diff --git a/src/DotRecast.Core/Intersections.cs b/src/DotRecast.Core/RcIntersections.cs
similarity index 99%
rename from src/DotRecast.Core/Intersections.cs
rename to src/DotRecast.Core/RcIntersections.cs
index 27536a8..bfe0b59 100644
--- a/src/DotRecast.Core/Intersections.cs
+++ b/src/DotRecast.Core/RcIntersections.cs
@@ -22,7 +22,7 @@ using System;
 
 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)
         {
diff --git a/src/DotRecast.Core/RcMatrix4x4f.cs b/src/DotRecast.Core/RcMatrix4x4f.cs
index 65f90f0..a6287a9 100644
--- a/src/DotRecast.Core/RcMatrix4x4f.cs
+++ b/src/DotRecast.Core/RcMatrix4x4f.cs
@@ -1,4 +1,5 @@
 using System;
+using System.Runtime.CompilerServices;
 
 namespace DotRecast.Core
 {
@@ -107,6 +108,7 @@ namespace DotRecast.Core
             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 @@ namespace DotRecast.Core
             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 @@ namespace DotRecast.Core
             );
         }
 
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static RcMatrix4x4f CreateFromRotate(float a, float x, float y, float z)
         {
             var matrix = new RcMatrix4x4f();
diff --git a/src/DotRecast.Core/FRand.cs b/src/DotRecast.Core/RcRand.cs
similarity index 78%
rename from src/DotRecast.Core/FRand.cs
rename to src/DotRecast.Core/RcRand.cs
index c57c563..c1fc36b 100644
--- a/src/DotRecast.Core/FRand.cs
+++ b/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
         }
diff --git a/src/DotRecast.Core/RcVec3f.cs b/src/DotRecast.Core/RcVec3f.cs
index 9092892..1c1d4f0 100644
--- a/src/DotRecast.Core/RcVec3f.cs
+++ b/src/DotRecast.Core/RcVec3f.cs
@@ -554,11 +554,13 @@ namespace DotRecast.Core
         }
 
 
+        [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];
@@ -566,6 +568,7 @@ namespace DotRecast.Core
             @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];
@@ -573,6 +576,7 @@ namespace DotRecast.Core
             @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];
@@ -580,6 +584,7 @@ namespace DotRecast.Core
             @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 @@ namespace DotRecast.Core
         }
 
 
+        [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 @@ namespace DotRecast.Core
         }
 
 
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static void Sub(ref RcVec3f e0, RcVec3f i, float[] verts, int j)
         {
             e0.x = i.x - verts[j];
@@ -604,6 +611,7 @@ namespace DotRecast.Core
         }
 
 
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static void Cross(float[] dest, float[] v1, float[] v2)
         {
             dest[0] = v1[1] * v2[2] - v1[2] * v2[1];
@@ -611,6 +619,7 @@ namespace DotRecast.Core
             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;
@@ -618,6 +627,7 @@ namespace DotRecast.Core
             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 @@ namespace DotRecast.Core
         }
 
 
-        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));
diff --git a/src/DotRecast.Detour.Crowd/DtPathCorridor.cs b/src/DotRecast.Detour.Crowd/DtPathCorridor.cs
index 3816862..9166541 100644
--- a/src/DotRecast.Detour.Crowd/DtPathCorridor.cs
+++ b/src/DotRecast.Detour.Crowd/DtPathCorridor.cs
@@ -201,7 +201,7 @@ namespace DotRecast.Detour.Crowd
             {
                 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 @@ namespace DotRecast.Detour.Crowd
 
             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 @@ namespace DotRecast.Detour.Crowd
             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 @@ namespace DotRecast.Detour.Crowd
             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.
                 /*
diff --git a/src/DotRecast.Detour.Extras/PolyUtils.cs b/src/DotRecast.Detour.Extras/DtPolyUtils.cs
similarity index 95%
rename from src/DotRecast.Detour.Extras/PolyUtils.cs
rename to src/DotRecast.Detour.Extras/DtPolyUtils.cs
index 37f18a5..53b581b 100644
--- a/src/DotRecast.Detour.Extras/PolyUtils.cs
+++ b/src/DotRecast.Detour.Extras/DtPolyUtils.cs
@@ -18,11 +18,9 @@ freely, subject to the following restrictions:
 
 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
@@ -73,9 +71,7 @@ namespace DotRecast.Detour.Extras
             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;
diff --git a/src/DotRecast.Detour.Extras/Unity/Astar/LinkBuilder.cs b/src/DotRecast.Detour.Extras/Unity/Astar/LinkBuilder.cs
index 8dad5eb..1107dc6 100644
--- a/src/DotRecast.Detour.Extras/Unity/Astar/LinkBuilder.cs
+++ b/src/DotRecast.Detour.Extras/Unity/Astar/LinkBuilder.cs
@@ -49,7 +49,7 @@ namespace DotRecast.Detour.Extras.Unity.Astar
 
         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 @@ namespace DotRecast.Detour.Extras.Unity.Astar
         {
             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;
             }
         }
     }
diff --git a/src/DotRecast.Detour/DtNavMeshRaycast.cs b/src/DotRecast.Detour/DtNavMeshRaycast.cs
index f46a76c..869efdb 100644
--- a/src/DotRecast.Detour/DtNavMeshRaycast.cs
+++ b/src/DotRecast.Detour/DtNavMeshRaycast.cs
@@ -80,7 +80,7 @@ namespace DotRecast.Detour
                             }
                         }
 
-                        if (Intersections.IntersectSegmentTriangle(sp, sq, verts[0], verts[1], verts[2], out hitTime))
+                        if (RcIntersections.IntersectSegmentTriangle(sp, sq, verts[0], verts[1], verts[2], out hitTime))
                         {
                             return true;
                         }
diff --git a/src/DotRecast.Detour/PathUtils.cs b/src/DotRecast.Detour/DtPathUtils.cs
similarity index 99%
rename from src/DotRecast.Detour/PathUtils.cs
rename to src/DotRecast.Detour/DtPathUtils.cs
index c819947..5243135 100644
--- a/src/DotRecast.Detour/PathUtils.cs
+++ b/src/DotRecast.Detour/DtPathUtils.cs
@@ -24,7 +24,7 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour
 {
-    public static class PathUtils
+    public static class DtPathUtils
     {
         private const int MAX_STEER_POINTS = 3;
 
diff --git a/src/DotRecast.Recast.Toolset/Geom/DemoInputGeomProvider.cs b/src/DotRecast.Recast.Toolset/Geom/DemoInputGeomProvider.cs
index 56ae2f2..d9e3313 100644
--- a/src/DotRecast.Recast.Toolset/Geom/DemoInputGeomProvider.cs
+++ b/src/DotRecast.Recast.Toolset/Geom/DemoInputGeomProvider.cs
@@ -143,7 +143,7 @@ namespace DotRecast.Recast.Toolset.Geom
             tmin = 1.0f;
 
             // Prune hit ray.
-            if (!Intersections.IsectSegAABB(src, dst, bmin, bmax, out var btmin, out var btmax))
+            if (!RcIntersections.IsectSegAABB(src, dst, bmin, bmax, out var btmin, out var btmax))
             {
                 return false;
             }
@@ -183,7 +183,7 @@ namespace DotRecast.Recast.Toolset.Geom
                         vertices[tris[j + 2] * 3 + 1],
                         vertices[tris[j + 2] * 3 + 2]
                     );
-                    if (Intersections.IntersectSegmentTriangle(src, dst, v1, v2, v3, out var t))
+                    if (RcIntersections.IntersectSegmentTriangle(src, dst, v1, v2, v3, out var t))
                     {
                         if (t < tmin)
                         {
diff --git a/src/DotRecast.Recast.Toolset/Tools/RcCrowdAgentProfilingTool.cs b/src/DotRecast.Recast.Toolset/Tools/RcCrowdAgentProfilingTool.cs
index 556e3b5..a975e4c 100644
--- a/src/DotRecast.Recast.Toolset/Tools/RcCrowdAgentProfilingTool.cs
+++ b/src/DotRecast.Recast.Toolset/Tools/RcCrowdAgentProfilingTool.cs
@@ -17,7 +17,7 @@ namespace DotRecast.Recast.Toolset.Tools
 
         private DtNavMesh navMesh;
 
-        private FRand rnd;
+        private RcRand rnd;
         private readonly List<DtPolyPoint> _polyPoints;
         private long crowdUpdateTime;
 
@@ -162,7 +162,7 @@ namespace DotRecast.Recast.Toolset.Tools
             if (null == navMesh)
                 return;
 
-            rnd = new FRand(_cfg.randomSeed);
+            rnd = new RcRand(_cfg.randomSeed);
             CreateCrowd();
             CreateZones();
             DtNavMeshQuery navquery = new DtNavMeshQuery(navMesh);
diff --git a/src/DotRecast.Recast.Toolset/Tools/RcCrowdTool.cs b/src/DotRecast.Recast.Toolset/Tools/RcCrowdTool.cs
index ee48eff..9124726 100644
--- a/src/DotRecast.Recast.Toolset/Tools/RcCrowdTool.cs
+++ b/src/DotRecast.Recast.Toolset/Tools/RcCrowdTool.cs
@@ -222,7 +222,7 @@ namespace DotRecast.Recast.Toolset.Tools
                 RcVec3f bmin = new RcVec3f();
                 RcVec3f bmax = new RcVec3f();
                 GetAgentBounds(ag, ref bmin, ref bmax);
-                if (Intersections.IsectSegAABB(s, p, bmin, bmax, out var tmin, out var tmax))
+                if (RcIntersections.IsectSegAABB(s, p, bmin, bmax, out var tmin, out var tmax))
                 {
                     if (tmin > 0 && tmin < tsel)
                     {
diff --git a/src/DotRecast.Recast.Toolset/Tools/RcObstacleTool.cs b/src/DotRecast.Recast.Toolset/Tools/RcObstacleTool.cs
index 592db77..39df464 100644
--- a/src/DotRecast.Recast.Toolset/Tools/RcObstacleTool.cs
+++ b/src/DotRecast.Recast.Toolset/Tools/RcObstacleTool.cs
@@ -162,7 +162,7 @@ namespace DotRecast.Recast.Toolset.Tools
                 RcVec3f bmax = RcVec3f.Zero;
                 _tc.GetObstacleBounds(ob, ref bmin, ref bmax);
 
-                if (Intersections.IsectSegAABB(sp, sq, bmin, bmax, out var t0, out var t1))
+                if (RcIntersections.IsectSegAABB(sp, sq, bmin, bmax, out var t0, out var t1))
                 {
                     if (t0 < tmin)
                     {
diff --git a/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs b/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs
index 2131e66..f08511c 100644
--- a/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs
+++ b/src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs
@@ -58,7 +58,7 @@ namespace DotRecast.Recast.Toolset.Tools
             while (0 < polys.Count && smoothPath.Count < MAX_SMOOTH)
             {
                 // Find location to steer towards.
-                if (!PathUtils.GetSteerTarget(navQuery, iterPos, targetPos, SLOP,
+                if (!DtPathUtils.GetSteerTarget(navQuery, iterPos, targetPos, SLOP,
                         polys, out var steerPos, out var steerPosFlag, out var steerPosRef))
                 {
                     break;
@@ -91,8 +91,8 @@ namespace DotRecast.Recast.Toolset.Tools
 
                 iterPos = result;
 
-                polys = PathUtils.MergeCorridorStartMoved(polys, visited);
-                polys = PathUtils.FixupShortcuts(polys, navQuery);
+                polys = DtPathUtils.MergeCorridorStartMoved(polys, visited);
+                polys = DtPathUtils.FixupShortcuts(polys, navQuery);
 
                 var status = navQuery.GetPolyHeight(polys[0], result, out var h);
                 if (status.Succeeded())
@@ -101,7 +101,7 @@ namespace DotRecast.Recast.Toolset.Tools
                 }
 
                 // Handle end of path and off-mesh links when close enough.
-                if (endOfPath && PathUtils.InRange(iterPos, steerPos, SLOP, 1.0f))
+                if (endOfPath && DtPathUtils.InRange(iterPos, steerPos, SLOP, 1.0f))
                 {
                     // Reached end of path.
                     iterPos = targetPos;
@@ -112,7 +112,7 @@ namespace DotRecast.Recast.Toolset.Tools
 
                     break;
                 }
-                else if (offMeshConnection && PathUtils.InRange(iterPos, steerPos, SLOP, 1.0f))
+                else if (offMeshConnection && DtPathUtils.InRange(iterPos, steerPos, SLOP, 1.0f))
                 {
                     // Reached off-mesh connection.
                     RcVec3f startPos = RcVec3f.Zero;
@@ -422,7 +422,7 @@ namespace DotRecast.Recast.Toolset.Tools
                 ? DtStrictDtPolygonByCircleConstraint.Shared
                 : DtNoOpDtPolygonByCircleConstraint.Shared;
 
-            var frand = new FRand();
+            var frand = new RcRand();
             int prevCnt = points.Count;
 
             points = new List<RcVec3f>();
diff --git a/src/DotRecast.Recast/RcPolyMeshRaycast.cs b/src/DotRecast.Recast/RcPolyMeshRaycast.cs
index f959029..fdab28e 100644
--- a/src/DotRecast.Recast/RcPolyMeshRaycast.cs
+++ b/src/DotRecast.Recast/RcPolyMeshRaycast.cs
@@ -64,7 +64,7 @@ namespace DotRecast.Recast
                             vs[k].z = meshDetail.verts[verts + meshDetail.tris[tris + j * 4 + k] * 3 + 2];
                         }
 
-                        if (Intersections.IntersectSegmentTriangle(sp, sq, vs[0], vs[1], vs[2], out hitTime))
+                        if (RcIntersections.IntersectSegmentTriangle(sp, sq, vs[0], vs[1], vs[2], out hitTime))
                         {
                             return true;
                         }
diff --git a/test/DotRecast.Detour.Test/RandomPointTest.cs b/test/DotRecast.Detour.Test/RandomPointTest.cs
index 862b799..3f61c90 100644
--- a/test/DotRecast.Detour.Test/RandomPointTest.cs
+++ b/test/DotRecast.Detour.Test/RandomPointTest.cs
@@ -31,7 +31,7 @@ public class RandomPointTest : AbstractDetourTest
     [Test]
     public void TestRandom()
     {
-        FRand f = new FRand(1);
+        RcRand f = new RcRand(1);
         IDtQueryFilter filter = new DtQueryDefaultFilter();
         for (int i = 0; i < 1000; i++)
         {
@@ -60,7 +60,7 @@ public class RandomPointTest : AbstractDetourTest
     [Test]
     public void TestRandomAroundCircle()
     {
-        FRand f = new FRand(1);
+        RcRand f = new RcRand(1);
         IDtQueryFilter filter = new DtQueryDefaultFilter();
         query.FindRandomPoint(filter, f, out var randomRef, out var randomPt);
         for (int i = 0; i < 1000; i++)
@@ -94,7 +94,7 @@ public class RandomPointTest : AbstractDetourTest
     [Test]
     public void TestRandomWithinCircle()
     {
-        FRand f = new FRand(1);
+        RcRand f = new RcRand(1);
         IDtQueryFilter filter = new DtQueryDefaultFilter();
         query.FindRandomPoint(filter, f, out var randomRef, out var randomPt);
         float radius = 5f;
@@ -114,7 +114,7 @@ public class RandomPointTest : AbstractDetourTest
     [Test]
     public void TestPerformance()
     {
-        FRand f = new FRand(1);
+        RcRand f = new RcRand(1);
         IDtQueryFilter filter = new DtQueryDefaultFilter();
         query.FindRandomPoint(filter, f, out var randomRef, out var randomPt);