DotRecast update to 2025.2.1

sources/Directory.Packages.props

@@ -5,10 +5,10 @@
   <!-- Runtime dependencies -->
   <ItemGroup>
     <PackageVersion Include="BepuPhysics" Version="2.5.0-beta.25" />
-    <PackageVersion Include="DotRecast.Core" Version="2024.1.1" />
-    <PackageVersion Include="DotRecast.Detour" Version="2024.2.1" />
-    <PackageVersion Include="DotRecast.Recast" Version="2024.2.1" />
-    <PackageVersion Include="DotRecast.Recast.Toolset" Version="2024.3.1" />
+    <PackageVersion Include="DotRecast.Core" Version="2025.2.1" />
+    <PackageVersion Include="DotRecast.Detour" Version="2025.2.1" />
+    <PackageVersion Include="DotRecast.Recast" Version="2025.2.1" />
+    <PackageVersion Include="DotRecast.Recast.Toolset" Version="2025.2.1" />
     <PackageVersion Include="FFmpeg.AutoGen" Version="3.4.0.2" />
     <PackageVersion Include="K4os.Compression.LZ4.Legacy" Version="1.3.6" />
     <PackageVersion Include="Microsoft.Management.Infrastructure" Version="3.0.0-preview.4" />
@@ -148,4 +148,4 @@
     <PackageVersion Include="Microsoft.CodeAnalysis.Analyzers" Version="3.11.0" PrivateAssets="all" />
     <PackageVersion Include="Microsoft.CodeAnalysis.CSharp" Version="4.14.0" PrivateAssets="all" />
   </ItemGroup>
-</Project>
+</Project>

sources/engine/Stride.Navigation/DtMeshDataSerializer.cs

@@ -1,6 +1,7 @@
-// Copyright (c) .NET Foundation and Contributors (https://dotnetfoundation.org/ & https://stride3d.net)
+// Copyright (c) .NET Foundation and Contributors (https://dotnetfoundation.org/ & https://stride3d.net)
 // Distributed under the MIT license. See the LICENSE.md file in the project root for more information.
 
+using System.Diagnostics;
 using DotRecast.Core.Numerics;
 using DotRecast.Detour;
 using Stride.Core.Serialization;
@@ -40,14 +41,14 @@ internal void WriteDtMeshBvTree(DtBVNode[] dataBvTree)
             if (isNull)
                 continue;
 
-            for (int i = 0; i < 3; i++)
-            {
-                stream.Write(t.bmin[i]);
-            }
-            for (int i = 0; i < 3; i++)
-            {
-                stream.Write(t.bmax[i]);
-            }
+            stream.Write(t.bmin.X);
+            stream.Write(t.bmin.Y);
+            stream.Write(t.bmin.Z);
+
+            stream.Write(t.bmax.X);
+            stream.Write(t.bmax.Y);
+            stream.Write(t.bmax.Z);
+
             stream.Write(t.i);
         }
     }
@@ -173,10 +174,13 @@ internal DtBVNode[] ReadDtMeshBvTree()
                 continue;
             }
             var node = new DtBVNode();
-            for (int j = 0; j < 3; j++) 
-                node.bmin[j] = stream.Read<int>();
-            for (int j = 0; j < 3; j++) 
-                node.bmax[j] = stream.Read<int>();
+            node.bmin.X = stream.Read<int>();
+            node.bmin.Y = stream.Read<int>();
+            node.bmin.Z = stream.Read<int>();
+
+            node.bmax.X = stream.Read<int>();
+            node.bmax.Y = stream.Read<int>();
+            node.bmax.Z = stream.Read<int>();
             node.i = stream.Read<int>();
 
             arr[i] = node;
@@ -207,7 +211,7 @@ internal DtPolyDetail[] ReadDtMeshDetailMeshes()
         int count = stream.Read<int>();
         var arr = new DtPolyDetail[count];
         for (int i = 0; i < count; i++)
-            arr[i] = new DtPolyDetail(stream.Read<int>(),stream.Read<int>(),stream.Read<int>(),stream.Read<int>());
+            arr[i] = new DtPolyDetail(stream.Read<int>(),stream.Read<int>(),stream.Read<byte>(),stream.Read<byte>());
         return arr;
     }
 

sources/engine/Stride.Navigation/DynamicNavigationMeshSystem.cs

@@ -176,7 +176,7 @@ public async Task<NavigationMeshBuildResult> Rebuild()
             });
             await result;
 
-            FinilizeRebuild(result);
+            FinalizeRebuild(result);
 
             return result.Result;
         }
@@ -191,7 +191,7 @@ internal void InitializeSettingsFromNavigationSettings(NavigationSettings naviga
             pendingRebuild = true;
         }
 
-        private void FinilizeRebuild(Task<NavigationMeshBuildResult> resultTask)
+        private void FinalizeRebuild(Task<NavigationMeshBuildResult> resultTask)
         {
             var result = resultTask.Result;
             if (result.Success)

sources/engine/Stride.Navigation/InternalNavigationMesh.cs

@@ -3,6 +3,8 @@
 
 using System;
 using System.Collections.Generic;
+using System.Linq;
+using System.Runtime.InteropServices;
 using DotRecast.Core.Numerics;
 using DotRecast.Detour;
 using Stride.Core.Mathematics;
@@ -40,7 +42,8 @@ public InternalNavigationMesh(float cellTileSize)
         meshParams.maxPolys = 1 << polyBits;
 
         // Initialize the query object
-        navMesh = new DtNavMesh(meshParams, 2048);
+        navMesh = new DtNavMesh();
+        navMesh.Init(meshParams, 2048);
         navQuery = new DtNavMeshQuery(navMesh);
     }
 
@@ -51,7 +54,7 @@ public bool LoadTile(DtMeshData navData)
         if (navData == null)
             return false;
 
-        long tileRef = navMesh.AddTile(navData, 0, 0);
+        var status = navMesh.AddTile(navData, 0, 0, out long tileRef);
         return tileRef != 0;
     }
 
@@ -75,15 +78,34 @@ public void DoPathFindQuery(PathFindQuery query, ref PathFindResult result)
         status = navQuery.FindNearestPoly(query.Target.ToDotRecastVector(), query.FindNearestPolyExtent.ToDotRecastVector(), filter, out long endPoly, out RcVec3f endPoint, out _);
         if (status.Failed())
             return;
-
-        List<long> polys = new(query.MaxPathPoints);
-        status = navQuery.FindPath(startPoly, endPoly, startPoint, endPoint, filter, ref polys, DtFindPathOption.NoOption);
-        if (status.Failed() || status.IsPartial())
-            return;
-
-        status = navQuery.FindStraightPath(startPoint, endPoint, polys, ref result.PathPoints, query.MaxPathPoints, 0);
-        if (status.Failed())
+
+        long[] polys = new long[query.MaxPathPoints];
+        navQuery.FindPath(startPoly, endPoly, startPoint, endPoint, filter, polys, out var pathCount, polys.Length);
+
+        if (0 >= pathCount)
+        {
             return;
+        }
+
+        // In case of partial path, make sure the end point is clamped to the last polygon.
+        var endPosition = new RcVec3f(endPoint.X, endPoint.Y, endPoint.Z);
+        if (polys[pathCount - 1] != endPoly)
+        {
+            status = navQuery.ClosestPointOnPoly(polys[pathCount - 1], endPoint, out var closest, out var _);
+            if (status.Succeeded())
+            {
+                endPosition = closest;
+            }
+        }
+
+        // Due to Dotrecast using Spans, we need to allocate the array with the max size possible then resize it later to remove empty entries.
+        // TODO: By default we allocate 1024 points which is way more than enough for most cases and should maybe be defaulted to a smaller value in the future.
+        result.PathPoints = new DtStraightPath[query.MaxPathPoints];
+        navQuery.FindStraightPath(startPoint, endPosition, polys, pathCount, result.PathPoints, out var straightPathCount, query.MaxPathPoints, 0);
+
+        // cut out the empty entries
+        Array.Resize(ref result.PathPoints, straightPathCount);
+
         result.PathFound = true;
     }
 
@@ -96,12 +118,10 @@ public void DoRaycastQuery(RaycastQuery query, out NavigationRaycastResult resul
         DtStatus status = navQuery.FindNearestPoly(query.Source.ToDotRecastVector(), query.FindNearestPolyExtent.ToDotRecastVector(), filter, out long startPoly, out _, out _);
         if (status.Failed())
             return;
-        
-        List<long> polys = new (query.MaxPathPoints);
+
+        long[] polys = new long[query.MaxPathPoints];
         var normal = result.Normal.ToDotRecastVector();
-        status = navQuery.Raycast(startPoly, query.Source.ToDotRecastVector(), 
-            query.Target.ToDotRecastVector(), filter, 
-            out float t, out normal, ref polys);
+        status = navQuery.Raycast(startPoly, query.Source.ToDotRecastVector(), query.Target.ToDotRecastVector(), filter, out float t, out normal, polys, out var pathCount, query.MaxPathPoints);
         result.Normal = new(normal.X, normal.Y, normal.Z);
 
         if (status.Failed())

sources/engine/Stride.Navigation/Navigation.cs

@@ -27,7 +27,7 @@ internal struct PathFindQuery
     internal struct PathFindResult
     {
         public bool PathFound;
-        public List<DtStraightPath> PathPoints;
+        public DtStraightPath[] PathPoints;
     }
 
     internal struct BuildSettings

sources/engine/Stride.Navigation/NavigationBuilder.cs

@@ -1,4 +1,4 @@
-// Copyright (c) .NET Foundation and Contributors (https://dotnetfoundation.org/ & https://stride3d.net)
+// Copyright (c) .NET Foundation and Contributors (https://dotnetfoundation.org/ & https://stride3d.net)
 // Distributed under the MIT license. See the LICENSE.md file in the project root for more information.
 
 using System;
@@ -96,7 +96,7 @@ public GeneratedData BuildNavmesh(ref Vector3[] vertices, ref int[] indices)
         }
 
         // Find walkable triangles and rasterize into heightfield
-        triAreas = RcCommons.MarkWalkableTriangles(context, buildSettings.AgentMaxSlope, verts, indices, numTriangles, new RcAreaModification(RcAreaModification.RC_AREA_FLAGS_MASK));
+        triAreas = RcRecast.MarkWalkableTriangles(context, buildSettings.AgentMaxSlope, verts, indices, numTriangles, new RcAreaModification(RcAreaModification.RC_AREA_FLAGS_MASK));
         RcRasterizations.RasterizeTriangles(context,  verts, indices, triAreas, numTriangles, solid, walkableClimb);
 
         // Filter walkable surfaces.
@@ -129,7 +129,7 @@ public GeneratedData BuildNavmesh(ref Vector3[] vertices, ref int[] indices)
         // Update poly flags from areas.
         for (int i = 0; i < polyMesh.npolys; ++i)
         {
-            if (polyMesh.areas[i] ==  RcConstants.RC_WALKABLE_AREA)
+            if (polyMesh.areas[i] ==  RcRecast.RC_WALKABLE_AREA)
                 polyMesh.areas[i] = 0;
 
             if (polyMesh.areas[i] == 0)

sources/engine/Stride.Navigation/Processors/RecastNavigationMesh.cs

@@ -86,12 +86,12 @@ public bool TryFindPath(Vector3 start, Vector3 end, ICollection<Vector3> path, N
             query.FindNearestPolyExtent = querySettings.FindNearestPolyExtent;
             PathFindResult queryResult = default;
 
-            queryResult.PathPoints = new List<DtStraightPath>(querySettings.MaxPathPoints);
+            queryResult.PathPoints = new DtStraightPath[querySettings.MaxPathPoints];
             navmesh.DoPathFindQuery(query, ref queryResult);
             if (!queryResult.PathFound)
                 return false;
 
-            for (int i = 0; i < queryResult.PathPoints.Count; i++)
+            for (int i = 0; i < queryResult.PathPoints.Length; i++)
             {
                 path.Add(queryResult.PathPoints[i].pos.ToStrideVector());
             }

sources/engine/Stride.Navigation/Stride.Navigation.csproj

@@ -24,6 +24,7 @@
     </Compile>
   </ItemGroup>
   <ItemGroup>
+    <PackageReference Include="DotRecast.Core" />
     <PackageReference Include="DotRecast.Detour" />
     <PackageReference Include="DotRecast.Recast" />
   </ItemGroup>