RcMath.VScale -> inline Vector3f.Scale

src/DotRecast.Core/RcMath.cs

@@ -737,42 +737,23 @@ namespace DotRecast.Core
             return (side + 4) & 0x7;
         }
 
-        public static float VperpXZ(float[] a, float[] b)
-        {
-            return a[0] * b[2] - a[2] * b[0];
-        }
-
-        public static float VperpXZ(Vector3f a, Vector3f b)
-        {
-            return a.x * b.z - a.z * b.x;
-        }
 
         public static Tuple<float, float> IntersectSegSeg2D(Vector3f ap, Vector3f aq, Vector3f bp, Vector3f bq)
         {
             Vector3f u = aq.Subtract(ap);
             Vector3f v = bq.Subtract(bp);
             Vector3f w = ap.Subtract(bp);
-            float d = VperpXZ(u, v);
+            float d = Vector3f.PerpXZ(u, v);
             if (Math.Abs(d) < 1e-6f)
             {
                 return null;
             }
 
-            float s = VperpXZ(v, w) / d;
-            float t = VperpXZ(u, w) / d;
+            float s = Vector3f.PerpXZ(v, w) / d;
+            float t = Vector3f.PerpXZ(u, w) / d;
             return Tuple.Create(s, t);
         }
         
-        public static Vector3f VScale(Vector3f @in, float scale)
-        {
-            var @out = new Vector3f();
-            @out.x = @in.x * scale;
-            @out.y = @in.y * scale;
-            @out.z = @in.z * scale;
-            return @out;
-        }
-
-
         /// Checks that the specified vector's components are all finite.
         /// @param[in] v A point. [(x, y, z)]
         /// @return True if all of the point's components are finite, i.e. not NaN

src/DotRecast.Core/Vector3f.cs

@@ -18,6 +18,7 @@ freely, subject to the following restrictions:
 
 using System;
 using System.Runtime.CompilerServices;
+using System.Security.Permissions;
 
 namespace DotRecast.Core
 {
@@ -52,6 +53,14 @@ namespace DotRecast.Core
             this.z = z;
         }
 
+        public Vector3f(float f)
+        {
+            x = f;
+            y = f;
+            z = f;
+        }
+
+
         public Vector3f(float[] f)
         {
             x = f[0];
@@ -120,6 +129,17 @@ namespace DotRecast.Core
             );
         }
 
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public readonly Vector3f Scale(float scale)
+        {
+            return new Vector3f(
+                x * scale,
+                y * scale,
+                z * scale
+            );
+        }
+
+
         /// Derives the dot product of two vectors on the xz-plane. (@p u . @p v)
         /// @param[in] u A vector [(x, y, z)]
         /// @param[in] v A vector [(x, y, z)]
@@ -175,11 +195,13 @@ namespace DotRecast.Core
             }
         }
 
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static bool operator ==(Vector3f left, Vector3f right)
         {
             return left.Equals(right);
         }
 
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static bool operator !=(Vector3f left, Vector3f right)
         {
             return !left.Equals(right);
@@ -197,6 +219,28 @@ namespace DotRecast.Core
             return left.Add(right);
         }
 
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static Vector3f operator *(Vector3f left, Vector3f right)
+        {
+            return new Vector3f(
+                left.x * right.x,
+                left.y * right.y,
+                left.z * right.z
+            );
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static Vector3f operator *(Vector3f left, float right)
+        {
+            return left * new Vector3f(right);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static Vector3f operator *(float left, Vector3f right)
+        {
+            return right * left;
+        }
+
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public static Vector3f Cross(Vector3f v1, Vector3f v2)
         {
@@ -236,5 +280,11 @@ namespace DotRecast.Core
             return (v1.x * v2.x) + (v1.y * v2.y)
                                  + (v1.z * v2.z);
         }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float PerpXZ(Vector3f a, Vector3f b)
+        {
+            return (a.x * b.z) - (a.z * b.x);
+        }
     }
 }

src/DotRecast.Detour.Crowd/Crowd.cs

@@ -1074,7 +1074,7 @@ namespace DotRecast.Detour.Crowd
                     float speedScale = ag.GetDistanceToGoal(slowDownRadius) / slowDownRadius;
 
                     ag.desiredSpeed = ag.option.maxSpeed;
-                    dvel = VScale(dvel, ag.desiredSpeed * speedScale);
+                    dvel = dvel.Scale(ag.desiredSpeed * speedScale);
                 }
 
                 // Separation
@@ -1121,7 +1121,7 @@ namespace DotRecast.Detour.Crowd
                         float desiredSqr = Sqr(ag.desiredSpeed);
                         if (speedSqr > desiredSqr)
                         {
-                            dvel = VScale(dvel, desiredSqr / speedSqr);
+                            dvel = dvel.Scale(desiredSqr / speedSqr);
                         }
                     }
                 }
@@ -1283,7 +1283,7 @@ namespace DotRecast.Detour.Crowd
                     if (w > 0.0001f)
                     {
                         float iw = 1.0f / w;
-                        ag.disp = VScale(ag.disp, iw);
+                        ag.disp = ag.disp.Scale(iw);
                     }
                 }
 

src/DotRecast.Detour.Crowd/CrowdAgent.cs

@@ -118,7 +118,7 @@ namespace DotRecast.Detour.Crowd
             Vector3f dv = nvel.Subtract(vel);
             float ds = dv.Length();
             if (ds > maxDelta)
-                dv = VScale(dv, maxDelta / ds);
+                dv = dv.Scale(maxDelta / ds);
             vel = vel.Add(dv);
 
             // Integrate
@@ -177,7 +177,7 @@ namespace DotRecast.Detour.Crowd
                 float len0 = dir0.Length();
                 float len1 = dir1.Length();
                 if (len1 > 0.001f)
-                    dir1 = VScale(dir1, 1.0f / len1);
+                    dir1 = dir1.Scale(1.0f / len1);
 
                 dir.x = dir0.x - dir1.x * len0 * 0.5f;
                 dir.y = 0;

src/DotRecast.Detour.Crowd/ObstacleAvoidanceQuery.cs

@@ -229,7 +229,7 @@ namespace DotRecast.Detour.Crowd
                 ObstacleCircle cir = m_circles[i];
 
                 // RVO
-                Vector3f vab = VScale(vcand, 2);
+                Vector3f vab = vcand.Scale(2);
                 vab = vab.Subtract(vel);
                 vab = vab.Subtract(cir.vel);
 

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

@@ -315,7 +315,7 @@ public class CrowdTool : Tool
         Vector3f vel = tgt.Subtract(pos);
         vel.y = 0.0f;
         vel.Normalize();
-        return VScale(vel, speed);
+        return vel.Scale(speed);
     }
 
     public override void HandleRender(NavMeshRenderer renderer)

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

@@ -156,7 +156,7 @@ public class AbstractCrowdTest
         Vector3f vel = tgt.Subtract(pos);
         vel.y = 0.0f;
         vel.Normalize();
-        vel = VScale(vel, speed);
+        vel = vel.Scale(speed);
         return vel;
     }