rename in DotRecast.Detour.Dynamic

src/DotRecast.Core/RcByteUtils.cs

@@ -17,11 +17,9 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-using DotRecast.Core;
+namespace DotRecast.Core
-
-namespace DotRecast.Detour.Dynamic.Io
 {
-    public static class ByteUtils
+    public static class RcByteUtils
     {
         public static int GetInt(byte[] data, int position, RcByteOrder order)
         {
@@ -30,13 +28,17 @@ namespace DotRecast.Detour.Dynamic.Io
 
         public static int GetIntBE(byte[] data, int position)
         {
-            return ((data[position] & 0xff) << 24) | ((data[position + 1] & 0xff) << 16) | ((data[position + 2] & 0xff) << 8)
+            return ((data[position] & 0xff) << 24)
+                   | ((data[position + 1] & 0xff) << 16)
+                   | ((data[position + 2] & 0xff) << 8)
                    | (data[position + 3] & 0xff);
         }
 
         public static int GetIntLE(byte[] data, int position)
         {
-            return ((data[position + 3] & 0xff) << 24) | ((data[position + 2] & 0xff) << 16) | ((data[position + 1] & 0xff) << 8)
+            return ((data[position + 3] & 0xff) << 24)
+                   | ((data[position + 2] & 0xff) << 16)
+                   | ((data[position + 1] & 0xff) << 8)
                    | (data[position] & 0xff);
         }
 

src/DotRecast.Detour.Crowd/DtCrowd.cs

@@ -21,7 +21,7 @@ freely, subject to the following restrictions:
 using System;
 using System.Collections.Concurrent;
 using System.Collections.Generic;
-using System.Collections.ObjectModel;
+
 using System.Linq;
 using DotRecast.Core;
 using DotRecast.Detour.Crowd.Tracking;

src/DotRecast.Detour.Dynamic/Colliders/DtBoxCollider.cs

@@ -23,12 +23,12 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.Dynamic.Colliders
 {
-    public class BoxCollider : AbstractCollider
+    public class DtBoxCollider : DtCollider
     {
         private readonly RcVec3f center;
         private readonly RcVec3f[] halfEdges;
 
-        public BoxCollider(RcVec3f center, RcVec3f[] halfEdges, int area, float flagMergeThreshold) :
+        public DtBoxCollider(RcVec3f center, RcVec3f[] halfEdges, int area, float flagMergeThreshold) :
             base(area, flagMergeThreshold, Bounds(center, halfEdges))
         {
             this.center = center;

src/DotRecast.Detour.Dynamic/Colliders/DtCapsuleCollider.cs

@@ -23,13 +23,13 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.Dynamic.Colliders
 {
-    public class CapsuleCollider : AbstractCollider
+    public class DtCapsuleCollider : DtCollider
     {
         private readonly RcVec3f start;
         private readonly RcVec3f end;
         private readonly float radius;
 
-        public CapsuleCollider(RcVec3f start, RcVec3f end, float radius, int area, float flagMergeThreshold)
+        public DtCapsuleCollider(RcVec3f start, RcVec3f end, float radius, int area, float flagMergeThreshold)
             : base(area, flagMergeThreshold, Bounds(start, end, radius))
         {
             this.start = start;

src/DotRecast.Detour.Dynamic/Colliders/DtCollider.cs

@@ -22,13 +22,13 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.Dynamic.Colliders
 {
-    public abstract class AbstractCollider : ICollider
+    public abstract class DtCollider : IDtCollider
     {
         protected readonly int area;
         protected readonly float flagMergeThreshold;
         protected readonly float[] _bounds;
 
-        public AbstractCollider(int area, float flagMergeThreshold, float[] bounds)
+        public DtCollider(int area, float flagMergeThreshold, float[] bounds)
         {
             this.area = area;
             this.flagMergeThreshold = flagMergeThreshold;

src/DotRecast.Detour.Dynamic/Colliders/DtCompositeCollider.cs

@@ -25,18 +25,18 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.Dynamic.Colliders
 {
-    public class CompositeCollider : ICollider
+    public class DtCompositeCollider : IDtCollider
     {
-        private readonly List<ICollider> colliders;
+        private readonly List<IDtCollider> colliders;
         private readonly float[] _bounds;
 
-        public CompositeCollider(List<ICollider> colliders)
+        public DtCompositeCollider(List<IDtCollider> colliders)
         {
             this.colliders = colliders;
             _bounds = Bounds(colliders);
         }
 
-        public CompositeCollider(params ICollider[] colliders)
+        public DtCompositeCollider(params IDtCollider[] colliders)
         {
             this.colliders = colliders.ToList();
             _bounds = Bounds(this.colliders);
@@ -47,14 +47,14 @@ namespace DotRecast.Detour.Dynamic.Colliders
             return _bounds;
         }
 
-        private static float[] Bounds(List<ICollider> colliders)
+        private static float[] Bounds(List<IDtCollider> colliders)
         {
             float[] bounds = new float[]
             {
                 float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity,
                 float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity
             };
-            foreach (ICollider collider in colliders)
+            foreach (IDtCollider collider in colliders)
             {
                 float[] b = collider.Bounds();
                 bounds[0] = Math.Min(bounds[0], b[0]);

src/DotRecast.Detour.Dynamic/Colliders/DtConvexTrimeshCollider.cs

@@ -23,19 +23,19 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.Dynamic.Colliders
 {
-    public class ConvexTrimeshCollider : AbstractCollider
+    public class DtConvexTrimeshCollider : DtCollider
     {
         private readonly float[] vertices;
         private readonly int[] triangles;
 
-        public ConvexTrimeshCollider(float[] vertices, int[] triangles, int area, float flagMergeThreshold)
+        public DtConvexTrimeshCollider(float[] vertices, int[] triangles, int area, float flagMergeThreshold)
-            : base(area, flagMergeThreshold, TrimeshCollider.ComputeBounds(vertices))
+            : base(area, flagMergeThreshold, DtTrimeshCollider.ComputeBounds(vertices))
         {
             this.vertices = vertices;
             this.triangles = triangles;
         }
 
-        public ConvexTrimeshCollider(float[] vertices, int[] triangles, float[] bounds, int area, float flagMergeThreshold)
+        public DtConvexTrimeshCollider(float[] vertices, int[] triangles, float[] bounds, int area, float flagMergeThreshold)
             : base(area, flagMergeThreshold, bounds)
         {
             this.vertices = vertices;

src/DotRecast.Detour.Dynamic/Colliders/DtCylinderCollider.cs

@@ -23,13 +23,13 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.Dynamic.Colliders
 {
-    public class CylinderCollider : AbstractCollider
+    public class DtCylinderCollider : DtCollider
     {
         private readonly RcVec3f start;
         private readonly RcVec3f end;
         private readonly float radius;
 
-        public CylinderCollider(RcVec3f start, RcVec3f end, float radius, int area, float flagMergeThreshold) :
+        public DtCylinderCollider(RcVec3f start, RcVec3f end, float radius, int area, float flagMergeThreshold) :
             base(area, flagMergeThreshold, Bounds(start, end, radius))
         {
             this.start = start;

src/DotRecast.Detour.Dynamic/Colliders/DtSphereCollider.cs

@@ -23,12 +23,12 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.Dynamic.Colliders
 {
-    public class SphereCollider : AbstractCollider
+    public class DtSphereCollider : DtCollider
     {
         private readonly RcVec3f center;
         private readonly float radius;
 
-        public SphereCollider(RcVec3f center, float radius, int area, float flagMergeThreshold)
+        public DtSphereCollider(RcVec3f center, float radius, int area, float flagMergeThreshold)
             : base(area, flagMergeThreshold, Bounds(center, radius))
         {
             this.center = center;

src/DotRecast.Detour.Dynamic/Colliders/DtTrimeshCollider.cs

@@ -23,19 +23,19 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.Dynamic.Colliders
 {
-    public class TrimeshCollider : AbstractCollider
+    public class DtTrimeshCollider : DtCollider
     {
         private readonly float[] vertices;
         private readonly int[] triangles;
 
-        public TrimeshCollider(float[] vertices, int[] triangles, int area, float flagMergeThreshold)
+        public DtTrimeshCollider(float[] vertices, int[] triangles, int area, float flagMergeThreshold)
             : base(area, flagMergeThreshold, ComputeBounds(vertices))
         {
             this.vertices = vertices;
             this.triangles = triangles;
         }
 
-        public TrimeshCollider(float[] vertices, int[] triangles, float[] bounds, int area, float flagMergeThreshold) :
+        public DtTrimeshCollider(float[] vertices, int[] triangles, float[] bounds, int area, float flagMergeThreshold) :
             base(area, flagMergeThreshold, bounds)
         {
             this.vertices = vertices;

src/DotRecast.Detour.Dynamic/Colliders/IDtCollider.cs

@@ -22,7 +22,7 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.Dynamic.Colliders
 {
-    public interface ICollider
+    public interface IDtCollider
     {
         float[] Bounds();
         void Rasterize(RcHeightfield hf, RcTelemetry telemetry);

src/DotRecast.Detour.Dynamic/DtDynamicNavMesh.cs

@@ -20,7 +20,6 @@ freely, subject to the following restrictions:
 using System;
 using System.Collections.Concurrent;
 using System.Collections.Generic;
-using System.Collections.ObjectModel;
 using System.Linq;
 using System.Threading.Tasks;
 using DotRecast.Core;
@@ -30,22 +29,22 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.Dynamic
 {
-    public class DynamicNavMesh
+    public class DtDynamicNavMesh
     {
         public const int MAX_VERTS_PER_POLY = 6;
-        public readonly DynamicNavMeshConfig config;
+        public readonly DtDynamicNavMeshConfig config;
         private readonly RecastBuilder builder;
-        private readonly Dictionary<long, DynamicTile> _tiles = new Dictionary<long, DynamicTile>();
+        private readonly Dictionary<long, DtDynamicTile> _tiles = new Dictionary<long, DtDynamicTile>();
         private readonly RcTelemetry telemetry;
         private readonly DtNavMeshParams navMeshParams;
-        private readonly BlockingCollection<IUpdateQueueItem> updateQueue = new BlockingCollection<IUpdateQueueItem>();
+        private readonly BlockingCollection<IDtDaynmicTileJob> updateQueue = new BlockingCollection<IDtDaynmicTileJob>();
         private readonly RcAtomicLong currentColliderId = new RcAtomicLong(0);
         private DtNavMesh _navMesh;
         private bool dirty = true;
 
-        public DynamicNavMesh(VoxelFile voxelFile)
+        public DtDynamicNavMesh(DtVoxelFile voxelFile)
         {
-            config = new DynamicNavMeshConfig(voxelFile.useTiles, voxelFile.tileSizeX, voxelFile.tileSizeZ, voxelFile.cellSize);
+            config = new DtDynamicNavMeshConfig(voxelFile.useTiles, voxelFile.tileSizeX, voxelFile.tileSizeZ, voxelFile.cellSize);
             config.walkableHeight = voxelFile.walkableHeight;
             config.walkableRadius = voxelFile.walkableRadius;
             config.walkableClimb = voxelFile.walkableClimb;
@@ -69,7 +68,7 @@ namespace DotRecast.Detour.Dynamic
             navMeshParams.maxPolys = 0x8000;
             foreach (var t in voxelFile.tiles)
             {
-                _tiles.Add(LookupKey(t.tileX, t.tileZ), new DynamicTile(t));
+                _tiles.Add(LookupKey(t.tileX, t.tileZ), new DtDynamicTile(t));
             }
 
             ;
@@ -84,9 +83,9 @@ namespace DotRecast.Detour.Dynamic
         /**
      * Voxel queries require checkpoints to be enabled in {@link DynamicNavMeshConfig}
      */
-        public VoxelQuery VoxelQuery()
+        public DtVoxelQuery VoxelQuery()
         {
-            return new VoxelQuery(navMeshParams.orig, navMeshParams.tileWidth, navMeshParams.tileHeight, LookupHeightfield);
+            return new DtVoxelQuery(navMeshParams.orig, navMeshParams.tileWidth, navMeshParams.tileHeight, LookupHeightfield);
         }
 
         private RcHeightfield LookupHeightfield(int x, int z)
@@ -94,16 +93,16 @@ namespace DotRecast.Detour.Dynamic
             return GetTileAt(x, z)?.checkpoint.heightfield;
         }
 
-        public long AddCollider(ICollider collider)
+        public long AddCollider(IDtCollider collider)
         {
             long cid = currentColliderId.IncrementAndGet();
-            updateQueue.Add(new AddColliderQueueItem(cid, collider, GetTiles(collider.Bounds())));
+            updateQueue.Add(new DtDynamicTileColliderAdditionJob(cid, collider, GetTiles(collider.Bounds())));
             return cid;
         }
 
         public void RemoveCollider(long colliderId)
         {
-            updateQueue.Add(new RemoveColliderQueueItem(colliderId, GetTilesByCollider(colliderId)));
+            updateQueue.Add(new DtDynamicTileColliderRemovalJob(colliderId, GetTilesByCollider(colliderId)));
         }
 
         /**
@@ -123,14 +122,14 @@ namespace DotRecast.Detour.Dynamic
             return Rebuild(ProcessQueue());
         }
 
-        private bool Rebuild(ICollection<DynamicTile> stream)
+        private bool Rebuild(ICollection<DtDynamicTile> stream)
         {
             foreach (var dynamicTile in stream)
                 Rebuild(dynamicTile);
             return UpdateNavMesh();
         }
 
-        private HashSet<DynamicTile> ProcessQueue()
+        private HashSet<DtDynamicTile> ProcessQueue()
         {
             var items = ConsumeQueue();
             foreach (var item in items)
@@ -141,9 +140,9 @@ namespace DotRecast.Detour.Dynamic
             return items.SelectMany(i => i.AffectedTiles()).ToHashSet();
         }
 
-        private List<IUpdateQueueItem> ConsumeQueue()
+        private List<IDtDaynmicTileJob> ConsumeQueue()
         {
-            List<IUpdateQueueItem> items = new List<IUpdateQueueItem>();
+            List<IDtDaynmicTileJob> items = new List<IDtDaynmicTileJob>();
             while (updateQueue.TryTake(out var item))
             {
                 items.Add(item);
@@ -152,7 +151,7 @@ namespace DotRecast.Detour.Dynamic
             return items;
         }
 
-        private void Process(IUpdateQueueItem item)
+        private void Process(IDtDaynmicTileJob item)
         {
             foreach (var tile in item.AffectedTiles())
             {
@@ -177,13 +176,13 @@ namespace DotRecast.Detour.Dynamic
             return Rebuild(ProcessQueue(), executor);
         }
 
-        private Task<bool> Rebuild(ICollection<DynamicTile> tiles, TaskFactory executor)
+        private Task<bool> Rebuild(ICollection<DtDynamicTile> tiles, TaskFactory executor)
         {
             var tasks = tiles.Select(tile => executor.StartNew(() => Rebuild(tile))).ToArray();
             return Task.WhenAll(tasks).ContinueWith(k => UpdateNavMesh());
         }
 
-        private ICollection<DynamicTile> GetTiles(float[] bounds)
+        private ICollection<DtDynamicTile> GetTiles(float[] bounds)
         {
             if (bounds == null)
             {
@@ -194,12 +193,12 @@ namespace DotRecast.Detour.Dynamic
             int minz = (int)Math.Floor((bounds[2] - navMeshParams.orig.z) / navMeshParams.tileHeight);
             int maxx = (int)Math.Floor((bounds[3] - navMeshParams.orig.x) / navMeshParams.tileWidth);
             int maxz = (int)Math.Floor((bounds[5] - navMeshParams.orig.z) / navMeshParams.tileHeight);
-            List<DynamicTile> tiles = new List<DynamicTile>();
+            List<DtDynamicTile> tiles = new List<DtDynamicTile>();
             for (int z = minz; z <= maxz; ++z)
             {
                 for (int x = minx; x <= maxx; ++x)
                 {
-                    DynamicTile tile = GetTileAt(x, z);
+                    DtDynamicTile tile = GetTileAt(x, z);
                     if (tile != null)
                     {
                         tiles.Add(tile);
@@ -210,12 +209,12 @@ namespace DotRecast.Detour.Dynamic
             return tiles;
         }
 
-        private List<DynamicTile> GetTilesByCollider(long cid)
+        private List<DtDynamicTile> GetTilesByCollider(long cid)
         {
             return _tiles.Values.Where(t => t.ContainsCollider(cid)).ToList();
         }
 
-        private void Rebuild(DynamicTile tile)
+        private void Rebuild(DtDynamicTile tile)
         {
             DtNavMeshCreateParams option = new DtNavMeshCreateParams();
             option.walkableHeight = config.walkableHeight;
@@ -238,7 +237,7 @@ namespace DotRecast.Detour.Dynamic
             return false;
         }
 
-        private DynamicTile GetTileAt(int x, int z)
+        private DtDynamicTile GetTileAt(int x, int z)
         {
             return _tiles.TryGetValue(LookupKey(x, z), out var tile)
                 ? tile
@@ -250,7 +249,7 @@ namespace DotRecast.Detour.Dynamic
             return (z << 32) | x;
         }
 
-        public List<VoxelTile> VoxelTiles()
+        public List<DtVoxelTile> VoxelTiles()
         {
             return _tiles.Values.Select(t => t.voxelTile).ToList();
         }

src/DotRecast.Detour.Dynamic/DtDynamicNavMeshConfig.cs

@@ -21,7 +21,7 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.Dynamic
 {
-    public class DynamicNavMeshConfig
+    public class DtDynamicNavMeshConfig
     {
         public readonly bool useTiles;
         public readonly int tileSizeX;
@@ -47,7 +47,7 @@ namespace DotRecast.Detour.Dynamic
         public bool enableCheckpoints = true;
         public bool keepIntermediateResults = false;
 
-        public DynamicNavMeshConfig(bool useTiles, int tileSizeX, int tileSizeZ, float cellSize)
+        public DtDynamicNavMeshConfig(bool useTiles, int tileSizeX, int tileSizeZ, float cellSize)
         {
             this.useTiles = useTiles;
             this.tileSizeX = tileSizeX;

src/DotRecast.Detour.Dynamic/DtDynamicTile.cs

@@ -20,7 +20,7 @@ freely, subject to the following restrictions:
 using System;
 using System.Collections.Concurrent;
 using System.Collections.Generic;
-using System.Collections.ObjectModel;
+
 using System.Linq;
 using DotRecast.Core;
 using DotRecast.Detour.Dynamic.Colliders;
@@ -29,22 +29,22 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.Dynamic
 {
-    public class DynamicTile
+    public class DtDynamicTile
     {
-        public readonly VoxelTile voxelTile;
+        public readonly DtVoxelTile voxelTile;
-        public DynamicTileCheckpoint checkpoint;
+        public DtDynamicTileCheckpoint checkpoint;
         public RecastBuilderResult recastResult;
         private DtMeshData meshData;
-        private readonly ConcurrentDictionary<long, ICollider> colliders = new ConcurrentDictionary<long, ICollider>();
+        private readonly ConcurrentDictionary<long, IDtCollider> colliders = new ConcurrentDictionary<long, IDtCollider>();
         private bool dirty = true;
         private long id;
 
-        public DynamicTile(VoxelTile voxelTile)
+        public DtDynamicTile(DtVoxelTile voxelTile)
         {
             this.voxelTile = voxelTile;
         }
 
-        public bool Build(RecastBuilder builder, DynamicNavMeshConfig config, RcTelemetry telemetry)
+        public bool Build(RecastBuilder builder, DtDynamicNavMeshConfig config, RcTelemetry telemetry)
         {
             if (dirty)
             {
@@ -59,7 +59,7 @@ namespace DotRecast.Detour.Dynamic
             return false;
         }
 
-        private RcHeightfield BuildHeightfield(DynamicNavMeshConfig config, RcTelemetry telemetry)
+        private RcHeightfield BuildHeightfield(DtDynamicNavMeshConfig config, RcTelemetry telemetry)
         {
             ICollection<long> rasterizedColliders = checkpoint != null
                 ? checkpoint.colliders as ICollection<long>
@@ -80,13 +80,13 @@ namespace DotRecast.Detour.Dynamic
 
             if (config.enableCheckpoints)
             {
-                checkpoint = new DynamicTileCheckpoint(heightfield, colliders.Keys.ToHashSet());
+                checkpoint = new DtDynamicTileCheckpoint(heightfield, colliders.Keys.ToHashSet());
             }
 
             return heightfield;
         }
 
-        private RecastBuilderResult BuildRecast(RecastBuilder builder, DynamicNavMeshConfig config, VoxelTile vt,
+        private RecastBuilderResult BuildRecast(RecastBuilder builder, DtDynamicNavMeshConfig config, DtVoxelTile vt,
             RcHeightfield heightfield, RcTelemetry telemetry)
         {
             RcConfig rcConfig = new RcConfig(
@@ -97,7 +97,7 @@ namespace DotRecast.Detour.Dynamic
                 config.walkableSlopeAngle, config.walkableHeight, config.walkableRadius, config.walkableClimb,
                 config.minRegionArea, config.regionMergeArea,
                 config.maxEdgeLen, config.maxSimplificationError,
-                Math.Min(DynamicNavMesh.MAX_VERTS_PER_POLY, config.vertsPerPoly),
+                Math.Min(DtDynamicNavMesh.MAX_VERTS_PER_POLY, config.vertsPerPoly),
                 config.detailSampleDistance, config.detailSampleMaxError,
                 true, true, true, null, true);
             RecastBuilderResult r = builder.Build(vt.tileX, vt.tileZ, null, rcConfig, heightfield, telemetry);
@@ -109,7 +109,7 @@ namespace DotRecast.Detour.Dynamic
             return r;
         }
 
-        public void AddCollider(long cid, ICollider collider)
+        public void AddCollider(long cid, IDtCollider collider)
         {
             colliders[cid] = collider;
             dirty = true;
@@ -130,7 +130,7 @@ namespace DotRecast.Detour.Dynamic
         }
 
         private DtNavMeshCreateParams NavMeshCreateParams(int tilex, int tileZ, float cellSize, float cellHeight,
-            DynamicNavMeshConfig config, RecastBuilderResult rcResult)
+            DtDynamicNavMeshConfig config, RecastBuilderResult rcResult)
         {
             RcPolyMesh m_pmesh = rcResult.GetMesh();
             RcPolyMeshDetail m_dmesh = rcResult.GetMeshDetail();

src/DotRecast.Detour.Dynamic/DtDynamicTileCheckpoint.cs

@@ -22,12 +22,12 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.Dynamic
 {
-    public class DynamicTileCheckpoint
+    public class DtDynamicTileCheckpoint
     {
         public readonly RcHeightfield heightfield;
         public readonly ISet<long> colliders;
 
-        public DynamicTileCheckpoint(RcHeightfield heightfield, ISet<long> colliders)
+        public DtDynamicTileCheckpoint(RcHeightfield heightfield, ISet<long> colliders)
         {
             this.colliders = colliders;
             this.heightfield = Clone(heightfield);

src/DotRecast.Detour.Dynamic/DtDynamicTileColliderAdditionJob.cs

@@ -22,27 +22,27 @@ using DotRecast.Detour.Dynamic.Colliders;
 
 namespace DotRecast.Detour.Dynamic
 {
-    public class AddColliderQueueItem : IUpdateQueueItem
+    public class DtDynamicTileColliderAdditionJob : IDtDaynmicTileJob
     {
-        private readonly long colliderId;
+        private readonly long _colliderId;
-        private readonly ICollider collider;
+        private readonly IDtCollider _collider;
-        private readonly ICollection<DynamicTile> _affectedTiles;
+        private readonly ICollection<DtDynamicTile> _affectedTiles;
 
-        public AddColliderQueueItem(long colliderId, ICollider collider, ICollection<DynamicTile> affectedTiles)
+        public DtDynamicTileColliderAdditionJob(long colliderId, IDtCollider collider, ICollection<DtDynamicTile> affectedTiles)
         {
-            this.colliderId = colliderId;
+            _colliderId = colliderId;
-            this.collider = collider;
+            _collider = collider;
             _affectedTiles = affectedTiles;
         }
 
-        public ICollection<DynamicTile> AffectedTiles()
+        public ICollection<DtDynamicTile> AffectedTiles()
         {
             return _affectedTiles;
         }
 
-        public void Process(DynamicTile tile)
+        public void Process(DtDynamicTile tile)
         {
-            tile.AddCollider(colliderId, collider);
+            tile.AddCollider(_colliderId, _collider);
         }
     }
 }

src/DotRecast.Detour.Dynamic/DtDynamicTileColliderRemovalJob.cs

@@ -21,23 +21,23 @@ using System.Collections.Generic;
 
 namespace DotRecast.Detour.Dynamic
 {
-    public class RemoveColliderQueueItem : IUpdateQueueItem
+    public class DtDynamicTileColliderRemovalJob : IDtDaynmicTileJob
     {
         private readonly long colliderId;
-        private readonly ICollection<DynamicTile> _affectedTiles;
+        private readonly ICollection<DtDynamicTile> _affectedTiles;
 
-        public RemoveColliderQueueItem(long colliderId, ICollection<DynamicTile> affectedTiles)
+        public DtDynamicTileColliderRemovalJob(long colliderId, ICollection<DtDynamicTile> affectedTiles)
         {
             this.colliderId = colliderId;
             this._affectedTiles = affectedTiles;
         }
 
-        public ICollection<DynamicTile> AffectedTiles()
+        public ICollection<DtDynamicTile> AffectedTiles()
         {
             return _affectedTiles;
         }
 
-        public void Process(DynamicTile tile)
+        public void Process(DtDynamicTile tile)
         {
             tile.RemoveCollider(colliderId);
         }

src/DotRecast.Detour.Dynamic/DtVoxelQuery.cs

@@ -28,14 +28,14 @@ namespace DotRecast.Detour.Dynamic
  *
  * "A Fast Voxel Traversal Algorithm for Ray Tracing" by John Amanatides and Andrew Woo
  */
-    public class VoxelQuery
+    public class DtVoxelQuery
     {
         private readonly RcVec3f origin;
         private readonly float tileWidth;
         private readonly float tileDepth;
         private readonly Func<int, int, RcHeightfield> heightfieldProvider;
 
-        public VoxelQuery(RcVec3f origin, float tileWidth, float tileDepth, Func<int, int, RcHeightfield> heightfieldProvider)
+        public DtVoxelQuery(RcVec3f origin, float tileWidth, float tileDepth, Func<int, int, RcHeightfield> heightfieldProvider)
         {
             this.origin = origin;
             this.tileWidth = tileWidth;

src/DotRecast.Detour.Dynamic/IDtDaynmicTileJob.cs

@@ -21,10 +21,10 @@ using System.Collections.Generic;
 
 namespace DotRecast.Detour.Dynamic
 {
-    public interface IUpdateQueueItem
+    public interface IDtDaynmicTileJob
     {
-        ICollection<DynamicTile> AffectedTiles();
+        ICollection<DtDynamicTile> AffectedTiles();
 
-        void Process(DynamicTile tile);
+        void Process(DtDynamicTile tile);
     }
 }

src/DotRecast.Detour.Dynamic/Io/DtVoxelFile.cs

@@ -24,7 +24,7 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.Dynamic.Io
 {
-    public class VoxelFile
+    public class DtVoxelFile
     {
         public static readonly RcByteOrder PREFERRED_BYTE_ORDER = RcByteOrder.BIG_ENDIAN;
         public const int MAGIC = 'V' << 24 | 'O' << 16 | 'X' << 8 | 'L';
@@ -55,14 +55,14 @@ namespace DotRecast.Detour.Dynamic.Io
         public int tileSizeZ;
         public RcVec3f rotation = new RcVec3f();
         public float[] bounds = new float[6];
-        public readonly List<VoxelTile> tiles = new List<VoxelTile>();
+        public readonly List<DtVoxelTile> tiles = new List<DtVoxelTile>();
 
-        public void AddTile(VoxelTile tile)
+        public void AddTile(DtVoxelTile tile)
         {
             tiles.Add(tile);
         }
 
-        public RcConfig GetConfig(VoxelTile tile, RcAreaModification walkbableAreaMod, bool buildMeshDetail)
+        public RcConfig GetConfig(DtVoxelTile tile, RcAreaModification walkbableAreaMod, bool buildMeshDetail)
         {
             return new RcConfig(useTiles, tileSizeX, tileSizeZ,
                 tile.borderSize,
@@ -77,9 +77,9 @@ namespace DotRecast.Detour.Dynamic.Io
                 walkbableAreaMod, buildMeshDetail);
         }
 
-        public static VoxelFile From(RcConfig config, List<RecastBuilderResult> results)
+        public static DtVoxelFile From(RcConfig config, List<RecastBuilderResult> results)
         {
-            VoxelFile f = new VoxelFile();
+            DtVoxelFile f = new DtVoxelFile();
             f.version = 1;
             f.partition = config.Partition;
             f.filterLowHangingObstacles = config.FilterLowHangingObstacles;
@@ -108,7 +108,7 @@ namespace DotRecast.Detour.Dynamic.Io
             };
             foreach (RecastBuilderResult r in results)
             {
-                f.tiles.Add(new VoxelTile(r.tileX, r.tileZ, r.GetSolidHeightfield()));
+                f.tiles.Add(new DtVoxelTile(r.tileX, r.tileZ, r.GetSolidHeightfield()));
                 f.bounds[0] = Math.Min(f.bounds[0], r.GetSolidHeightfield().bmin.x);
                 f.bounds[1] = Math.Min(f.bounds[1], r.GetSolidHeightfield().bmin.y);
                 f.bounds[2] = Math.Min(f.bounds[2], r.GetSolidHeightfield().bmin.z);
@@ -120,11 +120,11 @@ namespace DotRecast.Detour.Dynamic.Io
             return f;
         }
 
-        public static VoxelFile From(DynamicNavMesh mesh)
+        public static DtVoxelFile From(DtDynamicNavMesh mesh)
         {
-            VoxelFile f = new VoxelFile();
+            DtVoxelFile f = new DtVoxelFile();
             f.version = 1;
-            DynamicNavMeshConfig config = mesh.config;
+            DtDynamicNavMeshConfig config = mesh.config;
             f.partition = config.partition;
             f.filterLowHangingObstacles = config.filterLowHangingObstacles;
             f.filterLedgeSpans = config.filterLedgeSpans;
@@ -150,10 +150,10 @@ namespace DotRecast.Detour.Dynamic.Io
                 float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity,
                 float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity
             };
-            foreach (VoxelTile vt in mesh.VoxelTiles())
+            foreach (DtVoxelTile vt in mesh.VoxelTiles())
             {
                 RcHeightfield heightfield = vt.Heightfield();
-                f.tiles.Add(new VoxelTile(vt.tileX, vt.tileZ, heightfield));
+                f.tiles.Add(new DtVoxelTile(vt.tileX, vt.tileZ, heightfield));
                 f.bounds[0] = Math.Min(f.bounds[0], vt.boundsMin.x);
                 f.bounds[1] = Math.Min(f.bounds[1], vt.boundsMin.y);
                 f.bounds[2] = Math.Min(f.bounds[2], vt.boundsMin.z);

src/DotRecast.Detour.Dynamic/Io/DtVoxelFileReader.cs

@@ -23,24 +23,24 @@ using DotRecast.Detour.Io;
 
 namespace DotRecast.Detour.Dynamic.Io
 {
-    public class VoxelFileReader
+    public class DtVoxelFileReader
     {
         private readonly IRcCompressor _compressor;
 
-        public VoxelFileReader(IRcCompressor compressor)
+        public DtVoxelFileReader(IRcCompressor compressor)
         {
             _compressor = compressor;
         }
 
-        public VoxelFile Read(BinaryReader stream)
+        public DtVoxelFile Read(BinaryReader stream)
         {
             RcByteBuffer buf = IOUtils.ToByteBuffer(stream);
-            VoxelFile file = new VoxelFile();
+            DtVoxelFile file = new DtVoxelFile();
             int magic = buf.GetInt();
-            if (magic != VoxelFile.MAGIC)
+            if (magic != DtVoxelFile.MAGIC)
             {
                 magic = IOUtils.SwapEndianness(magic);
-                if (magic != VoxelFile.MAGIC)
+                if (magic != DtVoxelFile.MAGIC)
                 {
                     throw new IOException("Invalid magic");
                 }
@@ -49,8 +49,8 @@ namespace DotRecast.Detour.Dynamic.Io
             }
 
             file.version = buf.GetInt();
-            bool isExportedFromAstar = (file.version & VoxelFile.VERSION_EXPORTER_MASK) == 0;
+            bool isExportedFromAstar = (file.version & DtVoxelFile.VERSION_EXPORTER_MASK) == 0;
-            bool compression = (file.version & VoxelFile.VERSION_COMPRESSION_MASK) == VoxelFile.VERSION_COMPRESSION_LZ4;
+            bool compression = (file.version & DtVoxelFile.VERSION_COMPRESSION_MASK) == DtVoxelFile.VERSION_COMPRESSION_LZ4;
             file.walkableRadius = buf.GetFloat();
             file.walkableHeight = buf.GetFloat();
             file.walkableClimb = buf.GetFloat();
@@ -138,7 +138,7 @@ namespace DotRecast.Detour.Dynamic.Io
 
                 RcByteBuffer data = new RcByteBuffer(bytes);
                 data.Order(buf.Order());
-                file.AddTile(new VoxelTile(tileX, tileZ, width, depth, boundsMin, boundsMax, cellSize, cellHeight, borderSize, data));
+                file.AddTile(new DtVoxelTile(tileX, tileZ, width, depth, boundsMin, boundsMax, cellSize, cellHeight, borderSize, data));
                 buf.Position(position + voxelSize);
             }
 

src/DotRecast.Detour.Dynamic/Io/DtVoxelFileWriter.cs

@@ -23,24 +23,24 @@ using DotRecast.Detour.Io;
 
 namespace DotRecast.Detour.Dynamic.Io
 {
-    public class VoxelFileWriter : DtWriter
+    public class DtVoxelFileWriter : DtWriter
     {
         private readonly IRcCompressor _compressor;
 
-        public VoxelFileWriter(IRcCompressor compressor)
+        public DtVoxelFileWriter(IRcCompressor compressor)
         {
             _compressor = compressor;
         }
 
-        public void Write(BinaryWriter stream, VoxelFile f, bool compression)
+        public void Write(BinaryWriter stream, DtVoxelFile f, bool compression)
         {
-            Write(stream, f, VoxelFile.PREFERRED_BYTE_ORDER, compression);
+            Write(stream, f, DtVoxelFile.PREFERRED_BYTE_ORDER, compression);
         }
 
-        public void Write(BinaryWriter stream, VoxelFile f, RcByteOrder byteOrder, bool compression)
+        public void Write(BinaryWriter stream, DtVoxelFile f, RcByteOrder byteOrder, bool compression)
         {
-            Write(stream, VoxelFile.MAGIC, byteOrder);
+            Write(stream, DtVoxelFile.MAGIC, byteOrder);
-            Write(stream, VoxelFile.VERSION_EXPORTER_RECAST4J | (compression ? VoxelFile.VERSION_COMPRESSION_LZ4 : 0), byteOrder);
+            Write(stream, DtVoxelFile.VERSION_EXPORTER_RECAST4J | (compression ? DtVoxelFile.VERSION_COMPRESSION_LZ4 : 0), byteOrder);
             Write(stream, f.walkableRadius, byteOrder);
             Write(stream, f.walkableHeight, byteOrder);
             Write(stream, f.walkableClimb, byteOrder);
@@ -67,13 +67,13 @@ namespace DotRecast.Detour.Dynamic.Io
             Write(stream, f.bounds[4], byteOrder);
             Write(stream, f.bounds[5], byteOrder);
             Write(stream, f.tiles.Count, byteOrder);
-            foreach (VoxelTile t in f.tiles)
+            foreach (DtVoxelTile t in f.tiles)
             {
                 WriteTile(stream, t, byteOrder, compression);
             }
         }
 
-        public void WriteTile(BinaryWriter stream, VoxelTile tile, RcByteOrder byteOrder, bool compression)
+        public void WriteTile(BinaryWriter stream, DtVoxelTile tile, RcByteOrder byteOrder, bool compression)
         {
             Write(stream, tile.tileX, byteOrder);
             Write(stream, tile.tileZ, byteOrder);

src/DotRecast.Detour.Dynamic/Io/DtVoxelTile.cs

@@ -22,7 +22,7 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.Dynamic.Io
 {
-    public class VoxelTile
+    public class DtVoxelTile
     {
         private const int SERIALIZED_SPAN_COUNT_BYTES = 2;
         private const int SERIALIZED_SPAN_BYTES = 12;
@@ -37,7 +37,7 @@ namespace DotRecast.Detour.Dynamic.Io
         public float cellHeight;
         public readonly byte[] spanData;
 
-        public VoxelTile(int tileX, int tileZ, int width, int depth, RcVec3f boundsMin, RcVec3f boundsMax, float cellSize,
+        public DtVoxelTile(int tileX, int tileZ, int width, int depth, RcVec3f boundsMin, RcVec3f boundsMax, float cellSize,
             float cellHeight, int borderSize, RcByteBuffer buffer)
         {
             this.tileX = tileX;
@@ -49,10 +49,10 @@ namespace DotRecast.Detour.Dynamic.Io
             this.cellSize = cellSize;
             this.cellHeight = cellHeight;
             this.borderSize = borderSize;
-            spanData = ToByteArray(buffer, width, depth, VoxelFile.PREFERRED_BYTE_ORDER);
+            spanData = ToByteArray(buffer, width, depth, DtVoxelFile.PREFERRED_BYTE_ORDER);
         }
 
-        public VoxelTile(int tileX, int tileZ, RcHeightfield heightfield)
+        public DtVoxelTile(int tileX, int tileZ, RcHeightfield heightfield)
         {
             this.tileX = tileX;
             this.tileZ = tileZ;
@@ -63,12 +63,12 @@ namespace DotRecast.Detour.Dynamic.Io
             cellSize = heightfield.cs;
             cellHeight = heightfield.ch;
             borderSize = heightfield.borderSize;
-            spanData = SerializeSpans(heightfield, VoxelFile.PREFERRED_BYTE_ORDER);
+            spanData = SerializeSpans(heightfield, DtVoxelFile.PREFERRED_BYTE_ORDER);
         }
 
         public RcHeightfield Heightfield()
         {
-            return VoxelFile.PREFERRED_BYTE_ORDER == RcByteOrder.BIG_ENDIAN ? HeightfieldBE() : HeightfieldLE();
+            return DtVoxelFile.PREFERRED_BYTE_ORDER == RcByteOrder.BIG_ENDIAN ? HeightfieldBE() : HeightfieldLE();
         }
 
         private RcHeightfield HeightfieldBE()
@@ -80,16 +80,16 @@ namespace DotRecast.Detour.Dynamic.Io
                 for (int x = 0; x < width; x++)
                 {
                     RcSpan prev = null;
-                    int spanCount = ByteUtils.GetShortBE(spanData, position);
+                    int spanCount = RcByteUtils.GetShortBE(spanData, position);
                     position += 2;
                     for (int s = 0; s < spanCount; s++)
                     {
                         RcSpan span = new RcSpan();
-                        span.smin = ByteUtils.GetIntBE(spanData, position);
+                        span.smin = RcByteUtils.GetIntBE(spanData, position);
                         position += 4;
-                        span.smax = ByteUtils.GetIntBE(spanData, position);
+                        span.smax = RcByteUtils.GetIntBE(spanData, position);
                         position += 4;
-                        span.area = ByteUtils.GetIntBE(spanData, position);
+                        span.area = RcByteUtils.GetIntBE(spanData, position);
                         position += 4;
                         if (prev == null)
                         {
@@ -117,16 +117,16 @@ namespace DotRecast.Detour.Dynamic.Io
                 for (int x = 0; x < width; x++)
                 {
                     RcSpan prev = null;
-                    int spanCount = ByteUtils.GetShortLE(spanData, position);
+                    int spanCount = RcByteUtils.GetShortLE(spanData, position);
                     position += 2;
                     for (int s = 0; s < spanCount; s++)
                     {
                         RcSpan span = new RcSpan();
-                        span.smin = ByteUtils.GetIntLE(spanData, position);
+                        span.smin = RcByteUtils.GetIntLE(spanData, position);
                         position += 4;
-                        span.smax = ByteUtils.GetIntLE(spanData, position);
+                        span.smax = RcByteUtils.GetIntLE(spanData, position);
                         position += 4;
-                        span.area = ByteUtils.GetIntLE(spanData, position);
+                        span.area = RcByteUtils.GetIntLE(spanData, position);
                         position += 4;
                         if (prev == null)
                         {
@@ -169,13 +169,13 @@ namespace DotRecast.Detour.Dynamic.Io
             {
                 for (int x = 0; x < heightfield.width; x++)
                 {
-                    position = ByteUtils.PutShort(counts[pz + x], data, position, order);
+                    position = RcByteUtils.PutShort(counts[pz + x], data, position, order);
                     RcSpan span = heightfield.spans[pz + x];
                     while (span != null)
                     {
-                        position = ByteUtils.PutInt(span.smin, data, position, order);
+                        position = RcByteUtils.PutInt(span.smin, data, position, order);
-                        position = ByteUtils.PutInt(span.smax, data, position, order);
+                        position = RcByteUtils.PutInt(span.smax, data, position, order);
-                        position = ByteUtils.PutInt(span.area, data, position, order);
+                        position = RcByteUtils.PutInt(span.area, data, position, order);
                         span = span.next;
                     }
                 }
@@ -199,15 +199,15 @@ namespace DotRecast.Detour.Dynamic.Io
                 for (int i = 0; i < l; i++)
                 {
                     int count = buf.GetShort();
-                    ByteUtils.PutShort(count, data, position, order);
+                    RcByteUtils.PutShort(count, data, position, order);
                     position += 2;
                     for (int j = 0; j < count; j++)
                     {
-                        ByteUtils.PutInt(buf.GetInt(), data, position, order);
+                        RcByteUtils.PutInt(buf.GetInt(), data, position, order);
                         position += 4;
-                        ByteUtils.PutInt(buf.GetInt(), data, position, order);
+                        RcByteUtils.PutInt(buf.GetInt(), data, position, order);
                         position += 4;
-                        ByteUtils.PutInt(buf.GetInt(), data, position, order);
+                        RcByteUtils.PutInt(buf.GetInt(), data, position, order);
                         position += 4;
                     }
                 }

src/DotRecast.Detour.Extras/Jumplink/JumpLinkBuilder.cs

@@ -3,7 +3,6 @@ using System.Collections.Generic;
 using System.Linq;
 using DotRecast.Core;
 using DotRecast.Recast;
-using static DotRecast.Core.RcMath;
 
 namespace DotRecast.Detour.Extras.Jumplink
 {

src/DotRecast.Recast.Demo/DtVoxelTileLZ4DemoCompressor.cs

@@ -15,7 +15,7 @@ public class DtVoxelTileLZ4DemoCompressor : IRcCompressor
 
     public byte[] Decompress(byte[] data)
     {
-        int compressedSize = ByteUtils.GetIntBE(data, 0);
+        int compressedSize = RcByteUtils.GetIntBE(data, 0);
         return LZ4Pickler.Unpickle(data.AsSpan(4, compressedSize));
     }
 
@@ -28,7 +28,7 @@ public class DtVoxelTileLZ4DemoCompressor : IRcCompressor
     {
         byte[] compressed = LZ4Pickler.Pickle(data, LZ4Level.L12_MAX);
         byte[] result = new byte[4 + compressed.Length];
-        ByteUtils.PutInt(compressed.Length, result, 0, RcByteOrder.BIG_ENDIAN);
+        RcByteUtils.PutInt(compressed.Length, result, 0, RcByteOrder.BIG_ENDIAN);
         Array.Copy(compressed, 0, result, 4, compressed.Length);
         return result;
     }

src/DotRecast.Recast.Demo/Tools/DynamicUpdateSampleTool.cs

@@ -461,7 +461,7 @@ public class DynamicUpdateSampleTool : ISampleTool
         _sample.Update(null, dynaMesh.RecastResults(), dynaMesh.NavMesh());
     }
 
-    private void UpdateTo(DynamicNavMeshConfig config)
+    private void UpdateTo(DtDynamicNavMeshConfig config)
     {
         config.partition = partitioning;
         config.walkableHeight = walkableHeight;
@@ -481,7 +481,7 @@ public class DynamicUpdateSampleTool : ISampleTool
         config.detailSampleMaxError = detailSampleMaxError;
     }
 
-    private void UpdateFrom(DynamicNavMeshConfig config)
+    private void UpdateFrom(DtDynamicNavMeshConfig config)
     {
         cellSize = config.cellSize;
         partitioning = config.partition;

src/DotRecast.Recast.Toolset/Gizmos/RcBoxGizmo.cs

@@ -28,7 +28,7 @@ namespace DotRecast.Recast.Toolset.Gizmos
         public readonly RcVec3f[] halfEdges;
 
         public RcBoxGizmo(RcVec3f center, RcVec3f extent, RcVec3f forward, RcVec3f up) :
-            this(center, BoxCollider.GetHalfEdges(up, forward, extent))
+            this(center, DtBoxCollider.GetHalfEdges(up, forward, extent))
         {
         }
 

src/DotRecast.Recast.Toolset/Gizmos/RcGizmo.cs

@@ -6,9 +6,9 @@ namespace DotRecast.Recast.Toolset.Gizmos
     public class RcGizmo
     {
         public readonly IRcGizmoMeshFilter Gizmo;
-        public readonly ICollider Collider;
+        public readonly IDtCollider Collider;
 
-        public RcGizmo(ICollider collider, IRcGizmoMeshFilter gizmo)
+        public RcGizmo(IDtCollider collider, IRcGizmoMeshFilter gizmo)
         {
             Collider = collider;
             Gizmo = gizmo;

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

@@ -14,7 +14,7 @@ namespace DotRecast.Recast.Toolset.Tools
 {
     public class RcDynamicUpdateTool : IRcToolable
     {
-        private DynamicNavMesh dynaMesh;
+        private DtDynamicNavMesh dynaMesh;
         private readonly Dictionary<long, RcGizmo> colliderGizmos;
 
         private readonly Random random;
@@ -41,7 +41,7 @@ namespace DotRecast.Recast.Toolset.Tools
             return "Dynamic Updates";
         }
 
-        public DynamicNavMesh GetDynamicNavMesh()
+        public DtDynamicNavMesh GetDynamicNavMesh()
         {
             return dynaMesh;
         }
@@ -140,14 +140,14 @@ namespace DotRecast.Recast.Toolset.Tools
             return colliderWithGizmo;
         }
 
-        public DynamicNavMesh Load(string filename, IRcCompressor compressor)
+        public DtDynamicNavMesh Load(string filename, IRcCompressor compressor)
         {
             using var fs = new FileStream(filename, FileMode.Open, FileAccess.Read);
             using var br = new BinaryReader(fs);
-            VoxelFileReader reader = new VoxelFileReader(compressor);
+            DtVoxelFileReader reader = new DtVoxelFileReader(compressor);
-            VoxelFile voxelFile = reader.Read(br);
+            DtVoxelFile voxelFile = reader.Read(br);
 
-            dynaMesh = new DynamicNavMesh(voxelFile);
+            dynaMesh = new DtDynamicNavMesh(voxelFile);
             dynaMesh.config.keepIntermediateResults = true;
 
             colliderGizmos.Clear();
@@ -157,10 +157,10 @@ namespace DotRecast.Recast.Toolset.Tools
 
         public void Save(string filename, bool compression, IRcCompressor compressor)
         {
-            VoxelFile voxelFile = VoxelFile.From(dynaMesh);
+            DtVoxelFile voxelFile = DtVoxelFile.From(dynaMesh);
             using var fs = new FileStream(filename, FileMode.CreateNew, FileAccess.Write);
             using var bw = new BinaryWriter(fs);
-            VoxelFileWriter writer = new VoxelFileWriter(compressor);
+            DtVoxelFileWriter writer = new DtVoxelFileWriter(compressor);
             writer.Write(bw, voxelFile, compression);
         }
 
@@ -168,7 +168,7 @@ namespace DotRecast.Recast.Toolset.Tools
         public RcGizmo SphereCollider(RcVec3f p, float walkableClimb)
         {
             float radius = 1 + (float)random.NextDouble() * 10;
-            var collider = new SphereCollider(p, radius, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER, walkableClimb);
+            var collider = new DtSphereCollider(p, radius, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER, walkableClimb);
             var gizmo = GizmoFactory.Sphere(p, radius);
 
             return new RcGizmo(collider, gizmo);
@@ -189,7 +189,7 @@ namespace DotRecast.Recast.Toolset.Tools
             a.z *= len;
             RcVec3f start = RcVec3f.Of(p.x, p.y, p.z);
             RcVec3f end = RcVec3f.Of(p.x + a.x, p.y + a.y, p.z + a.z);
-            var collider = new CapsuleCollider(start, end, radius, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER, walkableClimb);
+            var collider = new DtCapsuleCollider(start, end, radius, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER, walkableClimb);
             var gizmo = GizmoFactory.Capsule(start, end, radius);
             return new RcGizmo(collider, gizmo);
         }
@@ -203,8 +203,8 @@ namespace DotRecast.Recast.Toolset.Tools
             );
             RcVec3f forward = RcVec3f.Of((1f - 2 * (float)random.NextDouble()), 0, (1f - 2 * (float)random.NextDouble()));
             RcVec3f up = RcVec3f.Of((1f - 2 * (float)random.NextDouble()), 0.01f + (float)random.NextDouble(), (1f - 2 * (float)random.NextDouble()));
-            RcVec3f[] halfEdges = Detour.Dynamic.Colliders.BoxCollider.GetHalfEdges(up, forward, extent);
+            RcVec3f[] halfEdges = Detour.Dynamic.Colliders.DtBoxCollider.GetHalfEdges(up, forward, extent);
-            var collider = new BoxCollider(p, halfEdges, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER, walkableClimb);
+            var collider = new DtBoxCollider(p, halfEdges, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER, walkableClimb);
             var gizmo = GizmoFactory.Box(p, halfEdges);
             return new RcGizmo(collider, gizmo);
         }
@@ -220,7 +220,7 @@ namespace DotRecast.Recast.Toolset.Tools
             a[2] *= len;
             RcVec3f start = RcVec3f.Of(p.x, p.y, p.z);
             RcVec3f end = RcVec3f.Of(p.x + a.x, p.y + a.y, p.z + a.z);
-            var collider = new CylinderCollider(start, end, radius, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER, walkableClimb);
+            var collider = new DtCylinderCollider(start, end, radius, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_WATER, walkableClimb);
             var gizmo = GizmoFactory.Cylinder(start, end, radius);
 
             return new RcGizmo(collider, gizmo);
@@ -234,14 +234,14 @@ namespace DotRecast.Recast.Toolset.Tools
             RcVec3f forward = RcVec3f.Of((1f - 2 * (float)random.NextDouble()), 0, (1f - 2 * (float)random.NextDouble()));
             forward.Normalize();
             RcVec3f side = RcVec3f.Cross(forward, baseUp);
-            BoxCollider @base = new BoxCollider(baseCenter, Detour.Dynamic.Colliders.BoxCollider.GetHalfEdges(baseUp, forward, baseExtent),
+            DtBoxCollider @base = new DtBoxCollider(baseCenter, Detour.Dynamic.Colliders.DtBoxCollider.GetHalfEdges(baseUp, forward, baseExtent),
                 SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD, walkableClimb);
             var roofUp = RcVec3f.Zero;
             RcVec3f roofExtent = RcVec3f.Of(4.5f, 4.5f, 8f);
             var rx = RcMatrix4x4f.CreateFromRotate(45, forward.x, forward.y, forward.z);
             roofUp = MulMatrixVector(ref roofUp, rx, baseUp);
             RcVec3f roofCenter = RcVec3f.Of(p.x, p.y + 6, p.z);
-            BoxCollider roof = new BoxCollider(roofCenter, Detour.Dynamic.Colliders.BoxCollider.GetHalfEdges(roofUp, forward, roofExtent),
+            DtBoxCollider roof = new DtBoxCollider(roofCenter, Detour.Dynamic.Colliders.DtBoxCollider.GetHalfEdges(roofUp, forward, roofExtent),
                 SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD, walkableClimb);
             RcVec3f trunkStart = RcVec3f.Of(
                 baseCenter.x - forward.x * 15 + side.x * 6,
@@ -249,17 +249,17 @@ namespace DotRecast.Recast.Toolset.Tools
                 baseCenter.z - forward.z * 15 + side.z * 6
             );
             RcVec3f trunkEnd = RcVec3f.Of(trunkStart.x, trunkStart.y + 10, trunkStart.z);
-            CapsuleCollider trunk = new CapsuleCollider(trunkStart, trunkEnd, 0.5f, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD,
+            DtCapsuleCollider trunk = new DtCapsuleCollider(trunkStart, trunkEnd, 0.5f, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD,
                 walkableClimb);
             RcVec3f crownCenter = RcVec3f.Of(
                 baseCenter.x - forward.x * 15 + side.x * 6, p.y + 10,
                 baseCenter.z - forward.z * 15 + side.z * 6
             );
-            SphereCollider crown = new SphereCollider(crownCenter, 4f, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_GRASS,
+            DtSphereCollider crown = new DtSphereCollider(crownCenter, 4f, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_GRASS,
                 walkableClimb);
-            CompositeCollider collider = new CompositeCollider(@base, roof, trunk, crown);
+            DtCompositeCollider collider = new DtCompositeCollider(@base, roof, trunk, crown);
-            IRcGizmoMeshFilter baseGizmo = GizmoFactory.Box(baseCenter, Detour.Dynamic.Colliders.BoxCollider.GetHalfEdges(baseUp, forward, baseExtent));
+            IRcGizmoMeshFilter baseGizmo = GizmoFactory.Box(baseCenter, Detour.Dynamic.Colliders.DtBoxCollider.GetHalfEdges(baseUp, forward, baseExtent));
-            IRcGizmoMeshFilter roofGizmo = GizmoFactory.Box(roofCenter, Detour.Dynamic.Colliders.BoxCollider.GetHalfEdges(roofUp, forward, roofExtent));
+            IRcGizmoMeshFilter roofGizmo = GizmoFactory.Box(roofCenter, Detour.Dynamic.Colliders.DtBoxCollider.GetHalfEdges(roofUp, forward, roofExtent));
             IRcGizmoMeshFilter trunkGizmo = GizmoFactory.Capsule(trunkStart, trunkEnd, 0.5f);
             IRcGizmoMeshFilter crownGizmo = GizmoFactory.Sphere(crownCenter, 4f);
             IRcGizmoMeshFilter gizmo = GizmoFactory.Composite(baseGizmo, roofGizmo, trunkGizmo, crownGizmo);
@@ -279,7 +279,7 @@ namespace DotRecast.Recast.Toolset.Tools
         public RcGizmo ConvexTrimesh(RcVec3f p, float walkableClimb)
         {
             float[] verts = TransformVertices(p, convexGeom, 360);
-            var collider = new ConvexTrimeshCollider(verts, convexGeom.faces,
+            var collider = new DtConvexTrimeshCollider(verts, convexGeom.faces,
                 SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD, walkableClimb * 10);
             var gizmo = GizmoFactory.Trimesh(verts, convexGeom.faces);
             return new RcGizmo(collider, gizmo);
@@ -288,7 +288,7 @@ namespace DotRecast.Recast.Toolset.Tools
         private RcGizmo TrimeshCollider(RcVec3f p, DemoInputGeomProvider geom, float walkableClimb)
         {
             float[] verts = TransformVertices(p, geom, 0);
-            var collider = new TrimeshCollider(verts, geom.faces, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD,
+            var collider = new DtTrimeshCollider(verts, geom.faces, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD,
                 walkableClimb * 10);
             var gizmo = GizmoFactory.Trimesh(verts, geom.faces);
 

test/DotRecast.Detour.Dynamic.Test/DynamicNavMeshTest.cs

@@ -26,10 +26,10 @@ public class DynamicNavMeshTest
         using var br = new BinaryReader(ms);
 
         // load voxels from file
-        VoxelFileReader reader = new VoxelFileReader(DtVoxelTileLZ4ForTestCompressor.Shared);
+        DtVoxelFileReader reader = new DtVoxelFileReader(DtVoxelTileLZ4ForTestCompressor.Shared);
-        VoxelFile f = reader.Read(br);
+        DtVoxelFile f = reader.Read(br);
         // create dynamic navmesh
-        DynamicNavMesh mesh = new DynamicNavMesh(f);
+        DtDynamicNavMesh mesh = new DtDynamicNavMesh(f);
         // build navmesh asynchronously using multiple threads
         Task<bool> future = mesh.Build(Task.Factory);
         // wait for build to complete
@@ -49,7 +49,7 @@ public class DynamicNavMeshTest
         Assert.That(path.Count, Is.EqualTo(16));
 
         // place obstacle
-        ICollider colldier = new SphereCollider(SPHERE_POS, 20, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_GROUND, 0.1f);
+        IDtCollider colldier = new DtSphereCollider(SPHERE_POS, 20, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_GROUND, 0.1f);
         long colliderId = mesh.AddCollider(colldier);
 
         // update navmesh asynchronously

test/DotRecast.Detour.Dynamic.Test/Io/DtVoxelTileLZ4ForTestCompressor.cs

@@ -34,7 +34,7 @@ namespace DotRecast.Detour.Dynamic.Test.Io
 
         public byte[] Decompress(byte[] data)
         {
-            int compressedSize = ByteUtils.GetIntBE(data, 0);
+            int compressedSize = RcByteUtils.GetIntBE(data, 0);
             return LZ4Pickler.Unpickle(data.AsSpan(4, compressedSize));
         }
 
@@ -47,7 +47,7 @@ namespace DotRecast.Detour.Dynamic.Test.Io
         {
             byte[] compressed = LZ4Pickler.Pickle(data, LZ4Level.L12_MAX);
             byte[] result = new byte[4 + compressed.Length];
-            ByteUtils.PutInt(compressed.Length, result, 0, RcByteOrder.BIG_ENDIAN);
+            RcByteUtils.PutInt(compressed.Length, result, 0, RcByteOrder.BIG_ENDIAN);
             Array.Copy(compressed, 0, result, 4, compressed.Length);
             return result;
         }

test/DotRecast.Detour.Dynamic.Test/Io/VoxelFileReaderTest.cs

@@ -34,8 +34,8 @@ public class VoxelFileReaderTest
         using var ms = new MemoryStream(bytes);
         using var br = new BinaryReader(ms);
 
-        VoxelFileReader reader = new VoxelFileReader(DtVoxelTileLZ4ForTestCompressor.Shared);
+        DtVoxelFileReader reader = new DtVoxelFileReader(DtVoxelTileLZ4ForTestCompressor.Shared);
-        VoxelFile f = reader.Read(br);
+        DtVoxelFile f = reader.Read(br);
         Assert.That(f.useTiles, Is.False);
         Assert.That(f.bounds, Is.EqualTo(new float[] { -100.0f, 0f, -100f, 100f, 5f, 100f }));
         Assert.That(f.cellSize, Is.EqualTo(0.25f));
@@ -60,8 +60,8 @@ public class VoxelFileReaderTest
         using var ms = new MemoryStream(bytes);
         using var br = new BinaryReader(ms);
 
-        VoxelFileReader reader = new VoxelFileReader(DtVoxelTileLZ4ForTestCompressor.Shared);
+        DtVoxelFileReader reader = new DtVoxelFileReader(DtVoxelTileLZ4ForTestCompressor.Shared);
-        VoxelFile f = reader.Read(br);
+        DtVoxelFile f = reader.Read(br);
 
         Assert.That(f.useTiles, Is.True);
         Assert.That(f.bounds, Is.EqualTo(new float[] { -100.0f, 0f, -100f, 100f, 5f, 100f }));

test/DotRecast.Detour.Dynamic.Test/Io/VoxelFileReaderWriterTest.cs

@@ -35,7 +35,7 @@ public class VoxelFileReaderWriterTest
         using var ms = new MemoryStream(bytes);
         using var br = new BinaryReader(ms);
 
-        VoxelFile f = ReadWriteRead(br, compression);
+        DtVoxelFile f = ReadWriteRead(br, compression);
         Assert.That(f.useTiles, Is.False);
         Assert.That(f.bounds, Is.EqualTo(new[] { -100.0f, 0f, -100f, 100f, 5f, 100f }));
         Assert.That(f.cellSize, Is.EqualTo(0.25f));
@@ -63,7 +63,7 @@ public class VoxelFileReaderWriterTest
         using var ms = new MemoryStream(bytes);
         using var br = new BinaryReader(ms);
 
-        VoxelFile f = ReadWriteRead(br, compression);
+        DtVoxelFile f = ReadWriteRead(br, compression);
 
         Assert.That(f.useTiles, Is.True);
         Assert.That(f.bounds, Is.EqualTo(new[] { -100.0f, 0f, -100f, 100f, 5f, 100f }));
@@ -86,14 +86,14 @@ public class VoxelFileReaderWriterTest
         Assert.That(f.tiles[0].boundsMax, Is.EqualTo(RcVec3f.Of(-78.75f, 5.0f, -78.75f)));
     }
 
-    private VoxelFile ReadWriteRead(BinaryReader bis, bool compression)
+    private DtVoxelFile ReadWriteRead(BinaryReader bis, bool compression)
     {
-        VoxelFileReader reader = new VoxelFileReader(DtVoxelTileLZ4ForTestCompressor.Shared);
+        DtVoxelFileReader reader = new DtVoxelFileReader(DtVoxelTileLZ4ForTestCompressor.Shared);
-        VoxelFile f = reader.Read(bis);
+        DtVoxelFile f = reader.Read(bis);
 
         using var msw = new MemoryStream();
         using var bw = new BinaryWriter(msw);
-        VoxelFileWriter writer = new VoxelFileWriter(DtVoxelTileLZ4ForTestCompressor.Shared);
+        DtVoxelFileWriter writer = new DtVoxelFileWriter(DtVoxelTileLZ4ForTestCompressor.Shared);
         writer.Write(bw, f, compression);
 
         using var msr = new MemoryStream(msw.ToArray());

test/DotRecast.Detour.Dynamic.Test/VoxelQueryTest.cs

@@ -56,7 +56,7 @@ public class VoxelQueryTest
                 captorZ.Add(z);
             });
 
-        VoxelQuery query = new VoxelQuery(ORIGIN, TILE_WIDTH, TILE_DEPTH, hfProvider.Object);
+        DtVoxelQuery query = new DtVoxelQuery(ORIGIN, TILE_WIDTH, TILE_DEPTH, hfProvider.Object);
         RcVec3f start = RcVec3f.Of(120, 10, 365);
         RcVec3f end = RcVec3f.Of(320, 10, 57);
 
@@ -71,8 +71,8 @@ public class VoxelQueryTest
     [Test]
     public void ShouldHandleRaycastWithoutObstacles()
     {
-        DynamicNavMesh mesh = CreateDynaMesh();
+        DtDynamicNavMesh mesh = CreateDynaMesh();
-        VoxelQuery query = mesh.VoxelQuery();
+        DtVoxelQuery query = mesh.VoxelQuery();
         RcVec3f start = RcVec3f.Of(7.4f, 0.5f, -64.8f);
         RcVec3f end = RcVec3f.Of(31.2f, 0.5f, -75.3f);
         bool isHit = query.Raycast(start, end, out var hit);
@@ -82,8 +82,8 @@ public class VoxelQueryTest
     [Test]
     public void ShouldHandleRaycastWithObstacles()
     {
-        DynamicNavMesh mesh = CreateDynaMesh();
+        DtDynamicNavMesh mesh = CreateDynaMesh();
-        VoxelQuery query = mesh.VoxelQuery();
+        DtVoxelQuery query = mesh.VoxelQuery();
         RcVec3f start = RcVec3f.Of(32.3f, 0.5f, 47.9f);
         RcVec3f end = RcVec3f.Of(-31.2f, 0.5f, -29.8f);
         bool isHit = query.Raycast(start, end, out var hit);
@@ -91,17 +91,17 @@ public class VoxelQueryTest
         Assert.That(hit, Is.EqualTo(0.5263836f).Within(1e-7f));
     }
 
-    private DynamicNavMesh CreateDynaMesh()
+    private DtDynamicNavMesh CreateDynaMesh()
     {
         var bytes = Loader.ToBytes("test_tiles.voxels");
         using var ms = new MemoryStream(bytes);
         using var br = new BinaryReader(ms);
 
         // load voxels from file
-        VoxelFileReader reader = new VoxelFileReader(DtVoxelTileLZ4ForTestCompressor.Shared);
+        DtVoxelFileReader reader = new DtVoxelFileReader(DtVoxelTileLZ4ForTestCompressor.Shared);
-        VoxelFile f = reader.Read(br);
+        DtVoxelFile f = reader.Read(br);
         // create dynamic navmesh
-        var mesh = new DynamicNavMesh(f);
+        var mesh = new DtDynamicNavMesh(f);
         // build navmesh asynchronously using multiple threads
         Task<bool> future = mesh.Build(Task.Factory);
         // wait for build to complete