rename RcRecast, DtDetour

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

@@ -1,11 +1,11 @@
 using System.Collections.Generic;
 using DotRecast.Core.Numerics;
 using DotRecast.Recast;
-using static DotRecast.Recast.RcConstants;
-
 
 namespace DotRecast.Detour.Extras.Jumplink
 {
+    using static RcRecast;
+
     public class EdgeExtractor
     {
         public JumpEdge[] ExtractEdges(RcPolyMesh mesh)

src/DotRecast.Detour.Extras/Unity/Astar/GraphMeshDataReader.cs

@@ -22,6 +22,8 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.Extras.Unity.Astar
 {
+    using static DtDetour;
+
     public class GraphMeshDataReader : ZipBinaryReader
     {
         public const float INT_PRECISION_FACTOR = 1000f;
@@ -116,8 +118,8 @@ namespace DotRecast.Detour.Extras.Unity.Astar
                     tiles[tileIndex].detailVerts = detailVerts;
                     tiles[tileIndex].detailTris = detailTris;
                     DtMeshHeader header = new DtMeshHeader();
-                    header.magic = DtNavMesh.DT_NAVMESH_MAGIC;
+                    header.magic = DT_NAVMESH_MAGIC;
-                    header.version = DtNavMesh.DT_NAVMESH_VERSION;
+                    header.version = DT_NAVMESH_VERSION;
                     header.x = x;
                     header.y = z;
                     header.polyCount = nodeCount;

src/DotRecast.Detour.Extras/Unity/Astar/LinkBuilder.cs

@@ -21,6 +21,8 @@ using System.Collections.Generic;
 
 namespace DotRecast.Detour.Extras.Unity.Astar
 {
+    using static DtDetour;
+
     public class LinkBuilder
     {
         // Process connections and transform them into recast neighbour flags
@@ -65,19 +67,19 @@ namespace DotRecast.Detour.Extras.Unity.Astar
         {
             if (neighbourTile.header.bmin.X > tile.header.bmin.X)
             {
-                node.neis[DtPolyUtils.FindEdge(node, tile, neighbourTile.header.bmin.X, 0)] = DtNavMesh.DT_EXT_LINK;
+                node.neis[DtPolyUtils.FindEdge(node, tile, neighbourTile.header.bmin.X, 0)] = DT_EXT_LINK;
             }
             else if (neighbourTile.header.bmin.X < tile.header.bmin.X)
             {
-                node.neis[DtPolyUtils.FindEdge(node, tile, tile.header.bmin.X, 0)] = DtNavMesh.DT_EXT_LINK | 4;
+                node.neis[DtPolyUtils.FindEdge(node, tile, tile.header.bmin.X, 0)] = DT_EXT_LINK | 4;
             }
             else if (neighbourTile.header.bmin.Z > tile.header.bmin.Z)
             {
-                node.neis[DtPolyUtils.FindEdge(node, tile, neighbourTile.header.bmin.Z, 2)] = DtNavMesh.DT_EXT_LINK | 2;
+                node.neis[DtPolyUtils.FindEdge(node, tile, neighbourTile.header.bmin.Z, 2)] = DT_EXT_LINK | 2;
             }
             else
             {
-                node.neis[DtPolyUtils.FindEdge(node, tile, tile.header.bmin.Z, 2)] = DtNavMesh.DT_EXT_LINK | 6;
+                node.neis[DtPolyUtils.FindEdge(node, tile, tile.header.bmin.Z, 2)] = DT_EXT_LINK | 6;
             }
         }
     }

src/DotRecast.Detour.TileCache/DtTileCache.cs

@@ -26,6 +26,8 @@ using DotRecast.Detour.TileCache.Io;
 
 namespace DotRecast.Detour.TileCache
 {
+    using static DtDetour;
+
     public class DtTileCache
     {
         private int m_tileLutSize; // < Tile hash lookup size (must be pot).
@@ -160,7 +162,7 @@ namespace DotRecast.Detour.TileCache
             List<long> tiles = new List<long>();
 
             // Find tile based on hash.
-            int h = DtNavMesh.ComputeTileHash(tx, ty, m_tileLutMask);
+            int h = ComputeTileHash(tx, ty, m_tileLutMask);
             DtCompressedTile tile = m_posLookup[h];
             while (tile != null)
             {
@@ -178,7 +180,7 @@ namespace DotRecast.Detour.TileCache
         DtCompressedTile GetTileAt(int tx, int ty, int tlayer)
         {
             // Find tile based on hash.
-            int h = DtNavMesh.ComputeTileHash(tx, ty, m_tileLutMask);
+            int h = ComputeTileHash(tx, ty, m_tileLutMask);
             DtCompressedTile tile = m_posLookup[h];
             while (tile != null)
             {
@@ -266,7 +268,7 @@ namespace DotRecast.Detour.TileCache
             }
 
             // Insert tile into the position lut.
-            int h = DtNavMesh.ComputeTileHash(header.tx, header.ty, m_tileLutMask);
+            int h = ComputeTileHash(header.tx, header.ty, m_tileLutMask);
             tile.next = m_posLookup[h];
             m_posLookup[h] = tile;
 
@@ -305,7 +307,7 @@ namespace DotRecast.Detour.TileCache
             }
 
             // Remove tile from hash lookup.
-            int h = DtNavMesh.ComputeTileHash(tile.header.tx, tile.header.ty, m_tileLutMask);
+            int h = ComputeTileHash(tile.header.tx, tile.header.ty, m_tileLutMask);
             DtCompressedTile prev = null;
             DtCompressedTile cur = m_posLookup[h];
             while (cur != null)

src/DotRecast.Detour/DtDetour.cs

@@ -0,0 +1,176 @@
+using DotRecast.Core.Numerics;
+
+namespace DotRecast.Detour
+{
+    public static class DtDetour
+    {
+        /** A magic number used to detect compatibility of navigation tile data. */
+        public const int DT_NAVMESH_MAGIC = 'D' << 24 | 'N' << 16 | 'A' << 8 | 'V';
+
+        /** A version number used to detect compatibility of navigation tile data. */
+        public const int DT_NAVMESH_VERSION = 7;
+
+        public const int DT_NAVMESH_VERSION_RECAST4J_FIRST = 0x8807;
+        public const int DT_NAVMESH_VERSION_RECAST4J_NO_POLY_FIRSTLINK = 0x8808;
+        public const int DT_NAVMESH_VERSION_RECAST4J_32BIT_BVTREE = 0x8809;
+        public const int DT_NAVMESH_VERSION_RECAST4J_LAST = 0x8809;
+
+        /** A magic number used to detect the compatibility of navigation tile states. */
+        public const int DT_NAVMESH_STATE_MAGIC = 'D' << 24 | 'N' << 16 | 'M' << 8 | 'S';
+
+        /** A version number used to detect compatibility of navigation tile states. */
+        public const int DT_NAVMESH_STATE_VERSION = 1;
+
+        public const int DT_SALT_BITS = 16;
+        public const int DT_TILE_BITS = 28;
+        public const int DT_POLY_BITS = 20;
+
+        /// A flag that indicates that an entity links to an external entity.
+        /// (E.g. A polygon edge is a portal that links to another polygon.)
+        public const int DT_EXT_LINK = 0x8000;
+
+        /// A value that indicates the entity does not link to anything.
+        public const int DT_NULL_LINK = unchecked((int)0xffffffff);
+
+        /// A flag that indicates that an off-mesh connection can be traversed in
+        /// both directions. (Is bidirectional.)
+        public const int DT_OFFMESH_CON_BIDIR = 1;
+
+        /// The maximum number of user defined area ids.
+        public const int DT_MAX_AREAS = 64;
+
+        /// Limit raycasting during any angle pahfinding
+        /// The limit is given as a multiple of the character radius
+        public const float DT_RAY_CAST_LIMIT_PROPORTIONS = 50.0f;
+
+        /// @{
+        /// @name Encoding and Decoding
+        /// These functions are generally meant for internal use only.
+        /// Derives a standard polygon reference.
+        ///  @note This function is generally meant for internal use only.
+        ///  @param[in]	salt	The tile's salt value.
+        ///  @param[in]	it		The index of the tile.
+        ///  @param[in]	ip		The index of the polygon within the tile.
+        public static long EncodePolyId(int salt, int it, int ip)
+        {
+            return (((long)salt) << (DT_POLY_BITS + DT_TILE_BITS)) | ((long)it << DT_POLY_BITS) | (long)ip;
+        }
+
+        /// Decodes a standard polygon reference.
+        /// @note This function is generally meant for internal use only.
+        /// @param[in] ref The polygon reference to decode.
+        /// @param[out] salt The tile's salt value.
+        /// @param[out] it The index of the tile.
+        /// @param[out] ip The index of the polygon within the tile.
+        /// @see #encodePolyId
+        public static void DecodePolyId(long refs, out int salt, out int it, out int ip)
+        {
+            long saltMask = (1L << DT_SALT_BITS) - 1;
+            long tileMask = (1L << DT_TILE_BITS) - 1;
+            long polyMask = (1L << DT_POLY_BITS) - 1;
+            salt = (int)((refs >> (DT_POLY_BITS + DT_TILE_BITS)) & saltMask);
+            it = (int)((refs >> DT_POLY_BITS) & tileMask);
+            ip = (int)(refs & polyMask);
+        }
+
+        /// Extracts a tile's salt value from the specified polygon reference.
+        /// @note This function is generally meant for internal use only.
+        /// @param[in] ref The polygon reference.
+        /// @see #encodePolyId
+        public static int DecodePolyIdSalt(long refs)
+        {
+            long saltMask = (1L << DT_SALT_BITS) - 1;
+            return (int)((refs >> (DT_POLY_BITS + DT_TILE_BITS)) & saltMask);
+        }
+
+        /// Extracts the tile's index from the specified polygon reference.
+        /// @note This function is generally meant for internal use only.
+        /// @param[in] ref The polygon reference.
+        /// @see #encodePolyId
+        public static int DecodePolyIdTile(long refs)
+        {
+            long tileMask = (1L << DT_TILE_BITS) - 1;
+            return (int)((refs >> DT_POLY_BITS) & tileMask);
+        }
+
+        /// Extracts the polygon's index (within its tile) from the specified
+        /// polygon reference.
+        /// @note This function is generally meant for internal use only.
+        /// @param[in] ref The polygon reference.
+        /// @see #encodePolyId
+        public static int DecodePolyIdPoly(long refs)
+        {
+            long polyMask = (1L << DT_POLY_BITS) - 1;
+            return (int)(refs & polyMask);
+        }
+
+        public static int ComputeTileHash(int x, int y, int mask)
+        {
+            uint h1 = 0x8da6b343; // Large multiplicative constants;
+            uint h2 = 0xd8163841; // here arbitrarily chosen primes
+            uint n = h1 * (uint)x + h2 * (uint)y;
+            return (int)(n & mask);
+        }
+
+        public static float GetSlabCoord(float[] verts, int va, int side)
+        {
+            if (side == 0 || side == 4)
+            {
+                return verts[va];
+            }
+            else if (side == 2 || side == 6)
+            {
+                return verts[va + 2];
+            }
+
+            return 0;
+        }
+
+        public static void CalcSlabEndPoints(float[] verts, int va, int vb, ref RcVec2f bmin, ref RcVec2f bmax, int side)
+        {
+            if (side == 0 || side == 4)
+            {
+                if (verts[va + 2] < verts[vb + 2])
+                {
+                    bmin.X = verts[va + 2];
+                    bmin.Y = verts[va + 1];
+                    bmax.X = verts[vb + 2];
+                    bmax.Y = verts[vb + 1];
+                }
+                else
+                {
+                    bmin.X = verts[vb + 2];
+                    bmin.Y = verts[vb + 1];
+                    bmax.X = verts[va + 2];
+                    bmax.Y = verts[va + 1];
+                }
+            }
+            else if (side == 2 || side == 6)
+            {
+                if (verts[va + 0] < verts[vb + 0])
+                {
+                    bmin.X = verts[va + 0];
+                    bmin.Y = verts[va + 1];
+                    bmax.X = verts[vb + 0];
+                    bmax.Y = verts[vb + 1];
+                }
+                else
+                {
+                    bmin.X = verts[vb + 0];
+                    bmin.Y = verts[vb + 1];
+                    bmax.X = verts[va + 0];
+                    bmax.Y = verts[va + 1];
+                }
+            }
+        }
+
+        /// Get flags for edge in detail triangle.
+        /// @param[in]	triFlags		The flags for the triangle (last component of detail vertices above).
+        /// @param[in]	edgeIndex		The index of the first vertex of the edge. For instance, if 0,
+        ///								returns flags for edge AB.
+        public static int GetDetailTriEdgeFlags(int triFlags, int edgeIndex)
+        {
+            return (triFlags >> (edgeIndex * 2)) & 0x3;
+        }
+    }
+}

src/DotRecast.Detour/DtMeshTile.cs

@@ -22,6 +22,8 @@ using System.Collections.Generic;
 
 namespace DotRecast.Detour
 {
+    using static DtDetour;
+
     /**
      * Defines a navigation mesh tile.
      */
@@ -41,7 +43,7 @@ namespace DotRecast.Detour
         public readonly List<DtLink> links = new List<DtLink>();
 
         /** Index to the next free link. */
-        public int linksFreeList = DtNavMesh.DT_NULL_LINK; // FIXME: Remove
+        public int linksFreeList = DT_NULL_LINK; // FIXME: Remove
 
         /** Tile flags. (See: #dtTileFlags) */
         public int flags;

src/DotRecast.Detour/DtNavMesh.cs

@@ -25,56 +25,19 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {
+    using static DtDetour;
+
     public class DtNavMesh
     {
-        /** A magic number used to detect compatibility of navigation tile data. */
-        public const int DT_NAVMESH_MAGIC = 'D' << 24 | 'N' << 16 | 'A' << 8 | 'V';
-
-        /** A version number used to detect compatibility of navigation tile data. */
-        public const int DT_NAVMESH_VERSION = 7;
-
-        public const int DT_NAVMESH_VERSION_RECAST4J_FIRST = 0x8807;
-        public const int DT_NAVMESH_VERSION_RECAST4J_NO_POLY_FIRSTLINK = 0x8808;
-        public const int DT_NAVMESH_VERSION_RECAST4J_32BIT_BVTREE = 0x8809;
-        public const int DT_NAVMESH_VERSION_RECAST4J_LAST = 0x8809;
-
-        /** A magic number used to detect the compatibility of navigation tile states. */
-        public const int DT_NAVMESH_STATE_MAGIC = 'D' << 24 | 'N' << 16 | 'M' << 8 | 'S';
-
-        /** A version number used to detect compatibility of navigation tile states. */
-        public const int DT_NAVMESH_STATE_VERSION = 1;
-
-        public const int DT_SALT_BITS = 16;
-        public const int DT_TILE_BITS = 28;
-        public const int DT_POLY_BITS = 20;
-
-        /// A flag that indicates that an entity links to an external entity.
-        /// (E.g. A polygon edge is a portal that links to another polygon.)
-        public const int DT_EXT_LINK = 0x8000;
-
-        /// A value that indicates the entity does not link to anything.
-        public const int DT_NULL_LINK = unchecked((int)0xffffffff);
-
-        /// A flag that indicates that an off-mesh connection can be traversed in
-        /// both directions. (Is bidirectional.)
-        public const int DT_OFFMESH_CON_BIDIR = 1;
-
-        /// The maximum number of user defined area ids.
-        public const int DT_MAX_AREAS = 64;
-
-        /// Limit raycasting during any angle pahfinding
-        /// The limit is given as a multiple of the character radius
-        public const float DT_RAY_CAST_LIMIT_PROPORTIONS = 50.0f;
-
         private readonly DtNavMeshParams m_params; //< Current initialization params. TODO: do not store this info twice.
         private readonly RcVec3f m_orig; // < Origin of the tile (0,0)
-        private readonly float m_tileWidth;// < Dimensions of each tile.
+        private readonly float m_tileWidth; // < Dimensions of each tile.
         private readonly float m_tileHeight; // < Dimensions of each tile.
         private readonly int m_maxTiles; // < Max number of tiles.
         private readonly int m_tileLutMask; // < Tile hash lookup mask.
-        
+
-        private readonly Dictionary<int, List<DtMeshTile>> m_posLookup = new Dictionary<int, List<DtMeshTile>>(); //< Tile hash lookup.
+        private readonly Dictionary<int, List<DtMeshTile>> m_posLookup; //< Tile hash lookup.
-        private readonly LinkedList<DtMeshTile> m_nextFree = new LinkedList<DtMeshTile>(); //< Freelist of tiles.
+        private readonly LinkedList<DtMeshTile> m_nextFree; //< Freelist of tiles.
         private readonly DtMeshTile[] m_tiles; //< List of tiles.
 
         /** The maximum number of vertices per navigation polygon. */
@@ -98,6 +61,8 @@ namespace DotRecast.Detour
             m_maxTiles = option.maxTiles;
             m_maxVertPerPoly = maxVertsPerPoly;
             m_tileLutMask = Math.Max(1, DtUtils.NextPow2(option.maxTiles)) - 1;
+            m_posLookup = new Dictionary<int, List<DtMeshTile>>();
+            m_nextFree = new LinkedList<DtMeshTile>();
             m_tiles = new DtMeshTile[m_maxTiles];
             for (int i = 0; i < m_maxTiles; i++)
             {
@@ -155,67 +120,6 @@ namespace DotRecast.Detour
             return EncodePolyId(tile.salt, it, 0);
         }
 
-        /// @{
-        /// @name Encoding and Decoding
-        /// These functions are generally meant for internal use only.
-        /// Derives a standard polygon reference.
-        ///  @note This function is generally meant for internal use only.
-        ///  @param[in]	salt	The tile's salt value.
-        ///  @param[in]	it		The index of the tile.
-        ///  @param[in]	ip		The index of the polygon within the tile.
-        public static long EncodePolyId(int salt, int it, int ip)
-        {
-            return (((long)salt) << (DT_POLY_BITS + DT_TILE_BITS)) | ((long)it << DT_POLY_BITS) | (long)ip;
-        }
-
-        /// Decodes a standard polygon reference.
-        /// @note This function is generally meant for internal use only.
-        /// @param[in] ref The polygon reference to decode.
-        /// @param[out] salt The tile's salt value.
-        /// @param[out] it The index of the tile.
-        /// @param[out] ip The index of the polygon within the tile.
-        /// @see #encodePolyId
-        static void DecodePolyId(long refs, out int salt, out int it, out int ip)
-        {
-            long saltMask = (1L << DT_SALT_BITS) - 1;
-            long tileMask = (1L << DT_TILE_BITS) - 1;
-            long polyMask = (1L << DT_POLY_BITS) - 1;
-            salt = (int)((refs >> (DT_POLY_BITS + DT_TILE_BITS)) & saltMask);
-            it = (int)((refs >> DT_POLY_BITS) & tileMask);
-            ip = (int)(refs & polyMask);
-        }
-
-        /// Extracts a tile's salt value from the specified polygon reference.
-        /// @note This function is generally meant for internal use only.
-        /// @param[in] ref The polygon reference.
-        /// @see #encodePolyId
-        static int DecodePolyIdSalt(long refs)
-        {
-            long saltMask = (1L << DT_SALT_BITS) - 1;
-            return (int)((refs >> (DT_POLY_BITS + DT_TILE_BITS)) & saltMask);
-        }
-
-        /// Extracts the tile's index from the specified polygon reference.
-        /// @note This function is generally meant for internal use only.
-        /// @param[in] ref The polygon reference.
-        /// @see #encodePolyId
-        public static int DecodePolyIdTile(long refs)
-        {
-            long tileMask = (1L << DT_TILE_BITS) - 1;
-            return (int)((refs >> DT_POLY_BITS) & tileMask);
-        }
-
-        /// Extracts the polygon's index (within its tile) from the specified
-        /// polygon reference.
-        /// @note This function is generally meant for internal use only.
-        /// @param[in] ref The polygon reference.
-        /// @see #encodePolyId
-        static int DecodePolyIdPoly(long refs)
-        {
-            long polyMask = (1L << DT_POLY_BITS) - 1;
-            return (int)(refs & polyMask);
-        }
-
         private int AllocLink(DtMeshTile tile)
         {
             if (tile.linksFreeList == DT_NULL_LINK)
@@ -509,7 +413,7 @@ namespace DotRecast.Detour
             tile.flags = flags;
             tile.links.Clear();
             tile.polyLinks = new int[data.polys.Length];
-            Array.Fill(tile.polyLinks, DtNavMesh.DT_NULL_LINK);
+            Array.Fill(tile.polyLinks, DT_NULL_LINK);
 
             // Insert tile into the position lut.
             GetTileListByPos(header.x, header.y).Add(tile);
@@ -622,7 +526,7 @@ namespace DotRecast.Detour
 
             tile.flags = 0;
             tile.links.Clear();
-            tile.linksFreeList = DtNavMesh.DT_NULL_LINK;
+            tile.linksFreeList = DT_NULL_LINK;
 
             // Update salt, salt should never be zero.
             tile.salt = (tile.salt + 1) & ((1 << DT_SALT_BITS) - 1);
@@ -956,59 +860,7 @@ namespace DotRecast.Detour
             return n;
         }
 
-        static float GetSlabCoord(float[] verts, int va, int side)
+        private bool OverlapSlabs(RcVec2f amin, RcVec2f amax, RcVec2f bmin, RcVec2f bmax, float px, float py)
-        {
-            if (side == 0 || side == 4)
-            {
-                return verts[va];
-            }
-            else if (side == 2 || side == 6)
-            {
-                return verts[va + 2];
-            }
-
-            return 0;
-        }
-
-        static void CalcSlabEndPoints(float[] verts, int va, int vb, ref RcVec2f bmin, ref RcVec2f bmax, int side)
-        {
-            if (side == 0 || side == 4)
-            {
-                if (verts[va + 2] < verts[vb + 2])
-                {
-                    bmin.X = verts[va + 2];
-                    bmin.Y = verts[va + 1];
-                    bmax.X = verts[vb + 2];
-                    bmax.Y = verts[vb + 1];
-                }
-                else
-                {
-                    bmin.X = verts[vb + 2];
-                    bmin.Y = verts[vb + 1];
-                    bmax.X = verts[va + 2];
-                    bmax.Y = verts[va + 1];
-                }
-            }
-            else if (side == 2 || side == 6)
-            {
-                if (verts[va + 0] < verts[vb + 0])
-                {
-                    bmin.X = verts[va + 0];
-                    bmin.Y = verts[va + 1];
-                    bmax.X = verts[vb + 0];
-                    bmax.Y = verts[vb + 1];
-                }
-                else
-                {
-                    bmin.X = verts[vb + 0];
-                    bmin.Y = verts[vb + 1];
-                    bmax.X = verts[va + 0];
-                    bmax.Y = verts[va + 1];
-                }
-            }
-        }
-
-        bool OverlapSlabs(RcVec2f amin, RcVec2f amax, RcVec2f bmin, RcVec2f bmax, float px, float py)
         {
             // Check for horizontal overlap.
             // The segment is shrunken a little so that slabs which touch
@@ -1496,14 +1348,6 @@ namespace DotRecast.Detour
             return EncodePolyId(tile.salt, tile.index, 0);
         }
 
-        public static int ComputeTileHash(int x, int y, int mask)
-        {
-            uint h1 = 0x8da6b343; // Large multiplicative constants;
-            uint h2 = 0xd8163841; // here arbitrarily chosen primes
-            uint n = h1 * (uint)x + h2 * (uint)y;
-            return (int)(n & mask);
-        }
-
         /// Gets the endpoints for an off-mesh connection, ordered by "direction of travel".
         ///  @param[in]		prevRef		The reference of the polygon before the connection.
         ///  @param[in]		polyRef		The reference of the off-mesh connection polygon.
@@ -1745,20 +1589,6 @@ namespace DotRecast.Detour
             return center;
         }
 
-        /**
-     * Get flags for edge in detail triangle.
-     *
-     * @param triFlags
-     *            The flags for the triangle (last component of detail vertices above).
-     * @param edgeIndex
-     *            The index of the first vertex of the edge. For instance, if 0,
-     * @return flags for edge AB.
-     */
-        public static int GetDetailTriEdgeFlags(int triFlags, int edgeIndex)
-        {
-            return (triFlags >> (edgeIndex * 2)) & 0x3;
-        }
-
         private List<DtMeshTile> GetTileListByPos(int x, int z)
         {
             var tileHash = ComputeTileHash(x, z, m_tileLutMask);

src/DotRecast.Detour/DtNavMeshBuilder.cs

@@ -24,6 +24,8 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {
+    using static DtDetour;
+
     public static class DtNavMeshBuilder
     {
         const int MESH_NULL_IDX = 0xffff;
@@ -424,8 +426,8 @@ namespace DotRecast.Detour
             DtOffMeshConnection[] offMeshCons = new DtOffMeshConnection[storedOffMeshConCount];
 
             // Store header
-            header.magic = DtNavMesh.DT_NAVMESH_MAGIC;
+            header.magic = DT_NAVMESH_MAGIC;
-            header.version = DtNavMesh.DT_NAVMESH_VERSION;
+            header.version = DT_NAVMESH_VERSION;
             header.x = option.tileX;
             header.y = option.tileZ;
             header.layer = option.tileLayer;
@@ -497,13 +499,13 @@ namespace DotRecast.Detour
                         if (dir == 0xf) // Border
                             p.neis[j] = 0;
                         else if (dir == 0) // Portal x-
-                            p.neis[j] = DtNavMesh.DT_EXT_LINK | 4;
+                            p.neis[j] = DT_EXT_LINK | 4;
                         else if (dir == 1) // Portal z+
-                            p.neis[j] = DtNavMesh.DT_EXT_LINK | 2;
+                            p.neis[j] = DT_EXT_LINK | 2;
                         else if (dir == 2) // Portal x+
-                            p.neis[j] = DtNavMesh.DT_EXT_LINK | 0;
+                            p.neis[j] = DT_EXT_LINK | 0;
                         else if (dir == 3) // Portal z-
-                            p.neis[j] = DtNavMesh.DT_EXT_LINK | 6;
+                            p.neis[j] = DT_EXT_LINK | 6;
                     }
                     else
                     {
@@ -622,7 +624,7 @@ namespace DotRecast.Detour
                     }
 
                     con.rad = option.offMeshConRad[i];
-                    con.flags = option.offMeshConDir[i] != 0 ? DtNavMesh.DT_OFFMESH_CON_BIDIR : 0;
+                    con.flags = option.offMeshConDir[i] != 0 ? DT_OFFMESH_CON_BIDIR : 0;
                     con.side = offMeshConClass[i * 2 + 1];
                     if (option.offMeshConUserID != null)
                         con.userId = option.offMeshConUserID[i];

src/DotRecast.Detour/DtNavMeshQuery.cs

@@ -26,6 +26,8 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {
+    using static DtDetour;
+
     public class DtNavMeshQuery
     {
         /// < Add a vertex at every polygon edge crossing.
@@ -300,7 +302,7 @@ namespace DotRecast.Detour
                     parentRef = m_nodePool.GetNodeAtIdx(bestNode.pidx).id;
                 }
 
-                for (int i = bestTile.polyLinks[bestPoly.index]; i != DtNavMesh.DT_NULL_LINK; i = bestTile.links[i].next)
+                for (int i = bestTile.polyLinks[bestPoly.index]; i != DT_NULL_LINK; i = bestTile.links[i].next)
                 {
                     DtLink link = bestTile.links[i];
                     long neighbourRef = link.refs;
@@ -775,7 +777,7 @@ namespace DotRecast.Detour
                 // so it is enough to compute it from the first tile.
                 DtMeshTile tile = m_nav.GetTileByRef(startRef);
                 float agentRadius = tile.data.header.walkableRadius;
-                raycastLimitSqr = RcMath.Sqr(agentRadius * DtNavMesh.DT_RAY_CAST_LIMIT_PROPORTIONS);
+                raycastLimitSqr = RcMath.Sqr(agentRadius * DT_RAY_CAST_LIMIT_PROPORTIONS);
             }
 
             if (startRef == endRef)
@@ -851,7 +853,7 @@ namespace DotRecast.Detour
                     }
                 }
 
-                for (int i = bestTile.polyLinks[bestPoly.index]; i != DtNavMesh.DT_NULL_LINK; i = bestTile.links[i].next)
+                for (int i = bestTile.polyLinks[bestPoly.index]; i != DT_NULL_LINK; i = bestTile.links[i].next)
                 {
                     long neighbourRef = bestTile.links[i].refs;
 
@@ -1046,7 +1048,7 @@ namespace DotRecast.Detour
                 // so it is enough to compute it from the first tile.
                 DtMeshTile tile = m_nav.GetTileByRef(startRef);
                 float agentRadius = tile.data.header.walkableRadius;
-                m_query.raycastLimitSqr = RcMath.Sqr(agentRadius * DtNavMesh.DT_RAY_CAST_LIMIT_PROPORTIONS);
+                m_query.raycastLimitSqr = RcMath.Sqr(agentRadius * DT_RAY_CAST_LIMIT_PROPORTIONS);
             }
 
             if (startRef == endRef)
@@ -1172,7 +1174,7 @@ namespace DotRecast.Detour
                     }
                 }
 
-                for (int i = bestTile.polyLinks[bestPoly.index]; i != DtNavMesh.DT_NULL_LINK; i = bestTile.links[i].next)
+                for (int i = bestTile.polyLinks[bestPoly.index]; i != DT_NULL_LINK; i = bestTile.links[i].next)
                 {
                     long neighbourRef = bestTile.links[i].refs;
 
@@ -1862,10 +1864,10 @@ namespace DotRecast.Detour
                     // Find links to neighbours.
                     int nneis = 0;
 
-                    if ((curPoly.neis[j] & DtNavMesh.DT_EXT_LINK) != 0)
+                    if ((curPoly.neis[j] & DT_EXT_LINK) != 0)
                     {
                         // Tile border.
-                        for (int k = curTile.polyLinks[curPoly.index]; k != DtNavMesh.DT_NULL_LINK; k = curTile.links[k].next)
+                        for (int k = curTile.polyLinks[curPoly.index]; k != DT_NULL_LINK; k = curTile.links[k].next)
                         {
                             DtLink link = curTile.links[k];
                             if (link.edge == j)
@@ -1960,7 +1962,8 @@ namespace DotRecast.Detour
                     visited[n++] = node.id;
                     if (n >= maxVisitedSize)
                     {
-                        status |= DtStatus.DT_BUFFER_TOO_SMALL;;
+                        status |= DtStatus.DT_BUFFER_TOO_SMALL;
+                        ;
                         break;
                     }
 
@@ -2010,7 +2013,7 @@ namespace DotRecast.Detour
 
             // Find the link that points to the 'to' polygon.
             DtLink link = null;
-            for (int i = fromTile.polyLinks[fromPoly.index]; i != DtNavMesh.DT_NULL_LINK; i = fromTile.links[i].next)
+            for (int i = fromTile.polyLinks[fromPoly.index]; i != DT_NULL_LINK; i = fromTile.links[i].next)
             {
                 if (fromTile.links[i].refs == to)
                 {
@@ -2028,7 +2031,7 @@ namespace DotRecast.Detour
             if (fromPoly.GetPolyType() == DtPolyTypes.DT_POLYTYPE_OFFMESH_CONNECTION)
             {
                 // Find link that points to first vertex.
-                for (int i = fromTile.polyLinks[fromPoly.index]; i != DtNavMesh.DT_NULL_LINK; i = fromTile.links[i].next)
+                for (int i = fromTile.polyLinks[fromPoly.index]; i != DT_NULL_LINK; i = fromTile.links[i].next)
                 {
                     if (fromTile.links[i].refs == to)
                     {
@@ -2050,7 +2053,7 @@ namespace DotRecast.Detour
 
             if (toPoly.GetPolyType() == DtPolyTypes.DT_POLYTYPE_OFFMESH_CONNECTION)
             {
-                for (int i = toTile.polyLinks[toPoly.index]; i != DtNavMesh.DT_NULL_LINK; i = toTile.links[i].next)
+                for (int i = toTile.polyLinks[toPoly.index]; i != DT_NULL_LINK; i = toTile.links[i].next)
                 {
                     if (toTile.links[i].refs == from)
                     {
@@ -2326,7 +2329,7 @@ namespace DotRecast.Detour
                 // Follow neighbours.
                 long nextRef = 0;
 
-                for (int i = tile.polyLinks[poly.index]; i != DtNavMesh.DT_NULL_LINK; i = tile.links[i].next)
+                for (int i = tile.polyLinks[poly.index]; i != DT_NULL_LINK; i = tile.links[i].next)
                 {
                     DtLink link = tile.links[i];
 
@@ -2567,7 +2570,7 @@ namespace DotRecast.Detour
                 resultParent.Add(parentRef);
                 resultCost.Add(bestNode.total);
 
-                for (int i = bestTile.polyLinks[bestPoly.index]; i != DtNavMesh.DT_NULL_LINK; i = bestTile.links[i].next)
+                for (int i = bestTile.polyLinks[bestPoly.index]; i != DT_NULL_LINK; i = bestTile.links[i].next)
                 {
                     DtLink link = bestTile.links[i];
                     long neighbourRef = link.refs;
@@ -2744,7 +2747,7 @@ namespace DotRecast.Detour
                 resultParent.Add(parentRef);
                 resultCost.Add(bestNode.total);
 
-                for (int i = bestTile.polyLinks[bestPoly.index]; i != DtNavMesh.DT_NULL_LINK; i = bestTile.links[i].next)
+                for (int i = bestTile.polyLinks[bestPoly.index]; i != DT_NULL_LINK; i = bestTile.links[i].next)
                 {
                     DtLink link = bestTile.links[i];
                     long neighbourRef = link.refs;
@@ -2899,7 +2902,7 @@ namespace DotRecast.Detour
                 long curRef = curNode.id;
                 m_nav.GetTileAndPolyByRefUnsafe(curRef, out var curTile, out var curPoly);
 
-                for (int i = curTile.polyLinks[curPoly.index]; i != DtNavMesh.DT_NULL_LINK; i = curTile.links[i].next)
+                for (int i = curTile.polyLinks[curPoly.index]; i != DT_NULL_LINK; i = curTile.links[i].next)
                 {
                     DtLink link = curTile.links[i];
                     long neighbourRef = link.refs;
@@ -2967,7 +2970,7 @@ namespace DotRecast.Detour
 
                         // Connected polys do not overlap.
                         bool connected = false;
-                        for (int k = curTile.polyLinks[curPoly.index]; k != DtNavMesh.DT_NULL_LINK; k = curTile.links[k].next)
+                        for (int k = curTile.polyLinks[curPoly.index]; k != DT_NULL_LINK; k = curTile.links[k].next)
                         {
                             if (curTile.links[k].refs == pastRef)
                             {
@@ -3073,10 +3076,10 @@ namespace DotRecast.Detour
             {
                 // Skip non-solid edges.
                 ints.Clear();
-                if ((poly.neis[j] & DtNavMesh.DT_EXT_LINK) != 0)
+                if ((poly.neis[j] & DT_EXT_LINK) != 0)
                 {
                     // Tile border.
-                    for (int k = tile.polyLinks[poly.index]; k != DtNavMesh.DT_NULL_LINK; k = tile.links[k].next)
+                    for (int k = tile.polyLinks[poly.index]; k != DT_NULL_LINK; k = tile.links[k].next)
                     {
                         DtLink link = tile.links[k];
                         if (link.edge == j)
@@ -3240,11 +3243,11 @@ namespace DotRecast.Detour
                 for (int i = 0, j = bestPoly.vertCount - 1; i < bestPoly.vertCount; j = i++)
                 {
                     // Skip non-solid edges.
-                    if ((bestPoly.neis[j] & DtNavMesh.DT_EXT_LINK) != 0)
+                    if ((bestPoly.neis[j] & DT_EXT_LINK) != 0)
                     {
                         // Tile border.
                         bool solid = true;
-                        for (int k = bestTile.polyLinks[bestPoly.index]; k != DtNavMesh.DT_NULL_LINK; k = bestTile.links[k].next)
+                        for (int k = bestTile.polyLinks[bestPoly.index]; k != DT_NULL_LINK; k = bestTile.links[k].next)
                         {
                             DtLink link = bestTile.links[k];
                             if (link.edge == j)
@@ -3300,7 +3303,7 @@ namespace DotRecast.Detour
                     bestvi = RcVecUtils.Create(bestTile.data.verts, vi);
                 }
 
-                for (int i = bestTile.polyLinks[bestPoly.index]; i != DtNavMesh.DT_NULL_LINK; i = bestTile.links[i].next)
+                for (int i = bestTile.polyLinks[bestPoly.index]; i != DT_NULL_LINK; i = bestTile.links[i].next)
                 {
                     DtLink link = bestTile.links[i];
                     long neighbourRef = link.refs;

src/DotRecast.Detour/DtPathUtils.cs

@@ -24,6 +24,8 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {
+    using static DtDetour;
+
     public static class DtPathUtils
     {
         private const int MAX_STEER_POINTS = 3;
@@ -107,7 +109,7 @@ namespace DotRecast.Detour
             }
 
 
-            for (int k = tile.polyLinks[poly.index]; k != DtNavMesh.DT_NULL_LINK; k = tile.links[k].next)
+            for (int k = tile.polyLinks[poly.index]; k != DT_NULL_LINK; k = tile.links[k].next)
             {
                 DtLink link = tile.links[k];
                 if (link.refs != 0)

src/DotRecast.Detour/DtQueryDefaultFilter.cs

@@ -23,6 +23,8 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour
 {
+    using static DtDetour;
+
     /**
  * <b>The Default Implementation</b>
  *
@@ -50,7 +52,7 @@ namespace DotRecast.Detour
  */
     public class DtQueryDefaultFilter : IDtQueryFilter
     {
-        private readonly float[] m_areaCost = new float[DtNavMesh.DT_MAX_AREAS]; //< Cost per area type. (Used by default implementation.)
+        private readonly float[] m_areaCost = new float[DT_MAX_AREAS]; //< Cost per area type. (Used by default implementation.)
         private int m_includeFlags; //< Flags for polygons that can be visited. (Used by default implementation.) 
         private int m_excludeFlags; //< Flags for polygons that should not be visited. (Used by default implementation.) 
 
@@ -58,7 +60,7 @@ namespace DotRecast.Detour
         {
             m_includeFlags = 0xffff;
             m_excludeFlags = 0;
-            for (int i = 0; i < DtNavMesh.DT_MAX_AREAS; ++i)
+            for (int i = 0; i < DT_MAX_AREAS; ++i)
             {
                 m_areaCost[i] = 1.0f;
             }
@@ -68,12 +70,12 @@ namespace DotRecast.Detour
         {
             m_includeFlags = includeFlags;
             m_excludeFlags = excludeFlags;
-            for (int i = 0; i < Math.Min(DtNavMesh.DT_MAX_AREAS, areaCost.Length); ++i)
+            for (int i = 0; i < Math.Min(DT_MAX_AREAS, areaCost.Length); ++i)
             {
                 m_areaCost[i] = areaCost[i];
             }
 
-            for (int i = areaCost.Length; i < DtNavMesh.DT_MAX_AREAS; ++i)
+            for (int i = areaCost.Length; i < DT_MAX_AREAS; ++i)
             {
                 m_areaCost[i] = 1.0f;
             }

src/DotRecast.Detour/Io/DtMeshDataReader.cs

@@ -21,6 +21,8 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.Io
 {
+    using static DtDetour;
+
     public class DtMeshDataReader
     {
         public const int DT_POLY_DETAIL_SIZE = 10;
@@ -53,10 +55,10 @@ namespace DotRecast.Detour.Io
             DtMeshHeader header = new DtMeshHeader();
             data.header = header;
             header.magic = buf.GetInt();
-            if (header.magic != DtNavMesh.DT_NAVMESH_MAGIC)
+            if (header.magic != DT_NAVMESH_MAGIC)
             {
                 header.magic = IOUtils.SwapEndianness(header.magic);
-                if (header.magic != DtNavMesh.DT_NAVMESH_MAGIC)
+                if (header.magic != DT_NAVMESH_MAGIC)
                 {
                     throw new IOException("Invalid magic");
                 }
@@ -65,16 +67,16 @@ namespace DotRecast.Detour.Io
             }
 
             header.version = buf.GetInt();
-            if (header.version != DtNavMesh.DT_NAVMESH_VERSION)
+            if (header.version != DT_NAVMESH_VERSION)
             {
-                if (header.version < DtNavMesh.DT_NAVMESH_VERSION_RECAST4J_FIRST
+                if (header.version < DT_NAVMESH_VERSION_RECAST4J_FIRST
-                    || header.version > DtNavMesh.DT_NAVMESH_VERSION_RECAST4J_LAST)
+                    || header.version > DT_NAVMESH_VERSION_RECAST4J_LAST)
                 {
                     throw new IOException("Invalid version " + header.version);
                 }
             }
 
-            bool cCompatibility = header.version == DtNavMesh.DT_NAVMESH_VERSION;
+            bool cCompatibility = header.version == DT_NAVMESH_VERSION;
             header.x = buf.GetInt();
             header.y = buf.GetInt();
             header.layer = buf.GetInt();
@@ -91,7 +93,7 @@ namespace DotRecast.Detour.Io
             header.walkableHeight = buf.GetFloat();
             header.walkableRadius = buf.GetFloat();
             header.walkableClimb = buf.GetFloat();
-            
+
             header.bmin.X = buf.GetFloat();
             header.bmin.Y = buf.GetFloat();
             header.bmin.Z = buf.GetFloat();
@@ -141,7 +143,7 @@ namespace DotRecast.Detour.Io
             for (int i = 0; i < polys.Length; i++)
             {
                 polys[i] = new DtPoly(i, maxVertPerPoly);
-                if (header.version < DtNavMesh.DT_NAVMESH_VERSION_RECAST4J_NO_POLY_FIRSTLINK)
+                if (header.version < DT_NAVMESH_VERSION_RECAST4J_NO_POLY_FIRSTLINK)
                 {
                     buf.GetInt(); // polys[i].firstLink
                 }
@@ -200,7 +202,7 @@ namespace DotRecast.Detour.Io
             for (int i = 0; i < nodes.Length; i++)
             {
                 nodes[i] = new DtBVNode();
-                if (header.version < DtNavMesh.DT_NAVMESH_VERSION_RECAST4J_32BIT_BVTREE)
+                if (header.version < DT_NAVMESH_VERSION_RECAST4J_32BIT_BVTREE)
                 {
                     for (int j = 0; j < 3; j++)
                     {

src/DotRecast.Detour/Io/DtMeshDataWriter.cs

@@ -21,13 +21,15 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.Io
 {
+    using static DtDetour;
+
     public class DtMeshDataWriter : DtWriter
     {
         public void Write(BinaryWriter stream, DtMeshData data, RcByteOrder order, bool cCompatibility)
         {
             DtMeshHeader header = data.header;
             Write(stream, header.magic, order);
-            Write(stream, cCompatibility ? DtNavMesh.DT_NAVMESH_VERSION : DtNavMesh.DT_NAVMESH_VERSION_RECAST4J_LAST, order);
+            Write(stream, cCompatibility ? DT_NAVMESH_VERSION : DT_NAVMESH_VERSION_RECAST4J_LAST, order);
             Write(stream, header.x, order);
             Write(stream, header.y, order);
             Write(stream, header.layer, order);

src/DotRecast.Detour/Io/DtMeshSetReader.cs

@@ -22,6 +22,8 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.Io
 {
+    using static DtDetour;
+
     public class DtMeshSetReader
     {
         private readonly DtMeshDataReader meshReader = new DtMeshDataReader();
@@ -147,7 +149,7 @@ namespace DotRecast.Detour.Io
             int salt = ((refs >> (m_polyBits + m_tileBits)) & saltMask);
             int it = ((refs >> m_polyBits) & tileMask);
             int ip = refs & polyMask;
-            return DtNavMesh.EncodePolyId(salt, it, ip);
+            return EncodePolyId(salt, it, ip);
         }
     }
 }

src/DotRecast.Recast.Demo/Draw/NavMeshRenderer.cs

@@ -23,14 +23,14 @@ using DotRecast.Core.Numerics;
 using DotRecast.Detour;
 using DotRecast.Recast.Toolset.Builder;
 using DotRecast.Recast.Toolset.Geom;
-using static DotRecast.Recast.RcCommons;
+using static DotRecast.Recast.RcRecast;
 
 namespace DotRecast.Recast.Demo.Draw;
 
 public class NavMeshRenderer
 {
     private readonly RecastDebugDraw _debugDraw;
-    private readonly int _navMeshDrawFlags = RecastDebugDraw.DRAWNAVMESH_OFFMESHCONS | RecastDebugDraw.DRAWNAVMESH_CLOSEDLIST;
+    private readonly int _navMeshDrawFlags = RecastDebugDraw.DU_DRAWNAVMESH_OFFMESHCONS | RecastDebugDraw.DU_DRAWNAVMESH_CLOSEDLIST;
 
     public NavMeshRenderer(RecastDebugDraw debugDraw)
     {

src/DotRecast.Recast.Demo/Draw/RecastDebugDraw.cs

@@ -22,16 +22,20 @@ using System;
 using System.Collections.Generic;
 using DotRecast.Core.Numerics;
 using DotRecast.Detour;
+using DotRecast.Detour.Crowd;
+using DotRecast.Detour.Dynamic.Colliders;
 using DotRecast.Recast.Toolset.Builder;
 using Silk.NET.OpenGL;
 
 namespace DotRecast.Recast.Demo.Draw;
 
+using static DtDetour;
+
 public class RecastDebugDraw : DebugDraw
 {
-    public static readonly int DRAWNAVMESH_OFFMESHCONS = 0x01;
+    public static readonly int DU_DRAWNAVMESH_OFFMESHCONS = 0x01;
-    public static readonly int DRAWNAVMESH_CLOSEDLIST = 0x02;
+    public static readonly int DU_DRAWNAVMESH_CLOSEDLIST = 0x02;
-    public static readonly int DRAWNAVMESH_COLOR_TILES = 0x04;
+    public static readonly int DU_DRAWNAVMESH_COLOR_TILES = 0x04;
 
     public RecastDebugDraw(GL gl) : base(gl)
     {
@@ -101,7 +105,7 @@ public class RecastDebugDraw : DebugDraw
 
     public void DebugDrawNavMeshWithClosedList(DtNavMesh mesh, DtNavMeshQuery query, int flags)
     {
-        DtNavMeshQuery q = (flags & DRAWNAVMESH_CLOSEDLIST) != 0 ? query : null;
+        DtNavMeshQuery q = (flags & DU_DRAWNAVMESH_CLOSEDLIST) != 0 ? query : null;
         for (int i = 0; i < mesh.GetMaxTiles(); ++i)
         {
             DtMeshTile tile = mesh.GetTile(i);
@@ -116,7 +120,7 @@ public class RecastDebugDraw : DebugDraw
     {
         long @base = mesh.GetPolyRefBase(tile);
 
-        int tileNum = DtNavMesh.DecodePolyIdTile(@base);
+        int tileNum = DecodePolyIdTile(@base);
         int tileColor = DuIntToCol(tileNum, 128);
         DepthMask(false);
         Begin(DebugDrawPrimitives.TRIS);
@@ -135,7 +139,7 @@ public class RecastDebugDraw : DebugDraw
             }
             else
             {
-                if ((flags & DRAWNAVMESH_COLOR_TILES) != 0)
+                if ((flags & DU_DRAWNAVMESH_COLOR_TILES) != 0)
                 {
                     col = tileColor;
                 }
@@ -163,7 +167,7 @@ public class RecastDebugDraw : DebugDraw
         // Draw outer poly boundaries
         DrawPolyBoundaries(tile, DuRGBA(0, 48, 64, 220), 2.5f, false);
 
-        if ((flags & DRAWNAVMESH_OFFMESHCONS) != 0)
+        if ((flags & DU_DRAWNAVMESH_OFFMESHCONS) != 0)
         {
             Begin(DebugDrawPrimitives.LINES, 2.0f);
             for (int i = 0; i < tile.data.header.polyCount; ++i)
@@ -198,7 +202,7 @@ public class RecastDebugDraw : DebugDraw
                 // Check to see if start and end end-points have links.
                 bool startSet = false;
                 bool endSet = false;
-                for (int k = tile.polyLinks[p.index]; k != DtNavMesh.DT_NULL_LINK; k = tile.links[k].next)
+                for (int k = tile.polyLinks[p.index]; k != DT_NULL_LINK; k = tile.links[k].next)
                 {
                     if (tile.links[k].edge == 0)
                     {
@@ -319,10 +323,10 @@ public class RecastDebugDraw : DebugDraw
                         continue;
                     }
 
-                    if ((p.neis[j] & DtNavMesh.DT_EXT_LINK) != 0)
+                    if ((p.neis[j] & DT_EXT_LINK) != 0)
                     {
                         bool con = false;
-                        for (int k = tile.polyLinks[p.index]; k != DtNavMesh.DT_NULL_LINK; k = tile.links[k].next)
+                        for (int k = tile.polyLinks[p.index]; k != DT_NULL_LINK; k = tile.links[k].next)
                         {
                             if (tile.links[k].edge == j)
                             {
@@ -394,7 +398,7 @@ public class RecastDebugDraw : DebugDraw
 
                         for (int m = 0, n = 2; m < 3; n = m++)
                         {
-                            if ((DtNavMesh.GetDetailTriEdgeFlags(tile.data.detailTris[t + 3], n) & DtDetailTriEdgeFlags.DT_DETAIL_EDGE_BOUNDARY) == 0)
+                            if ((GetDetailTriEdgeFlags(tile.data.detailTris[t + 3], n) & DtDetailTriEdgeFlags.DT_DETAIL_EDGE_BOUNDARY) == 0)
                                 continue;
 
                             if (((tile.data.detailTris[t + 3] >> (n * 2)) & 0x3) == 0)
@@ -498,7 +502,7 @@ public class RecastDebugDraw : DebugDraw
                     {
                         color = DuRGBA(0, 192, 255, 64);
                     }
-                    else if (area == RcConstants.RC_NULL_AREA)
+                    else if (area == RcRecast.RC_NULL_AREA)
                     {
                         color = DuRGBA(0, 0, 0, 64);
                     }
@@ -670,7 +674,7 @@ public class RecastDebugDraw : DebugDraw
                 int v3 = c.rverts[j * 4 + 3];
                 float off = 0;
                 int colv = color;
-                if ((v3 & RcConstants.RC_BORDER_VERTEX) != 0)
+                if ((v3 & RcRecast.RC_BORDER_VERTEX) != 0)
                 {
                     colv = DuRGBA(255, 255, 255, a);
                     off = ch * 2;
@@ -717,7 +721,7 @@ public class RecastDebugDraw : DebugDraw
                 int vb0 = c.verts[j * 4];
                 int vb1 = c.verts[j * 4 + 1];
                 int vb2 = c.verts[j * 4 + 2];
-                int col = (va3 & RcConstants.RC_AREA_BORDER) != 0 ? bcolor : color;
+                int col = (va3 & RcRecast.RC_AREA_BORDER) != 0 ? bcolor : color;
 
                 float fx = orig.X + va0 * cs;
                 float fy = orig.Y + (va1 + 1 + (i & 1)) * ch;
@@ -748,7 +752,7 @@ public class RecastDebugDraw : DebugDraw
                 int v3 = c.verts[j * 4 + 3];
                 float off = 0;
                 int colv = color;
-                if ((v3 & RcConstants.RC_BORDER_VERTEX) != 0)
+                if ((v3 & RcRecast.RC_BORDER_VERTEX) != 0)
                 {
                     colv = DuRGBA(255, 255, 255, a);
                     off = ch * 2;
@@ -828,7 +832,7 @@ public class RecastDebugDraw : DebugDraw
                     {
                         fcol[0] = DuRGBA(64, 128, 160, 255);
                     }
-                    else if (s.area == RcConstants.RC_NULL_AREA)
+                    else if (s.area == RcRecast.RC_NULL_AREA)
                     {
                         fcol[0] = DuRGBA(64, 64, 64, 255);
                     }
@@ -950,7 +954,7 @@ public class RecastDebugDraw : DebugDraw
             {
                 color = DuRGBA(0, 192, 255, 64);
             }
-            else if (area == RcConstants.RC_NULL_AREA)
+            else if (area == RcRecast.RC_NULL_AREA)
             {
                 color = DuRGBA(0, 0, 0, 64);
             }
@@ -962,7 +966,7 @@ public class RecastDebugDraw : DebugDraw
             int[] vi = new int[3];
             for (int j = 2; j < nvp; ++j)
             {
-                if (mesh.polys[p + j] == RcConstants.RC_MESH_NULL_IDX)
+                if (mesh.polys[p + j] == RcRecast.RC_MESH_NULL_IDX)
                 {
                     break;
                 }
@@ -993,7 +997,7 @@ public class RecastDebugDraw : DebugDraw
             int p = i * nvp * 2;
             for (int j = 0; j < nvp; ++j)
             {
-                if (mesh.polys[p + j] == RcConstants.RC_MESH_NULL_IDX)
+                if (mesh.polys[p + j] == RcRecast.RC_MESH_NULL_IDX)
                 {
                     break;
                 }
@@ -1003,7 +1007,7 @@ public class RecastDebugDraw : DebugDraw
                     continue;
                 }
 
-                int nj = (j + 1 >= nvp || mesh.polys[p + j + 1] == RcConstants.RC_MESH_NULL_IDX) ? 0 : j + 1;
+                int nj = (j + 1 >= nvp || mesh.polys[p + j + 1] == RcRecast.RC_MESH_NULL_IDX) ? 0 : j + 1;
                 int[] vi = { mesh.polys[p + j], mesh.polys[p + nj] };
 
                 for (int k = 0; k < 2; ++k)
@@ -1027,7 +1031,7 @@ public class RecastDebugDraw : DebugDraw
             int p = i * nvp * 2;
             for (int j = 0; j < nvp; ++j)
             {
-                if (mesh.polys[p + j] == RcConstants.RC_MESH_NULL_IDX)
+                if (mesh.polys[p + j] == RcRecast.RC_MESH_NULL_IDX)
                 {
                     break;
                 }
@@ -1037,7 +1041,7 @@ public class RecastDebugDraw : DebugDraw
                     continue;
                 }
 
-                int nj = (j + 1 >= nvp || mesh.polys[p + j + 1] == RcConstants.RC_MESH_NULL_IDX) ? 0 : j + 1;
+                int nj = (j + 1 >= nvp || mesh.polys[p + j + 1] == RcRecast.RC_MESH_NULL_IDX) ? 0 : j + 1;
                 int[] vi = { mesh.polys[p + j], mesh.polys[p + nj] };
 
                 int col = colb;
@@ -1328,7 +1332,7 @@ public class RecastDebugDraw : DebugDraw
 
         for (int side = 0; side < 8; ++side)
         {
-            int m = DtNavMesh.DT_EXT_LINK | (short)side;
+            int m = DT_EXT_LINK | (short)side;
 
             for (int i = 0; i < tile.data.header.polyCount; ++i)
             {

src/DotRecast.Recast.Demo/RecastDemo.cs

@@ -462,7 +462,7 @@ public class RecastDemo : IRecastDemoChannel
             var settings = _sample.GetSettings();
             RcVec3f bmin = _sample.GetInputGeom().GetMeshBoundsMin();
             RcVec3f bmax = _sample.GetInputGeom().GetMeshBoundsMax();
-            RcCommons.CalcGridSize(bmin, bmax, settings.cellSize, out var gw, out var gh);
+            RcRecast.CalcGridSize(bmin, bmax, settings.cellSize, out var gw, out var gh);
             settingsView.SetVoxels(gw, gh);
             settingsView.SetTiles(tileNavMeshBuilder.GetTiles(_sample.GetInputGeom(), settings.cellSize, settings.tileSize));
             settingsView.SetMaxTiles(tileNavMeshBuilder.GetMaxTiles(_sample.GetInputGeom(), settings.cellSize, settings.tileSize));

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

@@ -158,7 +158,7 @@ namespace DotRecast.Recast.Toolset.Builder
 
         private int GetTileBits(IInputGeomProvider geom, float cellSize, int tileSize)
         {
-            RcCommons.CalcGridSize(geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), cellSize, out var gw, out var gh);
+            RcRecast.CalcGridSize(geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), cellSize, out var gw, out var gh);
             int tw = (gw + tileSize - 1) / tileSize;
             int th = (gh + tileSize - 1) / tileSize;
             int tileBits = Math.Min(DtUtils.Ilog2(DtUtils.NextPow2(tw * th)), 14);
@@ -167,7 +167,7 @@ namespace DotRecast.Recast.Toolset.Builder
 
         public int[] GetTiles(DemoInputGeomProvider geom, float cellSize, int tileSize)
         {
-            RcCommons.CalcGridSize(geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), cellSize, out var gw, out var gh);
+            RcRecast.CalcGridSize(geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), cellSize, out var gw, out var gh);
             int tw = (gw + tileSize - 1) / tileSize;
             int th = (gh + tileSize - 1) / tileSize;
             return new int[] { tw, th };

src/DotRecast.Recast.Toolset/Tools/RcObstacleTool.cs

@@ -42,7 +42,7 @@ namespace DotRecast.Recast.Toolset.Tools
             // Init cache
             var bmin = geom.GetMeshBoundsMin();
             var bmax = geom.GetMeshBoundsMax();
-            RcCommons.CalcGridSize(bmin, bmax, setting.cellSize, out var gw, out var gh);
+            RcRecast.CalcGridSize(bmin, bmax, setting.cellSize, out var gw, out var gh);
             int ts = setting.tileSize;
             int tw = (gw + ts - 1) / ts;
             int th = (gh + ts - 1) / ts;

src/DotRecast.Recast.Toolset/Tools/RcTileTool.cs

@@ -23,7 +23,7 @@ namespace DotRecast.Recast.Toolset.Tools
             var bmin = geom.GetMeshBoundsMin();
             var bmax = geom.GetMeshBoundsMax();
             int gw = 0, gh = 0;
-            RcCommons.CalcGridSize(bmin, bmax, settings.cellSize, out gw, out gh);
+            RcRecast.CalcGridSize(bmin, bmax, settings.cellSize, out gw, out gh);
 
             int ts = settings.tileSize;
             int tw = (gw + ts - 1) / ts;
@@ -47,7 +47,7 @@ namespace DotRecast.Recast.Toolset.Tools
             var bmin = geom.GetMeshBoundsMin();
             var bmax = geom.GetMeshBoundsMax();
             int gw = 0, gh = 0;
-            RcCommons.CalcGridSize(bmin, bmax, settings.cellSize, out gw, out gh);
+            RcRecast.CalcGridSize(bmin, bmax, settings.cellSize, out gw, out gh);
 
             int ts = settings.tileSize;
             int tw = (gw + ts - 1) / ts;

src/DotRecast.Recast/RcAreas.cs

@@ -25,8 +25,7 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast
 {
-    using static RcConstants;
+    using static RcRecast;
-    using static RcCommons;
 
     public static class RcAreas
     {

src/DotRecast.Recast/RcBuilder.cs

@@ -30,7 +30,7 @@ using DotRecast.Recast.Geom;
 
 namespace DotRecast.Recast
 {
-    using static RcCommons;
+    using static RcRecast;
     using static RcAreas;
 
     public class RcBuilder

src/DotRecast.Recast/RcBuilderConfig.cs

@@ -92,7 +92,7 @@ namespace DotRecast.Recast
             }
             else
             {
-                RcCommons.CalcGridSize(this.bmin, this.bmax, cfg.Cs, out width, out height);
+                RcRecast.CalcGridSize(this.bmin, this.bmax, cfg.Cs, out width, out height);
             }
         }
     }

src/DotRecast.Recast/RcCompacts.cs

@@ -20,17 +20,14 @@ freely, subject to the following restrictions:
 using System;
 using System.Linq;
 using DotRecast.Core;
-using static DotRecast.Recast.RcConstants;
-
 
 namespace DotRecast.Recast
 {
-    using static RcCommons;
+    using static RcRecast;
-
 
     public static class RcCompacts
     {
-        private const int MAX_HEIGHT = RcConstants.RC_SPAN_MAX_HEIGHT;
+        private const int MAX_HEIGHT = RC_SPAN_MAX_HEIGHT;
 
         /// @}
         /// @name Compact Heightfield Functions

src/DotRecast.Recast/RcConstants.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.
-*/
-
-namespace DotRecast.Recast
-{
-    public static class RcConstants
-    {
-        /// Represents the null area.
-        /// When a data element is given this value it is considered to no longer be 
-        /// assigned to a usable area.  (E.g. It is un-walkable.)
-        public const int RC_NULL_AREA = 0;
-        
-        /// The default area id used to indicate a walkable polygon. 
-        /// This is also the maximum allowed area id, and the only non-null area id 
-        /// recognized by some steps in the build process. 
-        public const int RC_WALKABLE_AREA = 63;
-
-        /// The value returned by #rcGetCon if the specified direction is not connected
-        /// to another span. (Has no neighbor.)
-        public const int RC_NOT_CONNECTED = 0x3f;
-        
-        /// Defines the number of bits allocated to rcSpan::smin and rcSpan::smax.
-        public const int RC_SPAN_HEIGHT_BITS = 20;
-
-        /// Defines the maximum value for rcSpan::smin and rcSpan::smax.
-        public const int RC_SPAN_MAX_HEIGHT = (1 << RC_SPAN_HEIGHT_BITS) - 1;
-
-        /// The number of spans allocated per span spool.
-        /// @see rcSpanPool
-        public const int RC_SPANS_PER_POOL = 2048;
-        
-        /// Heighfield border flag.
-        /// If a heightfield region ID has this bit set, then the region is a border
-        /// region and its spans are considered unwalkable.
-        /// (Used during the region and contour build process.)
-        /// @see rcCompactSpan::reg
-        public const int RC_BORDER_REG = 0x8000;
-
-        /// Polygon touches multiple regions.
-        /// If a polygon has this region ID it was merged with or created
-        /// from polygons of different regions during the polymesh
-        /// build step that removes redundant border vertices.
-        /// (Used during the polymesh and detail polymesh build processes)
-        /// @see rcPolyMesh::regs
-        public const int RC_MULTIPLE_REGS = 0;
-
-        // Border vertex flag.
-        /// If a region ID has this bit set, then the associated element lies on
-        /// a tile border. If a contour vertex's region ID has this bit set, the
-        /// vertex will later be removed in order to match the segments and vertices
-        /// at tile boundaries.
-        /// (Used during the build process.)
-        /// @see rcCompactSpan::reg, #rcContour::verts, #rcContour::rverts
-        public const int RC_BORDER_VERTEX = 0x10000;
-
-        /// Area border flag.
-        /// If a region ID has this bit set, then the associated element lies on
-        /// the border of an area.
-        /// (Used during the region and contour build process.)
-        /// @see rcCompactSpan::reg, #rcContour::verts, #rcContour::rverts
-        public const int RC_AREA_BORDER = 0x20000;
-
-        /// Applied to the region id field of contour vertices in order to extract the region id.
-        /// The region id field of a vertex may have several flags applied to it. So the
-        /// fields value can't be used directly.
-        /// @see rcContour::verts, rcContour::rverts
-        public const int RC_CONTOUR_REG_MASK = 0xffff;
-
-        /// A value which indicates an invalid index within a mesh.
-        /// @note This does not necessarily indicate an error.
-        /// @see rcPolyMesh::polys
-        public const int RC_MESH_NULL_IDX = 0xffff;
-
-        public const int RC_LOG_WARNING = 1;
-    }
-}

src/DotRecast.Recast/RcContours.cs

@@ -24,8 +24,8 @@ using DotRecast.Core;
 
 namespace DotRecast.Recast
 {
-    using static RcConstants;
+    
-    using static RcCommons;
+    using static RcRecast;
 
     public static class RcContours
     {

src/DotRecast.Recast/RcFilledVolumeRasterization.cs

@@ -20,11 +20,11 @@ freely, subject to the following restrictions:
 using System;
 using DotRecast.Core;
 using DotRecast.Core.Numerics;
-using static DotRecast.Recast.RcConstants;
-
 
 namespace DotRecast.Recast
 {
+    using static RcRecast;
+
     public static class RcFilledVolumeRasterization
     {
         private const float EPSILON = 0.00001f;

src/DotRecast.Recast/RcFilters.cs

@@ -23,8 +23,8 @@ using DotRecast.Core;
 
 namespace DotRecast.Recast
 {
-    using static RcConstants;
+    
-    using static RcCommons;
+    using static RcRecast;
 
     public static class RcFilters
     {

src/DotRecast.Recast/RcLayers.cs

@@ -25,12 +25,12 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast
 {
-    using static RcConstants;
+    
-    using static RcCommons;
+    using static RcRecast;
 
     public static class RcLayers
     {
-        const int RC_MAX_LAYERS = RcConstants.RC_NOT_CONNECTED;
+        const int RC_MAX_LAYERS = RcRecast.RC_NOT_CONNECTED;
         const int RC_MAX_NEIS = 16;
 
 

src/DotRecast.Recast/RcMeshDetails.cs

@@ -22,11 +22,11 @@ using System;
 using System.Collections.Generic;
 using DotRecast.Core;
 using DotRecast.Core.Numerics;
-using static DotRecast.Recast.RcConstants;
+
 
 namespace DotRecast.Recast
 {
-    using static RcCommons;
+    using static RcRecast;
 
 
     public static class RcMeshDetails
@@ -35,7 +35,7 @@ namespace DotRecast.Recast
         public const int MAX_TRIS = 255; // Max tris for delaunay is 2n-2-k (n=num verts, k=num hull verts).
         public const int MAX_VERTS_PER_EDGE = 32;
 
-        public const int RC_UNSET_HEIGHT = RcConstants.RC_SPAN_MAX_HEIGHT;
+        public const int RC_UNSET_HEIGHT = RcRecast.RC_SPAN_MAX_HEIGHT;
         public const int EV_UNDEF = -1;
         public const int EV_HULL = -2;
 

src/DotRecast.Recast/RcMeshs.cs

@@ -24,7 +24,7 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast
 {
-    using static RcConstants;
+    using static RcRecast;
 
     public static class RcMeshs
     {

src/DotRecast.Recast/RcRasterizations.cs

@@ -21,10 +21,12 @@ freely, subject to the following restrictions:
 using System;
 using DotRecast.Core;
 using DotRecast.Core.Numerics;
-using static DotRecast.Recast.RcConstants;
+
 
 namespace DotRecast.Recast
 {
+    using static RcRecast;
+
     public static class RcRasterizations
     {
         /// Check whether two bounding boxes overlap
@@ -41,7 +43,7 @@ namespace DotRecast.Recast
                 aMin.Y <= bMax.Y && aMax.Y >= bMin.Y &&
                 aMin.Z <= bMax.Z && aMax.Z >= bMin.Z;
         }
-        
+
         /// Allocates a new span in the heightfield.
         /// Use a memory pool and free list to minimize actual allocations.
         /// 

src/DotRecast.Recast/RcRecast.cs

@@ -24,10 +24,76 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Recast
 {
-    using static RcConstants;
+    public static class RcRecast
-
-    public static class RcCommons
     {
+        /// Represents the null area.
+        /// When a data element is given this value it is considered to no longer be 
+        /// assigned to a usable area.  (E.g. It is un-walkable.)
+        public const int RC_NULL_AREA = 0;
+
+        /// The default area id used to indicate a walkable polygon. 
+        /// This is also the maximum allowed area id, and the only non-null area id 
+        /// recognized by some steps in the build process. 
+        public const int RC_WALKABLE_AREA = 63;
+
+        /// The value returned by #rcGetCon if the specified direction is not connected
+        /// to another span. (Has no neighbor.)
+        public const int RC_NOT_CONNECTED = 0x3f;
+
+        /// Defines the number of bits allocated to rcSpan::smin and rcSpan::smax.
+        public const int RC_SPAN_HEIGHT_BITS = 20;
+
+        /// Defines the maximum value for rcSpan::smin and rcSpan::smax.
+        public const int RC_SPAN_MAX_HEIGHT = (1 << RC_SPAN_HEIGHT_BITS) - 1;
+
+        /// The number of spans allocated per span spool.
+        /// @see rcSpanPool
+        public const int RC_SPANS_PER_POOL = 2048;
+
+        /// Heighfield border flag.
+        /// If a heightfield region ID has this bit set, then the region is a border
+        /// region and its spans are considered unwalkable.
+        /// (Used during the region and contour build process.)
+        /// @see rcCompactSpan::reg
+        public const int RC_BORDER_REG = 0x8000;
+
+        /// Polygon touches multiple regions.
+        /// If a polygon has this region ID it was merged with or created
+        /// from polygons of different regions during the polymesh
+        /// build step that removes redundant border vertices.
+        /// (Used during the polymesh and detail polymesh build processes)
+        /// @see rcPolyMesh::regs
+        public const int RC_MULTIPLE_REGS = 0;
+
+        // Border vertex flag.
+        /// If a region ID has this bit set, then the associated element lies on
+        /// a tile border. If a contour vertex's region ID has this bit set, the
+        /// vertex will later be removed in order to match the segments and vertices
+        /// at tile boundaries.
+        /// (Used during the build process.)
+        /// @see rcCompactSpan::reg, #rcContour::verts, #rcContour::rverts
+        public const int RC_BORDER_VERTEX = 0x10000;
+
+        /// Area border flag.
+        /// If a region ID has this bit set, then the associated element lies on
+        /// the border of an area.
+        /// (Used during the region and contour build process.)
+        /// @see rcCompactSpan::reg, #rcContour::verts, #rcContour::rverts
+        public const int RC_AREA_BORDER = 0x20000;
+
+        /// Applied to the region id field of contour vertices in order to extract the region id.
+        /// The region id field of a vertex may have several flags applied to it. So the
+        /// fields value can't be used directly.
+        /// @see rcContour::verts, rcContour::rverts
+        public const int RC_CONTOUR_REG_MASK = 0xffff;
+
+        /// A value which indicates an invalid index within a mesh.
+        /// @note This does not necessarily indicate an error.
+        /// @see rcPolyMesh::polys
+        public const int RC_MESH_NULL_IDX = 0xffff;
+
+        public const int RC_LOG_WARNING = 1;
+
         private static readonly int[] DirOffsetX = { -1, 0, 1, 0, };
         private static readonly int[] DirOffsetY = { 0, 1, 0, -1 };
         private static readonly int[] DirForOffset = { 3, 0, -1, 2, 1 };

src/DotRecast.Recast/RcRegions.cs

@@ -25,8 +25,8 @@ using DotRecast.Core;
 
 namespace DotRecast.Recast
 {
-    using static RcConstants;
+    
-    using static RcCommons;
+    using static RcRecast;
 
     public static class RcRegions
     {

src/DotRecast.Recast/RcSpanPool.cs

@@ -28,7 +28,7 @@ namespace DotRecast.Recast
 
         public RcSpanPool()
         {
-            items = new RcSpan[RcConstants.RC_SPANS_PER_POOL];
+            items = new RcSpan[RcRecast.RC_SPANS_PER_POOL];
             for (int i = 0; i < items.Length; ++i)
             {
                 items[i] = new RcSpan();

src/DotRecast.Recast/RcVoxelizations.cs

@@ -55,7 +55,7 @@ namespace DotRecast.Recast
                     {
                         int[] tris = node.tris;
                         int ntris = tris.Length / 3;
-                        int[] m_triareas = RcCommons.MarkWalkableTriangles(ctx, cfg.WalkableSlopeAngle, verts, tris, ntris, cfg.WalkableAreaMod);
+                        int[] m_triareas = RcRecast.MarkWalkableTriangles(ctx, cfg.WalkableSlopeAngle, verts, tris, ntris, cfg.WalkableAreaMod);
                         RcRasterizations.RasterizeTriangles(ctx, verts, tris, m_triareas, ntris, solid, cfg.WalkableClimb);
                     }
                 }
@@ -63,7 +63,7 @@ namespace DotRecast.Recast
                 {
                     int[] tris = geom.GetTris();
                     int ntris = tris.Length / 3;
-                    int[] m_triareas = RcCommons.MarkWalkableTriangles(ctx, cfg.WalkableSlopeAngle, verts, tris, ntris, cfg.WalkableAreaMod);
+                    int[] m_triareas = RcRecast.MarkWalkableTriangles(ctx, cfg.WalkableSlopeAngle, verts, tris, ntris, cfg.WalkableAreaMod);
                     RcRasterizations.RasterizeTriangles(ctx, verts, tris, m_triareas, ntris, solid, cfg.WalkableClimb);
                 }
             }

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

@@ -70,7 +70,7 @@ public class MeshSetReaderWriterTest
 
         RcVec3f bmin = geom.GetMeshBoundsMin();
         RcVec3f bmax = geom.GetMeshBoundsMax();
-        RcCommons.CalcTileCount(bmin, bmax, m_cellSize, m_tileSize, m_tileSize, out var tw, out var th);
+        RcRecast.CalcTileCount(bmin, bmax, m_cellSize, m_tileSize, m_tileSize, out var tw, out var th);
         for (int y = 0; y < th; ++y)
         {
             for (int x = 0; x < tw; ++x)

test/DotRecast.Detour.Test/NavMeshBuilderTest.cs

@@ -21,6 +21,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Detour.Test;
 
+using static DtDetour;
 
 public class NavMeshBuilderTest
 {
@@ -57,7 +58,7 @@ public class NavMeshBuilderTest
 
         Assert.That(nmd.offMeshCons[0].rad, Is.EqualTo(0.1f));
         Assert.That(nmd.offMeshCons[0].poly, Is.EqualTo(118));
-        Assert.That(nmd.offMeshCons[0].flags, Is.EqualTo(DtNavMesh.DT_OFFMESH_CON_BIDIR));
+        Assert.That(nmd.offMeshCons[0].flags, Is.EqualTo(DT_OFFMESH_CON_BIDIR));
         Assert.That(nmd.offMeshCons[0].side, Is.EqualTo(0xFF));
         Assert.That(nmd.offMeshCons[0].userId, Is.EqualTo(0x4567));
         Assert.That(nmd.polys[118].vertCount, Is.EqualTo(2));

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

@@ -44,7 +44,7 @@ public class AbstractTileCacheTest
     public DtTileCache GetTileCache(IInputGeomProvider geom, RcByteOrder order, bool cCompatibility)
     {
         DtTileCacheParams option = new DtTileCacheParams();
-        RcCommons.CalcTileCount(geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), m_cellSize, m_tileSize, m_tileSize, out var tw, out var th);
+        RcRecast.CalcTileCount(geom.GetMeshBoundsMin(), geom.GetMeshBoundsMax(), m_cellSize, m_tileSize, m_tileSize, out var tw, out var th);
         option.ch = m_cellHeight;
         option.cs = m_cellSize;
         option.orig = geom.GetMeshBoundsMin();

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

@@ -73,7 +73,7 @@ public class TestTileLayerBuilder : DtTileCacheLayerBuilder
 
         RcVec3f bmin = geom.GetMeshBoundsMin();
         RcVec3f bmax = geom.GetMeshBoundsMax();
-        RcCommons.CalcTileCount(bmin, bmax, CellSize, m_tileSize, m_tileSize, out tw, out th);
+        RcRecast.CalcTileCount(bmin, bmax, CellSize, m_tileSize, m_tileSize, out tw, out th);
     }
 
     public List<byte[]> Build(RcByteOrder order, bool cCompatibility, int threads)

test/DotRecast.Recast.Test/RecastLayersTest.cs

@@ -24,7 +24,7 @@ using NUnit.Framework;
 
 namespace DotRecast.Recast.Test;
 
-using static RcConstants;
+
 
 
 public class RecastLayersTest

test/DotRecast.Recast.Test/RecastSoloMeshTest.cs

@@ -25,10 +25,9 @@ using NUnit.Framework;
 
 namespace DotRecast.Recast.Test;
 
-using static RcConstants;
+using static RcRecast;
 using static RcAreas;
 
-
 public class RecastSoloMeshTest
 {
     private const float m_cellSize = 0.3f;
@@ -139,7 +138,7 @@ public class RecastSoloMeshTest
             // Find triangles which are walkable based on their slope and rasterize them.
             // If your input data is multiple meshes, you can transform them here, calculate
             // the are type for each of the meshes and rasterize them.
-            int[] m_triareas = RcCommons.MarkWalkableTriangles(m_ctx, cfg.WalkableSlopeAngle, verts, tris, ntris, cfg.WalkableAreaMod);
+            int[] m_triareas = RcRecast.MarkWalkableTriangles(m_ctx, cfg.WalkableSlopeAngle, verts, tris, ntris, cfg.WalkableAreaMod);
             RcRasterizations.RasterizeTriangles(m_ctx, verts, tris, m_triareas, ntris, m_solid, cfg.WalkableClimb);
         }
 

test/DotRecast.Recast.Test/RecastTest.cs

@@ -21,8 +21,7 @@ using DotRecast.Core;
 
 namespace DotRecast.Recast.Test;
 
-using static RcConstants;
+using static RcRecast;
-
 
 public class RecastTest
 {
@@ -39,19 +38,19 @@ public class RecastTest
         RcContext ctx = new RcContext();
         {
             int[] areas = { 42 };
-            RcCommons.ClearUnwalkableTriangles(ctx, walkableSlopeAngle, verts, nv, unwalkable_tri, nt, areas);
+            RcRecast.ClearUnwalkableTriangles(ctx, walkableSlopeAngle, verts, nv, unwalkable_tri, nt, areas);
             Assert.That(areas[0], Is.EqualTo(RC_NULL_AREA), "Sets area ID of unwalkable triangle to RC_NULL_AREA");
         }
         {
             int[] areas = { 42 };
-            RcCommons.ClearUnwalkableTriangles(ctx, walkableSlopeAngle, verts, nv, walkable_tri, nt, areas);
+            RcRecast.ClearUnwalkableTriangles(ctx, walkableSlopeAngle, verts, nv, walkable_tri, nt, areas);
             Assert.That(areas[0], Is.EqualTo(42), "Does not modify walkable triangle aread ID's");
         }
         {
             int[] areas = { 42 };
             walkableSlopeAngle = 0;
-            RcCommons.ClearUnwalkableTriangles(ctx, walkableSlopeAngle, verts, nv, walkable_tri, nt, areas);
+            RcRecast.ClearUnwalkableTriangles(ctx, walkableSlopeAngle, verts, nv, walkable_tri, nt, areas);
             Assert.That(areas[0], Is.EqualTo(RC_NULL_AREA), "Slopes equal to the max slope are considered unwalkable.");
         }
     }
-}
+}