allocation with b…

…uffer rent in query.

comment

src/DotRecast.Core/Buffers/RcRentedArray.cs

@@ -67,6 +67,12 @@ public ref T this[int index]
             }
         }
 
+        [Obsolete("This method is risky, and we are considering alternative approaches.")]
+        public T[] AsArray()
+        {
+            return _items;
+        }
+
         public Span<T> AsSpan()
         {
             if (_disposed)

src/DotRecast.Detour/DtCallbackPolyQuery.cs

@@ -11,7 +11,7 @@ public DtCallbackPolyQuery(Action<DtMeshTile, DtPoly, long> callback)
             _callback = callback;
         }
 
-        public void Process(DtMeshTile tile, DtPoly[] poly, Span<long> refs, int count)
+        public void Process(DtMeshTile tile, Span<DtPoly> poly, Span<long> refs, int count)
         {
             for (int i = 0; i < count; ++i)
             {

src/DotRecast.Detour/DtCollectPolysQuery.cs

@@ -26,7 +26,7 @@ public bool Overflowed()
             return m_overflow;
         }
 
-        public void Process(DtMeshTile tile, DtPoly[] poly, Span<long> refs, int count)
+        public void Process(DtMeshTile tile, Span<DtPoly> poly, Span<long> refs, int count)
         {
             int numLeft = m_maxPolys - m_numCollected;
             int toCopy = count;

src/DotRecast.Detour/DtFindNearestPolyQuery.cs

@@ -23,7 +23,7 @@ public DtFindNearestPolyQuery(DtNavMeshQuery query, RcVec3f center)
             _overPoly = default;
         }
 
-        public void Process(DtMeshTile tile, DtPoly[] poly, Span<long> refs, int count)
+        public void Process(DtMeshTile tile, Span<DtPoly> poly, Span<long> refs, int count)
         {
             for (int i = 0; i < count; ++i)
             {

src/DotRecast.Detour/DtNavMeshQuery.cs

@@ -267,9 +267,9 @@ public DtStatus FindRandomPointAroundCircle(long startRef, RcVec3f centerPos, fl
             float radiusSqr = maxRadius * maxRadius;
             float areaSum = 0.0f;
 
-            using RcRentedArray<float> polyVertsBuffer = RcRentedArray.Rent<float>(MAX_VERT_BUFFER_SIZE);
-            using RcRentedArray<float> randomPolyVertsBuffer = RcRentedArray.Rent<float>(MAX_VERT_BUFFER_SIZE);
-            using RcRentedArray<float> constrainedVertsBuffer = RcRentedArray.Rent<float>(MAX_VERT_BUFFER_SIZE);
+            using RcRentedArray<float> polyVertsBuffer = RcRentedArray.Shared.Rent<float>(MAX_VERT_BUFFER_SIZE);
+            using RcRentedArray<float> randomPolyVertsBuffer = RcRentedArray.Shared.Rent<float>(MAX_VERT_BUFFER_SIZE);
+            using RcRentedArray<float> constrainedVertsBuffer = RcRentedArray.Shared.Rent<float>(MAX_VERT_BUFFER_SIZE);
 
             DtPoly randomPoly = null;
             long randomPolyRef = 0;
@@ -608,7 +608,7 @@ protected void QueryPolygonsInTile<TQuery>(DtMeshTile tile, RcVec3f qmin, RcVec3
         {
             const int batchSize = 32;
             Span<long> polyRefs = stackalloc long[batchSize];
-            using RcRentedArray<DtPoly> polysRent = RcRentedArray.Rent<DtPoly>(batchSize);
+            using RcRentedArray<DtPoly> polysRent = RcRentedArray.Shared.Rent<DtPoly>(batchSize);
             Span<DtPoly> polys = polysRent.AsSpan();
             int n = 0;
 
@@ -799,7 +799,7 @@ public DtStatus QueryPolygons<TQuery>(RcVec3f center, RcVec3f halfExtents, IDtQu
             m_nav.CalcTileLoc(bmax, out var maxx, out var maxy);
 
             const int MAX_NEIS = 32;
-            using RcRentedArray<DtMeshTile> neisRent = RcRentedArray.Rent<DtMeshTile>(MAX_NEIS);
+            using RcRentedArray<DtMeshTile> neisRent = RcRentedArray.Shared.Rent<DtMeshTile>(MAX_NEIS);
             Span<DtMeshTile> neis = neisRent.AsSpan();
 
             for (int y = miny; y <= maxy; ++y)
@@ -891,7 +891,7 @@ public DtStatus FindPath(long startRef, long endRef, RcVec3f startPos, RcVec3f e
             float lastBestNodeCost = startNode.total;
 
             DtRaycastHit rayHit = new DtRaycastHit();
-            using var pathRent = RcRentedArray.Rent<long>(MAX_PATH_LENGTH);
+            using var pathRent = RcRentedArray.Shared.Rent<long>(MAX_PATH_LENGTH);
             rayHit.path = pathRent.AsArray();
             while (!m_openList.IsEmpty())
             {
@@ -1181,7 +1181,7 @@ public virtual DtStatus UpdateSlicedFindPath(int maxIter, out int doneIters)
             }
 
             var rayHit = new DtRaycastHit();
-            using var pathRent = RcRentedArray.Rent<long>(MAX_PATH_LENGTH);
+            using var pathRent = RcRentedArray.Shared.Rent<long>(MAX_PATH_LENGTH);
             rayHit.path = pathRent.AsArray();
 
             int iter = 0;
@@ -2274,7 +2274,7 @@ public DtStatus Raycast(long startRef, RcVec3f startPos, RcVec3f endPos,
             out float t, out RcVec3f hitNormal, ref List<long> path)
         {
             DtRaycastHit hit = new DtRaycastHit();
-            using var pathRent = RcRentedArray.Rent<long>(MAX_PATH_LENGTH);
+            using var pathRent = RcRentedArray.Shared.Rent<long>(MAX_PATH_LENGTH);
             hit.path = pathRent.AsArray();
 
             DtStatus status = Raycast(startRef, startPos, endPos, filter, 0, ref hit, 0);

src/DotRecast.Detour/DtPathUtils.cs

@@ -186,12 +186,12 @@ public static int MergeCorridorStartMoved(List<long> path, int npath, int maxPat
             var endIndex = nvisited - 1;
             var length1 = endIndex - furthestVisited;
             var length2 = npath - furthestPath;
-            using var result = RcRentedArray.Rent<long>(length1 + length2);
+            using var result = RcRentedArray.Shared.Rent<long>(length1 + length2);
             // Adjust beginning of the buffer to include the visited.
             // Store visited
-            for (int i = 0; i < length1; ++i) 
+            for (int i = 0; i < length1; ++i)
                 result[i] = visited[endIndex - i];
-            
+
             path.CopyTo(furthestPath, result.AsArray(), length1, length2);
 
             path.Clear();
@@ -233,7 +233,7 @@ public static int MergeCorridorEndMoved(List<long> path, int npath, int maxPath,
             // Concatenate paths.
             var length1 = furthestPath;
             var length2 = nvisited - furthestVisited;
-            using var result = RcRentedArray.Rent<long>(length1 + length2);
+            using var result = RcRentedArray.Shared.Rent<long>(length1 + length2);
             path.CopyTo(0, result.AsArray(), 0, length1);
             visited.Slice(furthestVisited, nvisited - furthestVisited).CopyTo(result.AsSpan().Slice(length1, length2));
 
@@ -278,7 +278,7 @@ public static int MergeCorridorStartShortcut(List<long> path, int npath, int max
             // Adjust beginning of the buffer to include the visited.
             var length1 = furthestVisited;
             var length2 = npath - furthestPath;
-            using var result = RcRentedArray.Rent<long>(length1 + length2);
+            using var result = RcRentedArray.Shared.Rent<long>(length1 + length2);
             visited.CopyTo(0, result.AsArray(), 0, length1);
             path.CopyTo(furthestPath, result.AsArray(), length1, length2);
 

src/DotRecast.Detour/IDtPolyQuery.cs

@@ -9,6 +9,6 @@ public interface IDtPolyQuery
     {
         /// 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, DtPoly[] poly, Span<long> refs, int count);
+        void Process(DtMeshTile tile, Span<DtPoly> poly, Span<long> refs, int count);
     }
 }