refactor: RcVec3f.Cross now corresponds to System.Numerics.Vector3.Normalize in the switching build

src/DotRecast.Core/Numerics/RcVec3f.cs

@@ -259,16 +259,6 @@ namespace DotRecast.Core.Numerics
             return right * left;
         }
 
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static RcVec3f Cross(RcVec3f v1, RcVec3f v2)
-        {
-            return new RcVec3f(
-                (v1.Y * v2.Z) - (v1.Z * v2.Y),
-                (v1.Z * v2.X) - (v1.X * v2.Z),
-                (v1.X * v2.Y) - (v1.Y * v2.X)
-            );
-        }
-
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static RcVec3f Lerp(RcVec3f v1, RcVec3f v2, float t)
         {
@@ -505,21 +495,14 @@ namespace DotRecast.Core.Numerics
             e0.Z = i.Z - verts[j + 2];
         }
 
-
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static void Cross(float[] dest, float[] v1, float[] v2)
+        public static RcVec3f Cross(RcVec3f v1, RcVec3f v2)
         {
-            dest[0] = v1[1] * v2[2] - v1[2] * v2[1];
+            return new RcVec3f(
-            dest[1] = v1[2] * v2[0] - v1[0] * v2[2];
+                (v1.Y * v2.Z) - (v1.Z * v2.Y),
-            dest[2] = v1[0] * v2[1] - v1[1] * v2[0];
+                (v1.Z * v2.X) - (v1.X * v2.Z),
-        }
+                (v1.X * v2.Y) - (v1.Y * v2.X)
-
+            );
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static void Cross(ref RcVec3f dest, RcVec3f v1, RcVec3f v2)
-        {
-            dest.X = v1.Y * v2.Z - v1.Z * v2.Y;
-            dest.Y = v1.Z * v2.X - v1.X * v2.Z;
-            dest.Z = v1.X * v2.Y - v1.Y * v2.X;
         }
 
         /// Normalizes the vector.

src/DotRecast.Core/Numerics/RcVecUtils.cs

@@ -1,10 +1,9 @@
 using System;
 using System.Runtime.CompilerServices;
-using DotRecast.Core.Numerics;
 
 namespace DotRecast.Core.Numerics
 {
-    public static class RcVecExtensions
+    public static class RcVecUtils
     {
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static float Get(this RcVec2f v, int i)
@@ -56,5 +55,13 @@ namespace DotRecast.Core.Numerics
             return @this.X * v[vi] +
                    @this.Z * v[vi + 2];
         }
+        
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static void Cross(float[] dest, float[] v1, float[] v2)
+        {
+            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];
+        }
     }
 }

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

@@ -76,11 +76,11 @@ namespace DotRecast.Detour.Dynamic.Colliders
                 new RcVec3f(up.X, up.Y, up.Z),
                 RcVec3f.Zero
             };
-            
+
             halfEdges[1] = RcVec3f.Normalize(halfEdges[1]);
-            RcVec3f.Cross(ref halfEdges[0], up, forward);
+            halfEdges[0] = RcVec3f.Cross(up, forward);
             halfEdges[0] = RcVec3f.Normalize(halfEdges[0]);
-            RcVec3f.Cross(ref halfEdges[2], halfEdges[0], up);
+            halfEdges[2] = RcVec3f.Cross(halfEdges[0], up);
             halfEdges[2] = RcVec3f.Normalize(halfEdges[2]);
             halfEdges[0].X *= extent.X;
             halfEdges[0].Y *= extent.X;

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

@@ -1,6 +1,5 @@
 using System;
 using DotRecast.Core.Numerics;
-
 using static DotRecast.Recast.Toolset.Gizmos.RcGizmoHelper;
 
 namespace DotRecast.Recast.Toolset.Gizmos
@@ -25,7 +24,7 @@ namespace DotRecast.Recast.Toolset.Gizmos
             normals[1] = RcVec3f.Normalize(normals[1]);
             normals[0] = GetSideVector(axis);
             normals[2] = RcVec3f.Zero;
-            RcVec3f.Cross(ref normals[2], normals[0], normals[1]);
+            normals[2] = RcVec3f.Cross(normals[0], normals[1]);
             normals[2] = RcVec3f.Normalize(normals[2]);
             triangles = GenerateSphericalTriangles();
             var trX = new RcVec3f(normals[0].X, normals[1].X, normals[2].X);
@@ -55,15 +54,14 @@ namespace DotRecast.Recast.Toolset.Gizmos
 
         private RcVec3f GetSideVector(RcVec3f axis)
         {
-            RcVec3f side = new RcVec3f(1, 0, 0);
+            var side = new RcVec3f(1, 0, 0);
             if (axis.X > 0.8)
             {
                 side = new RcVec3f(0, 0, 1);
             }
 
-            RcVec3f forward = new RcVec3f();
+            var forward = RcVec3f.Cross(side, axis);
-            RcVec3f.Cross(ref forward, side, axis);
+            side = RcVec3f.Cross(axis, forward);
-            RcVec3f.Cross(ref side, axis, forward);
             side = RcVec3f.Normalize(side);
             return side;
         }

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

@@ -1,6 +1,5 @@
 using System;
 using DotRecast.Core.Numerics;
-
 using static DotRecast.Recast.Toolset.Gizmos.RcGizmoHelper;
 
 
@@ -25,7 +24,7 @@ namespace DotRecast.Recast.Toolset.Gizmos
             normals[1] = RcVec3f.Normalize(normals[1]);
             normals[0] = GetSideVector(axis);
             normals[2] = RcVec3f.Zero;
-            RcVec3f.Cross(ref normals[2], normals[0], normals[1]);
+            normals[2] = RcVec3f.Cross(normals[0], normals[1]);
             normals[2] = RcVec3f.Normalize(normals[2]);
             triangles = GenerateCylindricalTriangles();
             RcVec3f trX = new RcVec3f(normals[0].X, normals[1].X, normals[2].X);
@@ -67,9 +66,8 @@ namespace DotRecast.Recast.Toolset.Gizmos
                 side = new RcVec3f(0, 0, 1);
             }
 
-            RcVec3f forward = new RcVec3f();
+            var forward = RcVec3f.Cross(side, axis);
-            RcVec3f.Cross(ref forward, side, axis);
+            side = RcVec3f.Cross(axis, forward);
-            RcVec3f.Cross(ref side, axis, forward);
             side = RcVec3f.Normalize(side);
             return side;
         }

src/DotRecast.Recast/RcCommons.cs

@@ -142,7 +142,7 @@ namespace DotRecast.Recast
             RcVec3f e1 = new RcVec3f();
             RcVec3f.Sub(ref e0, verts, v1 * 3, v0 * 3);
             RcVec3f.Sub(ref e1, verts, v2 * 3, v0 * 3);
-            RcVec3f.Cross(ref norm, e0, e1);
+            norm = RcVec3f.Cross(e0, e1);
             norm = RcVec3f.Normalize(norm);
         }
 

src/DotRecast.Recast/RcFilledVolumeRasterization.cs

@@ -176,7 +176,7 @@ namespace DotRecast.Recast
 
         private static void Plane(float[][] planes, int p, float[] v1, float[] v2, float[] vertices, int vert)
         {
-            RcVec3f.Cross(planes[p], v1, v2);
+            RcVecUtils.Cross(planes[p], v1, v2);
             planes[p][3] = planes[p][0] * vertices[vert] + planes[p][1] * vertices[vert + 1] + planes[p][2] * vertices[vert + 2];
         }
 

test/DotRecast.Core.Test/Vector3Tests.cs

@@ -75,4 +75,21 @@ public class Vector3Tests
         Assert.That(v2.Y, Is.EqualTo(v22.Y).Within(0.000001d));
         Assert.That(v2.Z, Is.EqualTo(v22.Z).Within(0.000001d));
     }
+
+    [Test]
+    [Repeat(10000)]
+    public void TestVectorCross()
+    {
+        var v1 = new Vector3(Random.Shared.NextSingle(), Random.Shared.NextSingle(), Random.Shared.NextSingle());
+        var v2 = new Vector3(Random.Shared.NextSingle(), Random.Shared.NextSingle(), Random.Shared.NextSingle());
+        var v3 = Vector3.Cross(v1, v2);
+
+        var v11 = new RcVec3f(v1.X, v1.Y, v1.Z);
+        var v22 = new RcVec3f(v2.X, v2.Y, v2.Z);
+        var v33 = RcVec3f.Cross(v11, v22);
+
+        Assert.That(v3.X, Is.EqualTo(v33.X));
+        Assert.That(v3.Y, Is.EqualTo(v33.Y));
+        Assert.That(v3.Z, Is.EqualTo(v33.Z));
+    }
 }