VDot -> Vector3f.Dot

src/DotRecast.Core/Intersections.cs

@@ -37,7 +37,7 @@ namespace DotRecast.Core
 
             // Compute denominator d. If d <= 0, segment is parallel to or points
             // away from triangle, so exit early
-            float d = VDot(qp, norm);
+            float d = Vector3f.Dot(qp, norm);
             if (d <= 0.0f)
             {
                 return null;
@@ -47,7 +47,7 @@ namespace DotRecast.Core
             // intersects iff 0 <= t. Segment intersects iff 0 <= t <= 1. Delay
             // dividing by d until intersection has been found to pierce triangle
             Vector3f ap = sp.Subtract(a);
-            float t = VDot(ap, norm);
+            float t = Vector3f.Dot(ap, norm);
             if (t < 0.0f)
             {
                 return null;
@@ -60,13 +60,13 @@ namespace DotRecast.Core
 
             // Compute barycentric coordinate components and test if within bounds
             Vector3f e = Vector3f.Cross(qp, ap);
-            v = VDot(ac, e);
+            v = Vector3f.Dot(ac, e);
             if (v < 0.0f || v > d)
             {
                 return null;
             }
 
-            w = -VDot(ab, e);
+            w = -Vector3f.Dot(ab, e);
             if (w < 0.0f || v + w > d)
             {
                 return null;

src/DotRecast.Core/RcMath.cs

@@ -52,10 +52,6 @@ namespace DotRecast.Core
         }
 
 
-        public static float VDot(Vector3f v1, Vector3f v2)
-        {
-            return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z;
-        }
 
         public static float Sqr(float f)
         {
@@ -125,8 +121,6 @@ namespace DotRecast.Core
         }
 
 
-
-
         public static void VSet(ref Vector3f @out, float a, float b, float c)
         {
             @out.x = a;

src/DotRecast.Core/Vector3f.cs

@@ -230,6 +230,11 @@ namespace DotRecast.Core
             return (float)Math.Sqrt(dx * dx + dy * dy + dz * dz);
         }
 
-
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float Dot(Vector3f v1, Vector3f v2)
+        {
+            return (v1.x * v2.x) + (v1.y * v2.y)
+                                 + (v1.z * v2.z);
+        }
     }
 }

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

@@ -226,7 +226,7 @@ public class TestNavmeshTool : Tool
 
                         // Find movement delta.
                         Vector3f delta = steerTarget.steerPos.Subtract(iterPos);
-                        float len = (float)Math.Sqrt(VDot(delta, delta));
+                        float len = (float)Math.Sqrt(Vector3f.Dot(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)
                         {