refactor: preparing for switching build with System.Numerics.Vector3

src/DotRecast.Core/Numerics/RcVec3f.cs

@@ -95,15 +95,6 @@ namespace DotRecast.Core.Numerics
             }
         }
 
-        [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public void Set(float[] @in, int i)
-        {
-            X = @in[i];
-            Y = @in[i + 1];
-            Z = @in[i + 2];
-        }
-
-
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
         public readonly float Length()
         {

src/DotRecast.Detour.Extras/BVTreeBuilder.cs

@@ -20,7 +20,6 @@ freely, subject to the following restrictions:
 using System;
 using DotRecast.Core.Numerics;
 
-
 namespace DotRecast.Detour.Extras
 {
     public class BVTreeBuilder
@@ -41,10 +40,8 @@ namespace DotRecast.Detour.Extras
                 BVItem it = new BVItem();
                 items[i] = it;
                 it.i = i;
-                RcVec3f bmin = new RcVec3f();
+                RcVec3f bmin = new RcVec3f(data.verts.AsSpan(data.polys[i].verts[0] * 3));
-                RcVec3f bmax = new RcVec3f();
+                RcVec3f bmax = new RcVec3f(data.verts.AsSpan(data.polys[i].verts[0] * 3));
-                bmin.Set(data.verts, data.polys[i].verts[0] * 3);
-                bmax.Set(data.verts, data.polys[i].verts[0] * 3);
                 for (int j = 1; j < data.polys[i].vertCount; j++)
                 {
                     bmin.Min(data.verts, data.polys[i].verts[j] * 3);

src/DotRecast.Detour/DtConvexConvexIntersections.cs

@@ -53,10 +53,10 @@ namespace DotRecast.Detour
 
             do
             {
-                a.Set(p, 3 * (ai % n));
+                a = new RcVec3f(p.AsSpan(3 * (ai % n)));
-                b.Set(q, 3 * (bi % m));
+                b = new RcVec3f(q.AsSpan(3 * (bi % m)));
-                a1.Set(p, 3 * ((ai + n - 1) % n)); // prev a
+                a1 = new RcVec3f(p.AsSpan(3 * ((ai + n - 1) % n))); // prev a
-                b1.Set(q, 3 * ((bi + m - 1) % m)); // prev b
+                b1 = new RcVec3f(q.AsSpan(3 * ((bi + m - 1) % m))); // prev b
 
                 RcVec3f A = RcVec3f.Subtract(a, a1);
                 RcVec3f B = RcVec3f.Subtract(b, b1);

src/DotRecast.Detour/DtNavMesh.cs

@@ -401,8 +401,8 @@ namespace DotRecast.Detour
 
                     // Calc polygon bounds.
                     int v = p.verts[0] * 3;
-                    bmin.Set(tile.data.verts, v);
+                    bmin = new RcVec3f(tile.data.verts.AsSpan(v));
-                    bmax.Set(tile.data.verts, v);
+                    bmax = new RcVec3f(tile.data.verts.AsSpan(v));
                     for (int j = 1; j < p.vertCount; ++j)
                     {
                         v = p.verts[j] * 3;

src/DotRecast.Detour/DtNavMeshBuilder.cs

@@ -159,11 +159,9 @@ namespace DotRecast.Detour
                 {
                     int vb = option.detailMeshes[i * 4 + 0];
                     int ndv = option.detailMeshes[i * 4 + 1];
-                    RcVec3f bmin = new RcVec3f();
-                    RcVec3f bmax = new RcVec3f();
                     int dv = vb * 3;
-                    bmin.Set(option.detailVerts, dv);
+                    var bmin = new RcVec3f(option.detailVerts.AsSpan(dv));
-                    bmax.Set(option.detailVerts, dv);
+                    var bmax = new RcVec3f(option.detailVerts.AsSpan(dv));
                     for (int j = 1; j < ndv; j++)
                     {
                         bmin.Min(option.detailVerts, dv + j * 3);

src/DotRecast.Detour/DtNavMeshQuery.cs

@@ -641,8 +641,8 @@ namespace DotRecast.Detour
 
                     // Calc polygon bounds.
                     int v = p.verts[0] * 3;
-                    bmin.Set(tile.data.verts, v);
+                    bmin = new RcVec3f(tile.data.verts.AsSpan(v));
-                    bmax.Set(tile.data.verts, v);
+                    bmax = new RcVec3f(tile.data.verts.AsSpan(v));
                     for (int j = 1; j < p.vertCount; ++j)
                     {
                         v = p.verts[j] * 3;
@@ -3034,8 +3034,8 @@ namespace DotRecast.Detour
                     int ivj = poly.verts[j] * 3;
                     int ivi = poly.verts[i] * 3;
                     var seg = new RcSegmentVert();
-                    seg.vmin.Set(tile.data.verts, ivj);
+                    seg.vmin = new RcVec3f(tile.data.verts.AsSpan(ivj));
-                    seg.vmax.Set(tile.data.verts, ivi);
+                    seg.vmax = new RcVec3f(tile.data.verts.AsSpan(ivi));
                     // Array.Copy(tile.data.verts, ivj, seg, 0, 3);
                     // Array.Copy(tile.data.verts, ivi, seg, 3, 3);
                     segmentVerts.Add(seg);

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

@@ -234,7 +234,7 @@ public class CrowdSampleTool : ISampleTool
                 dd.Vertex(prev.X, prev.Y + 0.1f, prev.Z, 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;
-                prev.Set(trail.trail, v);
+                prev = new RcVec3f(trail.trail.AsSpan(v));
             }
 
             dd.End();