move RcMath.VDot2D -> Vector3f.Dot2D

src/DotRecast.Core/RcMath.cs

@@ -349,30 +349,7 @@ namespace DotRecast.Core
             return d < thresholdSqr;
         }
 
-
+        
-        /// Derives the dot product of two vectors on the xz-plane. (@p u . @p v)
-        /// @param[in] u A vector [(x, y, z)]
-        /// @param[in] v A vector [(x, y, z)]
-        /// @return The dot product on the xz-plane.
-        ///
-        /// The vectors are projected onto the xz-plane, so the y-values are
-        /// ignored.
-        public static float VDot2D(float[] u, float[] v)
-        {
-            return u[0] * v[0] + u[2] * v[2];
-        }
-
-        public static float VDot2D(Vector3f u, Vector3f v)
-        {
-            return u.x * v.x + u.z * v.z;
-        }
-
-
-        public static float VDot2D(Vector3f u, float[] v, int vi)
-        {
-            return u.x * v[vi] + u.z * v[vi + 2];
-        }
-
         /// Derives the xz-plane 2D perp product of the two vectors. (uz*vx - ux*vz)
         /// @param[in] u The LHV vector [(x, y, z)]
         /// @param[in] v The RHV vector [(x, y, z)]
@@ -586,10 +563,10 @@ namespace DotRecast.Core
         public static float[] ProjectPoly(Vector3f axis, float[] poly, int npoly)
         {
             float rmin, rmax;
-            rmin = rmax = VDot2D(axis, poly, 0);
+            rmin = rmax = axis.Dot2D(poly, 0);
             for (int i = 1; i < npoly; ++i)
             {
-                float d = VDot2D(axis, poly, i * 3);
+                float d = axis.Dot2D(poly, i * 3);
                 rmin = Math.Min(rmin, d);
                 rmax = Math.Max(rmax, d);
             }

src/DotRecast.Core/Vector3f.cs

@@ -104,6 +104,25 @@ namespace DotRecast.Core
             );
         }
 
+        /// Derives the dot product of two vectors on the xz-plane. (@p u . @p v)
+        /// @param[in] u A vector [(x, y, z)]
+        /// @param[in] v A vector [(x, y, z)]
+        /// @return The dot product on the xz-plane.
+        ///
+        /// The vectors are projected onto the xz-plane, so the y-values are
+        /// ignored.
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public float Dot2D(Vector3f v)
+        {
+            return x * v.x + z * v.z;
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public float Dot2D(float[] v, int vi)
+        {
+            return x * v[vi] + z * v[vi + 2];
+        }
+
         public override bool Equals(object obj)
         {
             if (!(obj is Vector3f))

src/DotRecast.Detour.Crowd/ObstacleAvoidanceQuery.cs

@@ -160,13 +160,13 @@ namespace DotRecast.Detour.Crowd
             const float EPS = 0.0001f;
             Vector3f s = c1.Subtract(c0);
             float r = r0 + r1;
-            float c = VDot2D(s, s) - r * r;
+            float c = s.Dot2D(s) - r * r;
-            float a = VDot2D(v, v);
+            float a = v.Dot2D(v);
             if (a < EPS)
                 return new SweepCircleCircleResult(false, 0f, 0f); // not moving
 
             // Overlap, calc time to exit.
-            float b = VDot2D(v, s);
+            float b = v.Dot2D(s);
             float d = b * b - a * c;
             if (d < 0.0f)
                 return new SweepCircleCircleResult(false, 0f, 0f); // no intersection.
@@ -234,7 +234,7 @@ namespace DotRecast.Detour.Crowd
                 vab = vab.Subtract(cir.vel);
 
                 // Side
-                side += Clamp(Math.Min(VDot2D(cir.dp, vab) * 0.5f + 0.5f, VDot2D(cir.np, vab) * 2), 0.0f, 1.0f);
+                side += Clamp(Math.Min(cir.dp.Dot2D(vab) * 0.5f + 0.5f, cir.np.Dot2D(vab) * 2), 0.0f, 1.0f);
                 nside++;
 
                 SweepCircleCircleResult sres = SweepCircleCircle(pos, rad, vab, cir.p, cir.rad);
@@ -274,7 +274,7 @@ namespace DotRecast.Detour.Crowd
                     snorm.x = -sdir.z;
                     snorm.z = sdir.x;
                     // If the velocity is pointing towards the segment, no collision.
-                    if (VDot2D(snorm, vcand) < 0.0f)
+                    if (snorm.Dot2D(vcand) < 0.0f)
                         continue;
                     // Else immediate collision.
                     htmin = 0.0f;

src/DotRecast.Detour/ConvexConvexIntersection.cs

@@ -88,7 +88,7 @@ namespace DotRecast.Detour
                 /*-----Advance rules-----*/
 
                 /* Special case: A & B overlap and oppositely oriented. */
-                if (code == Intersection.Overlap && VDot2D(A, B) < 0)
+                if (code == Intersection.Overlap && A.Dot2D(B) < 0)
                 {
                     ii = AddVertex(inters, ii, ip);
                     ii = AddVertex(inters, ii, iq);