intergrate math funcitons

src/DotRecast.Core/DemoMath.cs

@@ -1,93 +0,0 @@
-/*
-Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
-recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
-DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
-
-This software is provided 'as-is', without any express or implied
-warranty.  In no event will the authors be held liable for any damages
-arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it
-freely, subject to the following restrictions:
-1. The origin of this software must not be misrepresented; you must not
- claim that you wrote the original software. If you use this software
- in a product, an acknowledgment in the product documentation would be
- appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be
- misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-using System;
-
-namespace DotRecast.Core
-{
-    public class DemoMath
-    {
-        public static float vDistSqr(float[] v1, float[] v2, int i)
-        {
-            float dx = v2[i] - v1[0];
-            float dy = v2[i + 1] - v1[1];
-            float dz = v2[i + 2] - v1[2];
-            return dx * dx + dy * dy + dz * dz;
-        }
-
-        public static float[] vCross(float[] v1, float[] v2)
-        {
-            float[] dest = new float[3];
-            dest[0] = v1[1] * v2[2] - v1[2] * v2[1];
-            dest[1] = v1[2] * v2[0] - v1[0] * v2[2];
-            dest[2] = v1[0] * v2[1] - v1[1] * v2[0];
-            return dest;
-        }
-
-        public static float vDot(float[] v1, float[] v2)
-        {
-            return v1[0] * v2[0] + v1[1] * v2[1] + v1[2] * v2[2];
-        }
-
-        public static float sqr(float f)
-        {
-            return f * f;
-        }
-
-        public static float getPathLen(float[] path, int npath)
-        {
-            float totd = 0;
-            for (int i = 0; i < npath - 1; ++i)
-            {
-                totd += (float)Math.Sqrt(vDistSqr(path, i * 3, (i + 1) * 3));
-            }
-
-            return totd;
-        }
-
-        public static float vDistSqr(float[] v, int i, int j)
-        {
-            float dx = v[i] - v[j];
-            float dy = v[i + 1] - v[j + 1];
-            float dz = v[i + 2] - v[j + 2];
-            return dx * dx + dy * dy + dz * dz;
-        }
-
-        public static float step(float threshold, float v)
-        {
-            return v < threshold ? 0.0f : 1.0f;
-        }
-
-        public static int clamp(int v, int min, int max)
-        {
-            return Math.Max(Math.Min(v, max), min);
-        }
-
-        public static float clamp(float v, float min, float max)
-        {
-            return Math.Max(Math.Min(v, max), min);
-        }
-
-        public static float lerp(float f, float g, float u)
-        {
-            return u * g + (1f - u) * f;
-        }
-    }
-}

src/DotRecast.Core/DotRecast.Core.csproj

@@ -5,8 +5,8 @@
     </PropertyGroup>
 
     <ItemGroup>
-        <PackageReference Include="System.Collections.Immutable" Version="7.0.0"/>
+        <PackageReference Include="System.Collections.Immutable" Version="7.0.0" />
-        <PackageReference Include="System.Text.Json" Version="7.0.2"/>
+        <PackageReference Include="System.Text.Json" Version="7.0.2" />
     </ItemGroup>
 
 </Project>

src/DotRecast.Core/RecastMath.cs

@@ -20,11 +20,79 @@ freely, subject to the following restrictions:
 
 using System;
 
-namespace DotRecast.Detour
+namespace DotRecast.Core
 {
-    public static class DetourCommon
+    public static class RecastMath
     {
         public const float EPS = 1e-4f;
+        private static readonly float EQUAL_THRESHOLD = sqr(1.0f / 16384.0f);
+        
+        public static float vDistSqr(float[] v1, float[] v2, int i)
+        {
+            float dx = v2[i] - v1[0];
+            float dy = v2[i + 1] - v1[1];
+            float dz = v2[i + 2] - v1[2];
+            return dx * dx + dy * dy + dz * dz;
+        }
+
+        public static float[] vCross(float[] v1, float[] v2)
+        {
+            float[] dest = new float[3];
+            dest[0] = v1[1] * v2[2] - v1[2] * v2[1];
+            dest[1] = v1[2] * v2[0] - v1[0] * v2[2];
+            dest[2] = v1[0] * v2[1] - v1[1] * v2[0];
+            return dest;
+        }
+
+        public static float vDot(float[] v1, float[] v2)
+        {
+            return v1[0] * v2[0] + v1[1] * v2[1] + v1[2] * v2[2];
+        }
+
+        public static float sqr(float f)
+        {
+            return f * f;
+        }
+
+        public static float getPathLen(float[] path, int npath)
+        {
+            float totd = 0;
+            for (int i = 0; i < npath - 1; ++i)
+            {
+                totd += (float)Math.Sqrt(vDistSqr(path, i * 3, (i + 1) * 3));
+            }
+
+            return totd;
+        }
+
+        public static float vDistSqr(float[] v, int i, int j)
+        {
+            float dx = v[i] - v[j];
+            float dy = v[i + 1] - v[j + 1];
+            float dz = v[i + 2] - v[j + 2];
+            return dx * dx + dy * dy + dz * dz;
+        }
+
+        public static float step(float threshold, float v)
+        {
+            return v < threshold ? 0.0f : 1.0f;
+        }
+
+        public static float clamp(float v, float min, float max)
+        {
+            return Math.Max(Math.Min(v, max), min);
+        }
+
+        public static int clamp(int v, int min, int max)
+        {
+            return Math.Max(Math.Min(v, max), min);
+        }
+
+        public static float lerp(float f, float g, float u)
+        {
+            return u * g + (1f - u) * f;
+        }
+        
 
         /// Performs a scaled vector addition. (@p v1 + (@p v2 * @p s))
         /// @param[out] dest The result vector. [(x, y, z)]
@@ -159,11 +227,6 @@ namespace DotRecast.Detour
             return dx * dx + dy * dy + dz * dz;
         }
 
-        public static float sqr(float a)
-        {
-            return a * a;
-        }
-
         /// 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.
@@ -185,15 +248,6 @@ namespace DotRecast.Detour
             return (float)Math.Sqrt(dx * dx + dy * dy + dz * dz);
         }
 
-        public static float clamp(float v, float min, float max)
-        {
-            return Math.Max(Math.Min(v, max), min);
-        }
-
-        public static int clamp(int v, int min, int max)
-        {
-            return Math.Max(Math.Min(v, max), min);
-        }
 
         /// Derives the distance between the specified points on the xz-plane.
         /// @param[in] v1 A point. [(x, y, z)]
@@ -236,7 +290,6 @@ namespace DotRecast.Detour
             }
         }
 
-        private static readonly float EQUAL_THRESHOLD = sqr(1.0f / 16384.0f);
 
         /// Performs a 'sloppy' colocation check of the specified points.
         /// @param[in] p0 A point. [(x, y, z)]

src/DotRecast.Core/VectorPtr.cs

@@ -18,12 +18,12 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-namespace DotRecast.Detour
+namespace DotRecast.Core
 {
     /**
- * Wrapper for 3-element pieces (3D vectors) of a bigger float array.
+     * Wrapper for 3-element pieces (3D vectors) of a bigger float array.
- *
+     *
- */
+     */
     public class VectorPtr
     {
         private readonly float[] array;

src/DotRecast.Detour.Crowd/Crowd.cs

@@ -27,7 +27,7 @@ using DotRecast.Detour.Crowd.Tracking;
 
 namespace DotRecast.Detour.Crowd
 {
-    using static DetourCommon;
+    using static DotRecast.Core.RecastMath;
 
     /**
  * Members in this module implement local steering and dynamic avoidance features.

src/DotRecast.Detour.Crowd/CrowdAgent.cs

@@ -23,7 +23,7 @@ using System.Collections.Generic;
 
 namespace DotRecast.Detour.Crowd
 {
-    using static DetourCommon;
+    using static DotRecast.Core.RecastMath;
 
     /// Represents an agent managed by a #dtCrowd object.
     /// @ingroup crowd

src/DotRecast.Detour.Crowd/LocalBoundary.cs

@@ -23,7 +23,7 @@ using System.Collections.Generic;
 
 namespace DotRecast.Detour.Crowd
 {
-    using static DetourCommon;
+    using static DotRecast.Core.RecastMath;
 
     public class LocalBoundary
     {

src/DotRecast.Detour.Crowd/ObstacleAvoidanceQuery.cs

@@ -23,7 +23,7 @@ using DotRecast.Detour.Crowd.Tracking;
 
 namespace DotRecast.Detour.Crowd
 {
-    using static DetourCommon;
+    using static DotRecast.Core.RecastMath;
 
     public class ObstacleAvoidanceQuery
     {

src/DotRecast.Detour.Crowd/PathCorridor.cs

@@ -23,7 +23,7 @@ using System.Collections.Generic;
 
 namespace DotRecast.Detour.Crowd
 {
-    using static DetourCommon;
+    using static DotRecast.Core.RecastMath;
 
     /**
  * Represents a dynamic polygon corridor used to plan agent movement.

src/DotRecast.Detour.Crowd/PathQueue.cs

@@ -22,7 +22,7 @@ using System.Collections.Generic;
 
 namespace DotRecast.Detour.Crowd
 {
-    using static DetourCommon;
+    using static DotRecast.Core.RecastMath;
 
     public class PathQueue
     {

src/DotRecast.Detour.Crowd/Tracking/ObstacleAvoidanceDebugData.cs

@@ -22,7 +22,7 @@ using System;
 
 namespace DotRecast.Detour.Crowd.Tracking
 {
-    using static DetourCommon;
+    using static DotRecast.Core.RecastMath;
 
     public class ObstacleAvoidanceDebugData
     {

src/DotRecast.Detour.Dynamic/DynamicTileCheckpoint.cs

@@ -18,7 +18,7 @@ freely, subject to the following restrictions:
 
 using System.Collections.Generic;
 using DotRecast.Recast;
-using static DotRecast.Detour.DetourCommon;
+using static DotRecast.Core.RecastMath;
 
 namespace DotRecast.Detour.Dynamic
 {

src/DotRecast.Detour.Extras/BVTreeBuilder.cs

@@ -16,7 +16,7 @@ freely, subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-using static DotRecast.Detour.DetourCommon;
+using static DotRecast.Core.RecastMath;
 
 namespace DotRecast.Detour.Extras
 {

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

@@ -1,6 +1,6 @@
 using System;
 using DotRecast.Recast;
-using static DotRecast.Detour.DetourCommon;
+using static DotRecast.Core.RecastMath;
 
 namespace DotRecast.Detour.Extras.Jumplink
 {

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

@@ -1,5 +1,5 @@
 using System.Collections.Generic;
-using static DotRecast.Detour.DetourCommon;
+using static DotRecast.Core.RecastMath;
 
 namespace DotRecast.Detour.Extras.Jumplink
 {

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

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

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

@@ -1,6 +1,6 @@
 using System;
 using DotRecast.Recast;
-using static DotRecast.Detour.DetourCommon;
+using static DotRecast.Core.RecastMath;
 
 namespace DotRecast.Detour.Extras.Jumplink
 {

src/DotRecast.Detour.TileCache/TileCache.cs

@@ -22,7 +22,7 @@ using System;
 using System.Collections.Generic;
 using DotRecast.Core;
 using DotRecast.Detour.TileCache.Io;
-using static DotRecast.Detour.DetourCommon;
+using static DotRecast.Core.RecastMath;
 
 namespace DotRecast.Detour.TileCache
 {

src/DotRecast.Detour.TileCache/TileCacheBuilder.cs

@@ -24,7 +24,7 @@ using System.IO;
 using DotRecast.Core;
 using DotRecast.Detour.TileCache.Io;
 using DotRecast.Detour.TileCache.Io.Compress;
-using static DotRecast.Detour.DetourCommon;
+using static DotRecast.Core.RecastMath;
 
 namespace DotRecast.Detour.TileCache
 {

src/DotRecast.Detour/ConvexConvexIntersection.cs

@@ -20,7 +20,7 @@ using System;
 
 namespace DotRecast.Detour
 {
-    using static DetourCommon;
+    using static DotRecast.Core.RecastMath;
 
     /**
  * Convex-convex intersection based on "Computational Geometry in C" by Joseph O'Rourke

src/DotRecast.Detour/DefaultQueryFilter.cs

@@ -22,7 +22,7 @@ using System;
 
 namespace DotRecast.Detour
 {
-    using static DetourCommon;
+    using static DotRecast.Core.RecastMath;
 
     /**
  * <b>The Default Implementation</b>

src/DotRecast.Detour/DefaultQueryHeuristic.cs

@@ -15,10 +15,10 @@ freely, subject to the following restrictions:
  misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 */
+using static DotRecast.Core.RecastMath;
 
 namespace DotRecast.Detour
 {
-    using static DetourCommon;
 
     public class DefaultQueryHeuristic : QueryHeuristic
     {

src/DotRecast.Detour/DotRecast.Detour.csproj

@@ -6,7 +6,7 @@
     </PropertyGroup>
 
     <ItemGroup>
-        <ProjectReference Include="..\DotRecast.Core\DotRecast.Core.csproj"/>
+        <ProjectReference Include="..\DotRecast.Core\DotRecast.Core.csproj" />
     </ItemGroup>
 
 </Project>

src/DotRecast.Detour/FindNearestPolyQuery.cs

@@ -2,7 +2,7 @@ using System;
 
 namespace DotRecast.Detour
 {
-    using static DetourCommon;
+    using static DotRecast.Core.RecastMath;
 
     public class FindNearestPolyQuery : PolyQuery
     {

src/DotRecast.Detour/Io/MeshSetReader.cs

@@ -22,7 +22,7 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.Io
 {
-    using static DetourCommon;
+    using static DotRecast.Core.RecastMath;
 
 
     public class MeshSetReader

src/DotRecast.Detour/LegacyNavMeshQuery.cs

@@ -18,10 +18,11 @@ freely, subject to the following restrictions:
 
 using System;
 using System.Collections.Generic;
+using DotRecast.Core;
 
 namespace DotRecast.Detour
 {
-    using static DetourCommon;
+    using static DotRecast.Core.RecastMath;
 
 
     public class LegacyNavMeshQuery : NavMeshQuery

src/DotRecast.Detour/NavMesh.cs

@@ -25,7 +25,7 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour
 {
-    using static DetourCommon;
+    using static DotRecast.Core.RecastMath;
 
     public class NavMesh
     {

src/DotRecast.Detour/NavMeshBuilder.cs

@@ -20,10 +20,11 @@ freely, subject to the following restrictions:
 
 using System;
 using System.Collections.Generic;
+using DotRecast.Core;
 
 namespace DotRecast.Detour
 {
-    using static DetourCommon;
+    using static DotRecast.Core.RecastMath;
 
     public class NavMeshBuilder
     {

src/DotRecast.Detour/NavMeshQuery.cs

@@ -21,10 +21,11 @@ freely, subject to the following restrictions:
 using System;
 using System.Collections.Generic;
 using System.Collections.Immutable;
+using DotRecast.Core;
 
 namespace DotRecast.Detour
 {
-    using static DetourCommon;
+    using static DotRecast.Core.RecastMath;
     using static Node;
 
     public class NavMeshQuery

src/DotRecast.Detour/PolygonByCircleConstraint.cs

@@ -20,7 +20,7 @@ using System;
 
 namespace DotRecast.Detour
 {
-    using static DetourCommon;
+    using static DotRecast.Core.RecastMath;
 
     public interface PolygonByCircleConstraint
     {

src/DotRecast.Detour/StraightPathItem.cs

@@ -20,7 +20,7 @@ freely, subject to the following restrictions:
 
 namespace DotRecast.Detour
 {
-    using static DetourCommon;
+    using static DotRecast.Core.RecastMath;
 
 //TODO: (PP) Add comments
     public class StraightPathItem

src/DotRecast.Recast.Demo/Builder/TileNavMeshBuilder.cs

@@ -22,6 +22,7 @@ using System.Threading.Tasks;
 using DotRecast.Core;
 using DotRecast.Detour;
 using DotRecast.Recast.Demo.Geom;
+using static DotRecast.Core.RecastMath;
 
 namespace DotRecast.Recast.Demo.Builder;
 
@@ -99,7 +100,7 @@ public class TileNavMeshBuilder : AbstractNavMeshBuilder
         int[] wh = Recast.calcGridSize(geom.getMeshBoundsMin(), geom.getMeshBoundsMax(), cellSize);
         int tw = (wh[0] + tileSize - 1) / tileSize;
         int th = (wh[1] + tileSize - 1) / tileSize;
-        int tileBits = Math.Min(DetourCommon.ilog2(DetourCommon.nextPow2(tw * th)), 14);
+        int tileBits = Math.Min(ilog2(nextPow2(tw * th)), 14);
         return tileBits;
     }
 

src/DotRecast.Recast.Demo/Geom/Intersections.cs

@@ -18,7 +18,7 @@ freely, subject to the following restrictions:
 
 using System;
 using DotRecast.Core;
-using static DotRecast.Detour.DetourCommon;
+using static DotRecast.Core.RecastMath;
 
 namespace DotRecast.Recast.Demo.Geom;
 
@@ -33,11 +33,11 @@ public class Intersections
 
         // Compute triangle normal. Can be precalculated or cached if
         // intersecting multiple segments against the same triangle
-        float[] norm = DemoMath.vCross(ab, ac);
+        float[] norm = RecastMath.vCross(ab, ac);
 
         // Compute denominator d. If d <= 0, segment is parallel to or points
         // away from triangle, so exit early
-        float d = DemoMath.vDot(qp, norm);
+        float d = RecastMath.vDot(qp, norm);
         if (d <= 0.0f)
         {
             return null;
@@ -47,7 +47,7 @@ public class Intersections
         // intersects iff 0 <= t. Segment intersects iff 0 <= t <= 1. Delay
         // dividing by d until intersection has been found to pierce triangle
         float[] ap = vSub(sp, a);
-        float t = DemoMath.vDot(ap, norm);
+        float t = RecastMath.vDot(ap, norm);
         if (t < 0.0f)
         {
             return null;
@@ -59,14 +59,14 @@ public class Intersections
         }
 
         // Compute barycentric coordinate components and test if within bounds
-        float[] e = DemoMath.vCross(qp, ap);
+        float[] e = RecastMath.vCross(qp, ap);
-        v = DemoMath.vDot(ac, e);
+        v = RecastMath.vDot(ac, e);
         if (v < 0.0f || v > d)
         {
             return null;
         }
 
-        w = -DemoMath.vDot(ab, e);
+        w = -RecastMath.vDot(ab, e);
         if (w < 0.0f || v + w > d)
         {
             return null;

src/DotRecast.Recast.Demo/RecastDemo.cs

@@ -45,7 +45,7 @@ using DotRecast.Recast.Demo.Tools;
 using DotRecast.Recast.Demo.UI;
 using Silk.NET.SDL;
 using Silk.NET.Windowing.Sdl;
-using static DotRecast.Detour.DetourCommon;
+using static DotRecast.Core.RecastMath;
 using Color = System.Drawing.Color;
 using Window = Silk.NET.Windowing.Window;
 
@@ -457,13 +457,13 @@ public class RecastDemo
             var tempMoveDown = keyboard.IsKeyPressed(Key.E) || keyboard.IsKeyPressed(Key.PageDown) ? 1.0f : -1f;
             var tempMoveAccel = keyboard.IsKeyPressed(Key.ShiftLeft) || keyboard.IsKeyPressed(Key.ShiftRight) ? 1.0f : -1f;
 
-            _moveFront = DemoMath.clamp(_moveFront + tempMoveFront * dt * 4.0f, 0, 2.0f);
+            _moveFront = RecastMath.clamp(_moveFront + tempMoveFront * dt * 4.0f, 0, 2.0f);
-            _moveLeft = DemoMath.clamp(_moveLeft + tempMoveLeft * dt * 4.0f, 0, 2.0f);
+            _moveLeft = RecastMath.clamp(_moveLeft + tempMoveLeft * dt * 4.0f, 0, 2.0f);
-            _moveBack = DemoMath.clamp(_moveBack + tempMoveBack * dt * 4.0f, 0, 2.0f);
+            _moveBack = RecastMath.clamp(_moveBack + tempMoveBack * dt * 4.0f, 0, 2.0f);
-            _moveRight = DemoMath.clamp(_moveRight + tempMoveRight * dt * 4.0f, 0, 2.0f);
+            _moveRight = RecastMath.clamp(_moveRight + tempMoveRight * dt * 4.0f, 0, 2.0f);
-            _moveUp = DemoMath.clamp(_moveUp + tempMoveUp * dt * 4.0f, 0, 2.0f);
+            _moveUp = RecastMath.clamp(_moveUp + tempMoveUp * dt * 4.0f, 0, 2.0f);
-            _moveDown = DemoMath.clamp(_moveDown + tempMoveDown * dt * 4.0f, 0, 2.0f);
+            _moveDown = RecastMath.clamp(_moveDown + tempMoveDown * dt * 4.0f, 0, 2.0f);
-            _moveAccel = DemoMath.clamp(_moveAccel + tempMoveAccel * dt * 4.0f, 0, 2.0f);
+            _moveAccel = RecastMath.clamp(_moveAccel + tempMoveAccel * dt * 4.0f, 0, 2.0f);
         }
     }
 
@@ -708,7 +708,7 @@ public class RecastDemo
             if (bmin != null && bmax != null)
             {
                 camr = (float)(Math.Sqrt(
-                                   DemoMath.sqr(bmax[0] - bmin[0]) + DemoMath.sqr(bmax[1] - bmin[1]) + DemoMath.sqr(bmax[2] - bmin[2]))
+                                   RecastMath.sqr(bmax[0] - bmin[0]) + RecastMath.sqr(bmax[1] - bmin[1]) + RecastMath.sqr(bmax[2] - bmin[2]))
                                / 2);
                 cameraPos[0] = (bmax[0] + bmin[0]) / 2 + camr;
                 cameraPos[1] = (bmax[1] + bmin[1]) / 2 + camr;

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

@@ -79,7 +79,7 @@ public class ConvexVolumeTool : Tool
             // Create
 
             // If clicked on that last pt, create the shape.
-            if (pts.Count > 0 && DemoMath.vDistSqr(p,
+            if (pts.Count > 0 && RecastMath.vDistSqr(p,
                     new float[] { pts[pts.Count - 3], pts[pts.Count - 2], pts[pts.Count - 1] },
                     0) < 0.2f * 0.2f)
             {

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

@@ -186,7 +186,7 @@ public class CrowdProfilingTool
                     bool valid = true;
                     foreach (FindRandomPointResult zone in zones)
                     {
-                        if (DemoMath.vDistSqr(zone.getRandomPt(), result.result.getRandomPt(), 0) < zoneSeparation)
+                        if (RecastMath.vDistSqr(zone.getRandomPt(), result.result.getRandomPt(), 0) < zoneSeparation)
                         {
                             valid = false;
                             break;
@@ -310,7 +310,7 @@ public class CrowdProfilingTool
         List<FindRandomPointResult> potentialTargets = new();
         foreach (FindRandomPointResult zone in zones)
         {
-            if (DemoMath.vDistSqr(zone.getRandomPt(), ag.npos, 0) > zoneRadius * zoneRadius)
+            if (RecastMath.vDistSqr(zone.getRandomPt(), ag.npos, 0) > zoneRadius * zoneRadius)
             {
                 potentialTargets.Add(zone);
             }

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

@@ -30,6 +30,7 @@ using DotRecast.Recast.Demo.Geom;
 using ImGuiNET;
 using static DotRecast.Recast.Demo.Draw.DebugDraw;
 using static DotRecast.Recast.Demo.Draw.DebugDrawPrimitives;
+using static DotRecast.Core.RecastMath;
 
 namespace DotRecast.Recast.Demo.Tools;
 
@@ -323,10 +324,10 @@ public class CrowdTool : Tool
 
     private float[] calcVel(float[] pos, float[] tgt, float speed)
     {
-        float[] vel = DetourCommon.vSub(tgt, pos);
+        float[] vel = vSub(tgt, pos);
         vel[1] = 0.0f;
-        DetourCommon.vNormalize(vel);
+        vNormalize(vel);
-        return DetourCommon.vScale(vel, speed);
+        return vScale(vel, speed);
     }
 
     public override void handleRender(NavMeshRenderer renderer)
@@ -414,7 +415,7 @@ public class CrowdTool : Tool
             dd.begin(LINES, 3.0f);
             float[] prev = new float[3];
             float preva = 1;
-            DetourCommon.vCopy(prev, pos);
+            vCopy(prev, pos);
             for (int j = 0; j < AGENT_MAX_TRAIL - 1; ++j)
             {
                 int idx = (trail.htrail + AGENT_MAX_TRAIL - j) % AGENT_MAX_TRAIL;
@@ -423,7 +424,7 @@ public class CrowdTool : Tool
                 dd.vertex(prev[0], prev[1] + 0.1f, prev[2], duRGBA(0, 0, 0, (int)(128 * preva)));
                 dd.vertex(trail.trail[v], trail.trail[v + 1] + 0.1f, trail.trail[v + 2], duRGBA(0, 0, 0, (int)(128 * a)));
                 preva = a;
-                DetourCommon.vCopy(prev, trail.trail, v);
+                vCopy(prev, trail.trail, v);
             }
 
             dd.end();
@@ -500,7 +501,7 @@ public class CrowdTool : Tool
                     float[] s = ag.boundary.getSegment(j);
                     float[] s0 = new float[] { s[0], s[1], s[2] };
                     float[] s3 = new float[] { s[3], s[4], s[5] };
-                    if (DetourCommon.triArea2D(pos, s0, s3) < 0.0f)
+                    if (triArea2D(pos, s0, s3) < 0.0f)
                         col = duDarkenCol(col);
 
                     dd.appendArrow(s[0], s[1] + 0.2f, s[2], s[3], s[4] + 0.2f, s[5], 0.0f, 0.3f, col);

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

@@ -33,7 +33,7 @@ using ImGuiNET;
 using Silk.NET.Windowing;
 using static DotRecast.Recast.Demo.Draw.DebugDraw;
 using static DotRecast.Recast.Demo.Draw.DebugDrawPrimitives;
-using static DotRecast.Detour.DetourCommon;
+using static DotRecast.Core.RecastMath;
 
 namespace DotRecast.Recast.Demo.Tools;
 
@@ -252,7 +252,7 @@ public class DynamicUpdateTool : Tool
         float[] baseUp = new float[] { 0, 1, 0 };
         float[] forward = new float[] { (1f - 2 * (float)random.NextDouble()), 0, (1f - 2 * (float)random.NextDouble()) };
         vNormalize(forward);
-        float[] side = DemoMath.vCross(forward, baseUp);
+        float[] side = RecastMath.vCross(forward, baseUp);
         BoxCollider @base = new BoxCollider(baseCenter, BoxCollider.getHalfEdges(baseUp, forward, baseExtent),
             SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD, dynaMesh.config.walkableClimb);
         float[] roofExtent = new float[] { 4.5f, 4.5f, 8f };

src/DotRecast.Recast.Demo/Tools/Gizmos/CapsuleGizmo.cs

@@ -1,6 +1,6 @@
 using DotRecast.Recast.Demo.Draw;
 using static DotRecast.Recast.RecastVectors;
-using static DotRecast.Detour.DetourCommon;
+using static DotRecast.Core.RecastMath;
 using static DotRecast.Recast.Demo.Tools.Gizmos.GizmoHelper;
 
 namespace DotRecast.Recast.Demo.Tools.Gizmos;

src/DotRecast.Recast.Demo/Tools/Gizmos/CylinderGizmo.cs

@@ -1,6 +1,6 @@
 using DotRecast.Recast.Demo.Draw;
 using static DotRecast.Recast.RecastVectors;
-using static DotRecast.Detour.DetourCommon;
+using static DotRecast.Core.RecastMath;
 using static DotRecast.Recast.Demo.Tools.Gizmos.GizmoHelper;
 
 

src/DotRecast.Recast.Demo/Tools/Gizmos/GizmoHelper.cs

@@ -1,6 +1,6 @@
 using System;
 using DotRecast.Recast.Demo.Draw;
-using static DotRecast.Detour.DetourCommon;
+using static DotRecast.Core.RecastMath;
 
 namespace DotRecast.Recast.Demo.Tools.Gizmos;
 

src/DotRecast.Recast.Demo/Tools/Gizmos/SphereGizmo.cs

@@ -1,5 +1,5 @@
 using DotRecast.Recast.Demo.Draw;
-using static DotRecast.Detour.DetourCommon;
+using static DotRecast.Core.RecastMath;
 using static DotRecast.Recast.Demo.Tools.Gizmos.GizmoHelper;
 
 

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

@@ -23,7 +23,7 @@ using DotRecast.Recast.Demo.Builder;
 using DotRecast.Recast.Demo.Draw;
 using DotRecast.Recast.Demo.Geom;
 using ImGuiNET;
-using static DotRecast.Detour.DetourCommon;
+using static DotRecast.Core.RecastMath;
 using static DotRecast.Recast.Demo.Draw.DebugDraw;
 using static DotRecast.Recast.Demo.Draw.DebugDrawPrimitives;
 

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

@@ -56,7 +56,7 @@ public class OffMeshConnectionTool : Tool
             DemoOffMeshConnection nearestConnection = null;
             foreach (DemoOffMeshConnection offMeshCon in geom.getOffMeshConnections())
             {
-                float d = Math.Min(DemoMath.vDistSqr(p, offMeshCon.verts, 0), DemoMath.vDistSqr(p, offMeshCon.verts, 3));
+                float d = Math.Min(RecastMath.vDistSqr(p, offMeshCon.verts, 0), RecastMath.vDistSqr(p, offMeshCon.verts, 3));
                 if (d < nearestDist && Math.Sqrt(d) < sample.getSettingsUI().getAgentRadius())
                 {
                     nearestDist = d;

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

@@ -6,7 +6,7 @@ using DotRecast.Detour;
 using DotRecast.Recast.Demo.Builder;
 using DotRecast.Recast.Demo.Draw;
 using ImGuiNET;
-using static DotRecast.Detour.DetourCommon;
+using static DotRecast.Core.RecastMath;
 using static DotRecast.Recast.Demo.Draw.DebugDraw;
 using static DotRecast.Recast.Demo.Draw.DebugDrawPrimitives;
 
@@ -257,7 +257,7 @@ public class TestNavmeshTool : Tool
 
                         // Find movement delta.
                         float[] delta = vSub(steerTarget.steerPos, iterPos);
-                        float len = (float)Math.Sqrt(DemoMath.vDot(delta, delta));
+                        float len = (float)Math.Sqrt(RecastMath.vDot(delta, delta));
                         // If the steer target is end of path or off-mesh link, do not move past the location.
                         if ((endOfPath || offMeshConnection) && len < STEP_SIZE)
                         {
@@ -882,8 +882,8 @@ public class TestNavmeshTool : Tool
                                 float[] s = wallSegments.getSegmentVerts()[j];
                                 float[] s3 = new float[] { s[3], s[4], s[5] };
                                 // Skip too distant segments.
-                                Tuple<float, float> distSqr = DetourCommon.distancePtSegSqr2D(m_spos, s, 0, 3);
+                                Tuple<float, float> distSqr = distancePtSegSqr2D(m_spos, s, 0, 3);
-                                if (distSqr.Item1 > DemoMath.sqr(m_neighbourhoodRadius))
+                                if (distSqr.Item1 > RecastMath.sqr(m_neighbourhoodRadius))
                                 {
                                     continue;
                                 }
@@ -903,7 +903,7 @@ public class TestNavmeshTool : Tool
                                 else
                                 {
                                     int col = duRGBA(192, 32, 16, 192);
-                                    if (DetourCommon.triArea2D(m_spos, s, s3) < 0.0f)
+                                    if (triArea2D(m_spos, s, s3) < 0.0f)
                                     {
                                         col = duRGBA(96, 32, 16, 192);
                                     }
@@ -1026,7 +1026,7 @@ public class TestNavmeshTool : Tool
                 {
                     // In case of partial path, make sure the end point is clamped to the last polygon.
                     float[] epos = new float[3];
-                    DetourCommon.vCopy(epos, m_epos);
+                    vCopy(epos, m_epos);
                     if (m_polys[m_polys.Count - 1] != m_endRef)
                     {
                         Result<ClosestPointOnPolyResult> result = m_navQuery

src/DotRecast.Recast/RecastCommon.cs

@@ -22,7 +22,7 @@ using System;
 
 namespace DotRecast.Recast
 {
-    public class RecastCommon
+    public static class RecastCommon
     {
         /// Gets neighbor connection data for the specified direction.
         /// @param[in] s The span to check.
@@ -75,10 +75,5 @@ namespace DotRecast.Recast
             int con = s.con;
             s.con = (con & ~(0x3f << shift)) | ((i & 0x3f) << shift);
         }
-
-        public static int clamp(int v, int min, int max)
-        {
-            return Math.Max(Math.Min(max, v), min);
-        }
     }
 }

src/DotRecast.Recast/RecastCompact.cs

@@ -18,11 +18,12 @@ freely, subject to the following restrictions:
 
 using System;
 
+using static DotRecast.Core.RecastMath;
+using static DotRecast.Recast.RecastConstants;
+using static DotRecast.Recast.RecastVectors;
+
 namespace DotRecast.Recast
 {
-    using static RecastConstants;
-    using static RecastVectors;
-
     public class RecastCompact
     {
         private const int MAX_LAYERS = RC_NOT_CONNECTED - 1;
@@ -92,8 +93,8 @@ namespace DotRecast.Recast
                         {
                             int bot = s.smax;
                             int top = s.next != null ? (int)s.next.smin : MAX_HEIGHT;
-                            chf.spans[idx].y = RecastCommon.clamp(bot, 0, MAX_HEIGHT);
+                            chf.spans[idx].y = clamp(bot, 0, MAX_HEIGHT);
-                            chf.spans[idx].h = RecastCommon.clamp(top - bot, 0, MAX_HEIGHT);
+                            chf.spans[idx].h = clamp(top - bot, 0, MAX_HEIGHT);
                             chf.areas[idx] = s.area;
                             idx++;
                             c.count++;

src/DotRecast.Recast/RecastFilledVolumeRasterization.cs

@@ -19,12 +19,12 @@ freely, subject to the following restrictions:
 using System;
 using DotRecast.Core;
 
+using static DotRecast.Core.RecastMath;
+using static DotRecast.Recast.RecastConstants;
+using static DotRecast.Recast.RecastVectors;
+
 namespace DotRecast.Recast
 {
-    using static RecastConstants;
-    using static RecastVectors;
-    using static RecastCommon;
-
     public class RecastFilledVolumeRasterization
     {
         private const float EPSILON = 0.00001f;
@@ -230,8 +230,8 @@ namespace DotRecast.Recast
                         int smax = (int)Math.Ceiling((h[1] - hf.bmin[1]) * ich);
                         if (smin != smax)
                         {
-                            int ismin = RecastCommon.clamp(smin, 0, SPAN_MAX_HEIGHT);
+                            int ismin = clamp(smin, 0, SPAN_MAX_HEIGHT);
-                            int ismax = RecastCommon.clamp(smax, ismin + 1, SPAN_MAX_HEIGHT);
+                            int ismax = clamp(smax, ismin + 1, SPAN_MAX_HEIGHT);
                             RecastRasterization.addSpan(hf, x, z, ismin, ismax, area, flagMergeThr);
                         }
                     }
@@ -786,11 +786,6 @@ namespace DotRecast.Recast
             return dx * dx + dy * dy + dz * dz;
         }
 
-        public static float clamp(float v, float min, float max)
-        {
-            return Math.Max(Math.Min(max, v), min);
-        }
-
         private static bool overlapBounds(float[] amin, float[] amax, float[] bounds)
         {
             bool overlap = true;

src/DotRecast.Recast/RecastMeshDetail.cs

@@ -21,11 +21,12 @@ freely, subject to the following restrictions:
 using System;
 using System.Collections.Generic;
 using DotRecast.Core;
+using static DotRecast.Core.RecastMath;
+using static DotRecast.Recast.RecastCommon;
+using static DotRecast.Recast.RecastConstants;
 
 namespace DotRecast.Recast
 {
-    using static RecastCommon;
-    using static RecastConstants;
 
     public class RecastMeshDetail
     {
@@ -273,8 +274,8 @@ namespace DotRecast.Recast
         {
             int ix = (int)Math.Floor(fx * ics + 0.01f);
             int iz = (int)Math.Floor(fz * ics + 0.01f);
-            ix = RecastCommon.clamp(ix - hp.xmin, 0, hp.width - 1);
+            ix = clamp(ix - hp.xmin, 0, hp.width - 1);
-            iz = RecastCommon.clamp(iz - hp.ymin, 0, hp.height - 1);
+            iz = clamp(iz - hp.ymin, 0, hp.height - 1);
             int h = hp.data[ix + iz * hp.width];
             if (h == RC_UNSET_HEIGHT)
             {

src/DotRecast.Recast/RecastRasterization.cs

@@ -19,10 +19,11 @@ freely, subject to the following restrictions:
 */
 
 using System;
+using static DotRecast.Core.RecastMath;
+using static DotRecast.Recast.RecastConstants;
 
 namespace DotRecast.Recast
 {
-    using static RecastConstants;
 
     public class RecastRasterization
     {
@@ -269,8 +270,8 @@ namespace DotRecast.Recast
             int w = hf.width;
             int h = hf.height;
             // use -1 rather than 0 to cut the polygon properly at the start of the tile
-            z0 = RecastCommon.clamp(z0, -1, h - 1);
+            z0 = clamp(z0, -1, h - 1);
-            z1 = RecastCommon.clamp(z1, 0, h - 1);
+            z1 = clamp(z1, 0, h - 1);
 
             // Clip the triangle into all grid cells it touches.
             float[] buf = new float[7 * 3 * 4];
@@ -320,8 +321,8 @@ namespace DotRecast.Recast
                     continue;
                 }
 
-                x0 = RecastCommon.clamp(x0, -1, w - 1);
+                x0 = clamp(x0, -1, w - 1);
-                x1 = RecastCommon.clamp(x1, 0, w - 1);
+                x1 = clamp(x1, 0, w - 1);
 
                 int nv, nv2 = nvRow;
                 for (int x = x0; x <= x1; ++x)
@@ -366,8 +367,8 @@ namespace DotRecast.Recast
                         spanMax = by;
 
                     // Snap the span to the heightfield height grid.
-                    int spanMinCellIndex = RecastCommon.clamp((int)Math.Floor(spanMin * inverseCellHeight), 0, SPAN_MAX_HEIGHT);
+                    int spanMinCellIndex = clamp((int)Math.Floor(spanMin * inverseCellHeight), 0, SPAN_MAX_HEIGHT);
-                    int spanMaxCellIndex = RecastCommon.clamp((int)Math.Ceiling(spanMax * inverseCellHeight), spanMinCellIndex + 1, SPAN_MAX_HEIGHT);
+                    int spanMaxCellIndex = clamp((int)Math.Ceiling(spanMax * inverseCellHeight), spanMinCellIndex + 1, SPAN_MAX_HEIGHT);
 
                     addSpan(hf, x, z, spanMinCellIndex, spanMaxCellIndex, area, flagMergeThreshold);
                 }

test/DotRecast.Detour.Crowd.Test/AbstractCrowdTest.cs

@@ -24,7 +24,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Crowd.Test;
 
-using static DetourCommon;
+using static DotRecast.Core.RecastMath;
 
 public class AbstractCrowdTest
 {

test/DotRecast.Detour.Test/Io/MeshSetReaderWriterTest.cs

@@ -23,7 +23,7 @@ using DotRecast.Detour.Io;
 using DotRecast.Recast;
 using DotRecast.Recast.Geom;
 using NUnit.Framework;
-using static DotRecast.Detour.DetourCommon;
+using static DotRecast.Core.RecastMath;
 
 namespace DotRecast.Detour.Test.Io;
 

test/DotRecast.Detour.Test/RandomPointTest.cs

@@ -19,7 +19,7 @@ freely, subject to the following restrictions:
 using System;
 using System.Diagnostics;
 using NUnit.Framework;
-using static DotRecast.Detour.DetourCommon;
+using static DotRecast.Core.RecastMath;
 
 namespace DotRecast.Detour.Test;
 

test/DotRecast.Detour.TileCache.Test/AbstractTileCacheTest.cs

@@ -21,7 +21,7 @@ freely, subject to the following restrictions:
 using DotRecast.Core;
 using DotRecast.Detour.TileCache.Io.Compress;
 using DotRecast.Recast.Geom;
-using static DotRecast.Detour.DetourCommon;
+using static DotRecast.Core.RecastMath;
 using static DotRecast.Recast.RecastVectors;
 
 namespace DotRecast.Detour.TileCache.Test;

test/DotRecast.Detour.TileCache.Test/TestTileLayerBuilder.cs

@@ -22,7 +22,7 @@ using System.Collections.Generic;
 using DotRecast.Core;
 using DotRecast.Recast;
 using DotRecast.Recast.Geom;
-using static DotRecast.Detour.DetourCommon;
+using static DotRecast.Core.RecastMath;
 
 namespace DotRecast.Detour.TileCache.Test;