refactor: RcVec3f.DistSqr, RcVec3f.LenSqr

src/DotRecast.Core/Numerics/RcVec3f.cs

@@ -23,7 +23,6 @@ namespace DotRecast.Core.Numerics
 {
     public struct RcVec3f
     {
-
         public float X;
         public float Y;
         public float Z;
@@ -103,6 +102,9 @@ namespace DotRecast.Core.Numerics
             return MathF.Sqrt(lengthSquared);
         }
 
+        /// Derives the square of the scalar length of the vector. (len * len)
+        /// @param[in] v The vector. [(x, y, z)]
+        /// @return The square of the scalar length of the vector.
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public readonly float LengthSquared()
         {
@@ -313,29 +315,6 @@ namespace DotRecast.Core.Numerics
             );
         }
 
-
-        /// Returns the distance between two points.
-        /// @param[in] v1 A point. [(x, y, z)]
-        /// @param[in] v2 A point. [(x, y, z)]
-        /// @return The distance between the two points.
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static float DistSqr(RcVec3f v1, float[] v2, int i)
-        {
-            float dx = v2[i] - v1.X;
-            float dy = v2[i + 1] - v1.Y;
-            float dz = v2[i + 2] - v1.Z;
-            return dx * dx + dy * dy + dz * dz;
-        }
-
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static float DistSqr(RcVec3f v1, RcVec3f v2)
-        {
-            float dx = v2.X - v1.X;
-            float dy = v2.Y - v1.Y;
-            float dz = v2.Z - v1.Z;
-            return dx * dx + dy * dy + dz * dz;
-        }
-
         /// Derives the distance between the specified points on the xz-plane.
         /// @param[in] v1 A point. [(x, y, z)]
         /// @param[in] v2 A point. [(x, y, z)]
@@ -380,15 +359,6 @@ namespace DotRecast.Core.Numerics
             return u.Z * v.X - u.X * v.Z;
         }
 
-        /// Derives the square of the scalar length of the vector. (len * len)
-        /// @param[in] v The vector. [(x, y, z)]
-        /// @return The square of the scalar length of the vector.
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static float LenSqr(RcVec3f v)
-        {
-            return v.X * v.X + v.Y * v.Y + v.Z * v.Z;
-        }
-
 
         /// Checks that the specified vector's components are all finite.
         /// @param[in] v A point. [(x, y, z)]

src/DotRecast.Core/Numerics/RcVecUtils.cs

@@ -123,6 +123,19 @@ namespace DotRecast.Core.Numerics
                    v1[2] * vector2.Z;
         }
         
+        /// Returns the distance between two points.
+        /// @param[in] v1 A point. [(x, y, z)]
+        /// @param[in] v2 A point. [(x, y, z)]
+        /// @return The distance between the two points.
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float DistanceSquared(RcVec3f v1, float[] v2, int i)
+        {
+            float dx = v2[i] - v1.X;
+            float dy = v2[i + 1] - v1.Y;
+            float dz = v2[i + 2] - v1.Z;
+            return dx * dx + dy * dy + dz * dz;
+        }
+        
         /// Normalizes the vector if the length is greater than zero.
         /// If the magnitude is zero, the vector is unchanged.
         /// @param[in,out]	v	The vector to normalize. [(x, y, z)]

src/DotRecast.Detour.Crowd/DtCrowd.cs

@@ -911,7 +911,7 @@ namespace DotRecast.Detour.Crowd
                 }
 
                 diff.Y = 0;
-                float distSqr = RcVec3f.LenSqr(diff);
+                float distSqr = diff.LengthSquared();
                 if (distSqr > RcMath.Sqr(range))
                 {
                     continue;
@@ -1080,7 +1080,7 @@ namespace DotRecast.Detour.Crowd
                         RcVec3f diff = RcVec3f.Subtract(ag.npos, nei.npos);
                         diff.Y = 0;
 
-                        float distSqr = RcVec3f.LenSqr(diff);
+                        float distSqr = diff.LengthSquared();
                         if (distSqr < 0.00001f)
                         {
                             continue;
@@ -1103,7 +1103,7 @@ namespace DotRecast.Detour.Crowd
                         // Adjust desired velocity.
                         dvel = RcVec3f.Mad(dvel, disp, 1.0f / w);
                         // Clamp desired velocity to desired speed.
-                        float speedSqr = RcVec3f.LenSqr(dvel);
+                        float speedSqr = dvel.LengthSquared();
                         float desiredSqr = RcMath.Sqr(ag.desiredSpeed);
                         if (speedSqr > desiredSqr)
                         {
@@ -1227,7 +1227,7 @@ namespace DotRecast.Detour.Crowd
                         RcVec3f diff = RcVec3f.Subtract(ag.npos, nei.npos);
                         diff.Y = 0;
 
-                        float dist = RcVec3f.LenSqr(diff);
+                        float dist = diff.LengthSquared();
                         if (dist > RcMath.Sqr(ag.option.radius + nei.option.radius))
                         {
                             continue;

src/DotRecast.Detour/DtFindNearestPolyQuery.cs

@@ -36,7 +36,7 @@ namespace DotRecast.Detour
             }
             else
             {
-                d = RcVec3f.LenSqr(diff);
+                d = diff.LengthSquared();
             }
 
             if (d < _nearestDistanceSqr)

src/DotRecast.Detour/DtNavMesh.cs

@@ -1377,7 +1377,7 @@ namespace DotRecast.Detour
                 }
                 else
                 {
-                    d = RcVec3f.LenSqr(diff);
+                    d = diff.LengthSquared();
                 }
 
                 if (d < nearestDistanceSqr)

src/DotRecast.Detour/DtNavMeshQuery.cs

@@ -830,8 +830,8 @@ namespace DotRecast.Detour
                 bool tryLOS = false;
                 if ((options & DtFindPathOptions.DT_FINDPATH_ANY_ANGLE) != 0)
                 {
-                    if ((parentRef != 0) && (raycastLimitSqr >= float.MaxValue
+                    if ((parentRef != 0) &&
-                                             || RcVec3f.DistSqr(parentNode.pos, bestNode.pos) < raycastLimitSqr))
+                        (raycastLimitSqr >= float.MaxValue || RcVec3f.DistanceSquared(parentNode.pos, bestNode.pos) < raycastLimitSqr))
                     {
                         tryLOS = true;
                     }
@@ -1148,8 +1148,8 @@ namespace DotRecast.Detour
                 bool tryLOS = false;
                 if ((m_query.options & DtFindPathOptions.DT_FINDPATH_ANY_ANGLE) != 0)
                 {
-                    if ((parentRef != 0) && (m_query.raycastLimitSqr >= float.MaxValue
+                    if ((parentRef != 0) &&
-                                             || RcVec3f.DistSqr(parentNode.pos, bestNode.pos) < m_query.raycastLimitSqr))
+                        (m_query.raycastLimitSqr >= float.MaxValue || RcVec3f.DistanceSquared(parentNode.pos, bestNode.pos) < m_query.raycastLimitSqr))
                     {
                         tryLOS = true;
                     }

src/DotRecast.Detour/DtUtils.cs

@@ -53,7 +53,7 @@ namespace DotRecast.Detour
 
         public static bool VEqual(RcVec3f p0, RcVec3f p1, float thresholdSqr)
         {
-            float d = RcVec3f.DistSqr(p0, p1);
+            float d = RcVec3f.DistanceSquared(p0, p1);
             return d < thresholdSqr;
         }
 

src/DotRecast.Recast.Toolset/Tools/RcConvexVolumeTool.cs

@@ -45,7 +45,7 @@ namespace DotRecast.Recast.Toolset.Tools
 
             // Create
             // If clicked on that last pt, create the shape.
-            if (_pts.Count > 0 && RcVec3f.DistSqr(p, _pts[_pts.Count - 1]) < 0.2f * 0.2f)
+            if (_pts.Count > 0 && RcVec3f.DistanceSquared(p, _pts[_pts.Count - 1]) < 0.2f * 0.2f)
             {
                 pts = new List<RcVec3f>(_pts);
                 hull = new List<int>(_hull);

src/DotRecast.Recast.Toolset/Tools/RcCrowdAgentProfilingTool.cs

@@ -107,7 +107,7 @@ namespace DotRecast.Recast.Toolset.Tools
                         bool valid = true;
                         foreach (var zone in _polyPoints)
                         {
-                            if (RcVec3f.DistSqr(zone.pt, randomPt) < zoneSeparation)
+                            if (RcVec3f.DistanceSquared(zone.pt, randomPt) < zoneSeparation)
                             {
                                 valid = false;
                                 break;
@@ -285,7 +285,7 @@ namespace DotRecast.Recast.Toolset.Tools
             List<DtPolyPoint> potentialTargets = new List<DtPolyPoint>();
             foreach (var zone in _polyPoints)
             {
-                if (RcVec3f.DistSqr(zone.pt, ag.npos) > _cfg.zoneRadius * _cfg.zoneRadius)
+                if (RcVec3f.DistanceSquared(zone.pt, ag.npos) > _cfg.zoneRadius * _cfg.zoneRadius)
                 {
                     potentialTargets.Add(zone);
                 }

src/DotRecast.Recast.Toolset/Tools/RcOffMeshConnectionTool.cs

@@ -34,7 +34,7 @@ namespace DotRecast.Recast.Toolset.Tools
             RcOffMeshConnection nearestConnection = null;
             foreach (RcOffMeshConnection offMeshCon in geom.GetOffMeshConnections())
             {
-                float d = Math.Min(RcVec3f.DistSqr(p, offMeshCon.verts, 0), RcVec3f.DistSqr(p, offMeshCon.verts, 3));
+                float d = Math.Min(RcVecUtils.DistanceSquared(p, offMeshCon.verts, 0), RcVecUtils.DistanceSquared(p, offMeshCon.verts, 3));
                 if (d < nearestDist && Math.Sqrt(d) < settings.agentRadius)
                 {
                     nearestDist = d;

test/DotRecast.Core.Test/Vector3Tests.cs

@@ -141,6 +141,28 @@ public class Vector3Tests
         Assert.That(d4, Is.EqualTo(d44));
     }
 
+    [Test]
+    [Repeat(100000)]
+    public void TestVectorMinMax()
+    {
+        // Min
+        // Max
+    }
+
+    [Test]
+    [Repeat(100000)]
+    public void TestVectorIsFinite()
+    {
+        // IsFinite
+    }
+
+    [Test]
+    [Repeat(100000)]
+    public void TestVectorPerp2D()
+    {
+        // Perp2D
+    }
+
     // [Test]
     // [Repeat(100000)]
     // public void TestVectorLerp()