diff --git a/src/DotRecast.Detour.Crowd/DtCrowd.cs b/src/DotRecast.Detour.Crowd/DtCrowd.cs
index 39bbf31..ac3d6b4 100644
--- a/src/DotRecast.Detour.Crowd/DtCrowd.cs
+++ b/src/DotRecast.Detour.Crowd/DtCrowd.cs
@@ -1141,7 +1141,7 @@ namespace DotRecast.Detour.Crowd
                         RcVec3f[] s = ag.boundary.GetSegment(j);
                         RcVec3f s3 = s[1];
                         //Array.Copy(s, 3, s3, 0, 3);
-                        if (DetourCommon.TriArea2D(ag.npos, s[0], s3) < 0.0f)
+                        if (DtUtils.TriArea2D(ag.npos, s[0], s3) < 0.0f)
                         {
                             continue;
                         }
diff --git a/src/DotRecast.Detour.Crowd/DtLocalBoundary.cs b/src/DotRecast.Detour.Crowd/DtLocalBoundary.cs
index 5eddc81..dd41caf 100644
--- a/src/DotRecast.Detour.Crowd/DtLocalBoundary.cs
+++ b/src/DotRecast.Detour.Crowd/DtLocalBoundary.cs
@@ -122,7 +122,7 @@ namespace DotRecast.Detour.Crowd
                             var s3 = s.vmax;
 
                             // Skip too distant segments.
-                            var distSqr = DetourCommon.DistancePtSegSqr2D(pos, s0, s3, out var tseg);
+                            var distSqr = DtUtils.DistancePtSegSqr2D(pos, s0, s3, out var tseg);
                             if (distSqr > Sqr(collisionQueryRange))
                             {
                                 continue;
diff --git a/src/DotRecast.Detour.Crowd/DtObstacleAvoidanceQuery.cs b/src/DotRecast.Detour.Crowd/DtObstacleAvoidanceQuery.cs
index c6c1620..77bd898 100644
--- a/src/DotRecast.Detour.Crowd/DtObstacleAvoidanceQuery.cs
+++ b/src/DotRecast.Detour.Crowd/DtObstacleAvoidanceQuery.cs
@@ -131,7 +131,7 @@ namespace DotRecast.Detour.Crowd
                 cir.dp.Normalize();
                 dv = cir.dvel.Subtract(dvel);
 
-                float a = DetourCommon.TriArea2D(orig, cir.dp, dv);
+                float a = DtUtils.TriArea2D(orig, cir.dp, dv);
                 if (a < 0.01f)
                 {
                     cir.np.x = -cir.dp.z;
@@ -150,7 +150,7 @@ namespace DotRecast.Detour.Crowd
 
                 // Precalc if the agent is really close to the segment.
                 float r = 0.01f;
-                var distSqr = DetourCommon.DistancePtSegSqr2D(pos, seg.p, seg.q, out var t);
+                var distSqr = DtUtils.DistancePtSegSqr2D(pos, seg.p, seg.q, out var t);
                 seg.touch = distSqr < Sqr(r);
             }
         }
diff --git a/src/DotRecast.Detour.TileCache/DtTileCache.cs b/src/DotRecast.Detour.TileCache/DtTileCache.cs
index bffe03f..e9b76d9 100644
--- a/src/DotRecast.Detour.TileCache/DtTileCache.cs
+++ b/src/DotRecast.Detour.TileCache/DtTileCache.cs
@@ -120,7 +120,7 @@ namespace DotRecast.Detour.TileCache
             m_tcomp = tcomp;
             m_tmproc = tmprocs;
 
-            m_tileLutSize = DetourCommon.NextPow2(m_params.maxTiles / 4);
+            m_tileLutSize = DtUtils.NextPow2(m_params.maxTiles / 4);
             if (m_tileLutSize == 0)
             {
                 m_tileLutSize = 1;
@@ -136,7 +136,7 @@ namespace DotRecast.Detour.TileCache
                 m_nextFreeTile = m_tiles[i];
             }
 
-            m_tileBits = DetourCommon.Ilog2(DetourCommon.NextPow2(m_params.maxTiles));
+            m_tileBits = DtUtils.Ilog2(DtUtils.NextPow2(m_params.maxTiles));
             m_saltBits = Math.Min(31, 32 - m_tileBits);
             if (m_saltBits < 10)
             {
@@ -458,7 +458,7 @@ namespace DotRecast.Detour.TileCache
                         RcVec3f tbmin = new RcVec3f();
                         RcVec3f tbmax = new RcVec3f();
                         CalcTightTileBounds(tile.header, ref tbmin, ref tbmax);
-                        if (DetourCommon.OverlapBounds(bmin, bmax, tbmin, tbmax))
+                        if (DtUtils.OverlapBounds(bmin, bmax, tbmin, tbmax))
                         {
                             results.Add(i);
                         }
diff --git a/src/DotRecast.Detour/ConvexConvexIntersection.cs b/src/DotRecast.Detour/ConvexConvexIntersection.cs
index 9469a1f..1bb13fb 100644
--- a/src/DotRecast.Detour/ConvexConvexIntersection.cs
+++ b/src/DotRecast.Detour/ConvexConvexIntersection.cs
@@ -61,8 +61,8 @@ namespace DotRecast.Detour
                 RcVec3f B = b.Subtract(b1);
 
                 float cross = B.x * A.z - A.x * B.z; // TriArea2D({0, 0}, A, B);
-                float aHB = DetourCommon.TriArea2D(b1, b, a);
-                float bHA = DetourCommon.TriArea2D(a1, a, b);
+                float aHB = DtUtils.TriArea2D(b1, b, a);
+                float bHA = DtUtils.TriArea2D(a1, a, b);
                 if (Math.Abs(cross) < EPSILON)
                 {
                     cross = 0f;
@@ -233,7 +233,7 @@ namespace DotRecast.Detour
 
         private static Intersection SegSegInt(RcVec3f a, RcVec3f b, RcVec3f c, RcVec3f d, ref RcVec3f p, ref RcVec3f q)
         {
-            if (DetourCommon.IntersectSegSeg2D(a, b, c, d, out var s, out var t))
+            if (DtUtils.IntersectSegSeg2D(a, b, c, d, out var s, out var t))
             {
                 if (s >= 0.0f && s <= 1.0f && t >= 0.0f && t <= 1.0f)
                 {
diff --git a/src/DotRecast.Detour/DtNavMesh.cs b/src/DotRecast.Detour/DtNavMesh.cs
index 1c0e447..0355156 100644
--- a/src/DotRecast.Detour/DtNavMesh.cs
+++ b/src/DotRecast.Detour/DtNavMesh.cs
@@ -95,7 +95,7 @@ namespace DotRecast.Detour
             // Init tiles
             m_maxTiles = option.maxTiles;
             m_maxVertPerPoly = maxVertsPerPoly;
-            m_tileLutMask = Math.Max(1, DetourCommon.NextPow2(option.maxTiles)) - 1;
+            m_tileLutMask = Math.Max(1, DtUtils.NextPow2(option.maxTiles)) - 1;
             m_tiles = new DtMeshTile[m_maxTiles];
             for (int i = 0; i < m_maxTiles; i++)
             {
@@ -366,7 +366,7 @@ namespace DotRecast.Detour
                 while (nodeIndex < end)
                 {
                     DtBVNode node = tile.data.bvTree[nodeIndex];
-                    bool overlap = DetourCommon.OverlapQuantBounds(bmin, bmax, node.bmin, node.bmax);
+                    bool overlap = DtUtils.OverlapQuantBounds(bmin, bmax, node.bmin, node.bmax);
                     bool isLeafNode = node.i >= 0;
 
                     if (isLeafNode && overlap)
@@ -412,7 +412,7 @@ namespace DotRecast.Detour
                         bmax.Max(tile.data.verts, v);
                     }
 
-                    if (DetourCommon.OverlapBounds(qmin, qmax, bmin, bmax))
+                    if (DtUtils.OverlapBounds(qmin, qmax, bmin, bmax))
                     {
                         polys.Add(@base | (long)i);
                     }
@@ -549,9 +549,9 @@ namespace DotRecast.Detour
                 for (int j = 0; j < neis.Count; ++j)
                 {
                     ConnectExtLinks(tile, neis[j], i);
-                    ConnectExtLinks(neis[j], tile, DetourCommon.OppositeTile(i));
+                    ConnectExtLinks(neis[j], tile, DtUtils.OppositeTile(i));
                     ConnectExtOffMeshLinks(tile, neis[j], i);
-                    ConnectExtOffMeshLinks(neis[j], tile, DetourCommon.OppositeTile(i));
+                    ConnectExtOffMeshLinks(neis[j], tile, DtUtils.OppositeTile(i));
                 }
             }
 
@@ -755,7 +755,7 @@ namespace DotRecast.Detour
                     // Create new links
                     int va = poly.verts[j] * 3;
                     int vb = poly.verts[(j + 1) % nv] * 3;
-                    int nnei = FindConnectingPolys(tile.data.verts, va, vb, target, DetourCommon.OppositeTile(dir), ref connectPolys);
+                    int nnei = FindConnectingPolys(tile.data.verts, va, vb, target, DtUtils.OppositeTile(dir), ref connectPolys);
                     foreach (var connectPoly in connectPolys)
                     {
                         int idx = AllocLink(tile);
@@ -814,7 +814,7 @@ namespace DotRecast.Detour
 
             // Connect off-mesh links.
             // We are interested on links which land from target tile to this tile.
-            int oppositeSide = (side == -1) ? 0xff : DetourCommon.OppositeTile(side);
+            int oppositeSide = (side == -1) ? 0xff : DtUtils.OppositeTile(side);
 
             for (int i = 0; i < target.data.header.offMeshConCount; ++i)
             {
@@ -1183,7 +1183,7 @@ namespace DotRecast.Detour
                             continue;
                         }
 
-                        var d = DetourCommon.DistancePtSegSqr2D(pos, v[j], v[k], out var t);
+                        var d = DtUtils.DistancePtSegSqr2D(pos, v[j], v[k], out var t);
                         if (d < dmin)
                         {
                             dmin = d;
@@ -1207,7 +1207,7 @@ namespace DotRecast.Detour
                     v[1].y = tile.data.verts[poly.verts[k] * 3 + 1];
                     v[1].z = tile.data.verts[poly.verts[k] * 3 + 2];
 
-                    var d = DetourCommon.DistancePtSegSqr2D(pos, v[0], v[1], out var t);
+                    var d = DtUtils.DistancePtSegSqr2D(pos, v[0], v[1], out var t);
                     if (d < dmin)
                     {
                         dmin = d;
@@ -1239,7 +1239,7 @@ namespace DotRecast.Detour
                 Array.Copy(tile.data.verts, poly.verts[i] * 3, verts, i * 3, 3);
             }
 
-            if (!DetourCommon.PointInPolygon(pos, verts, nv))
+            if (!DtUtils.PointInPolygon(pos, verts, nv))
             {
                 return null;
             }
@@ -1276,7 +1276,7 @@ namespace DotRecast.Detour
                         }
                     }
 
-                    float? h = DetourCommon.ClosestHeightPointTriangle(pos, v[0], v[1], v[2]);
+                    float? h = DtUtils.ClosestHeightPointTriangle(pos, v[0], v[1], v[2]);
                     if (null != h)
                     {
                         return h;
@@ -1298,7 +1298,7 @@ namespace DotRecast.Detour
                         v[k + 1].z = tile.data.verts[poly.verts[j + k] * 3 + 2];
                     }
 
-                    float? h = DetourCommon.ClosestHeightPointTriangle(pos, v[0], v[1], v[2]);
+                    float? h = DtUtils.ClosestHeightPointTriangle(pos, v[0], v[1], v[2]);
                     if (null != h)
                     {
                         return h;
@@ -1336,7 +1336,7 @@ namespace DotRecast.Detour
                 var v0 = new RcVec3f { x = tile.data.verts[i], y = tile.data.verts[i + 1], z = tile.data.verts[i + 2] };
                 i = poly.verts[1] * 3;
                 var v1 = new RcVec3f { x = tile.data.verts[i], y = tile.data.verts[i + 1], z = tile.data.verts[i + 2] };
-                DetourCommon.DistancePtSegSqr2D(pos, v0, v1, out var t);
+                DtUtils.DistancePtSegSqr2D(pos, v0, v1, out var t);
                 closest = RcVec3f.Lerp(v0, v1, t);
                 return;
             }
diff --git a/src/DotRecast.Detour/DtNavMeshQuery.cs b/src/DotRecast.Detour/DtNavMeshQuery.cs
index 1c1ccae..e3a0347 100644
--- a/src/DotRecast.Detour/DtNavMeshQuery.cs
+++ b/src/DotRecast.Detour/DtNavMeshQuery.cs
@@ -144,7 +144,7 @@ namespace DotRecast.Detour
                     int va = p.verts[0] * 3;
                     int vb = p.verts[j - 1] * 3;
                     int vc = p.verts[j] * 3;
-                    polyArea += DetourCommon.TriArea2D(tile.data.verts, va, vb, vc);
+                    polyArea += DtUtils.TriArea2D(tile.data.verts, va, vb, vc);
                 }
 
                 // Choose random polygon weighted by area, using reservoi sampling.
@@ -174,7 +174,7 @@ namespace DotRecast.Detour
             float s = frand.Next();
             float t = frand.Next();
 
-            var pt = DetourCommon.RandomPointInConvexPoly(verts, poly.vertCount, areas, s, t);
+            var pt = DtUtils.RandomPointInConvexPoly(verts, poly.vertCount, areas, s, t);
             ClosestPointOnPoly(polyRef, pt, out var closest, out var _);
 
             randomRef = polyRef;
@@ -297,7 +297,7 @@ namespace DotRecast.Detour
                             int va = 0;
                             int vb = (j - 1) * 3;
                             int vc = j * 3;
-                            polyArea += DetourCommon.TriArea2D(constrainedVerts, va, vb, vc);
+                            polyArea += DtUtils.TriArea2D(constrainedVerts, va, vb, vc);
                         }
 
                         // Choose random polygon weighted by area, using reservoi sampling.
@@ -347,7 +347,7 @@ namespace DotRecast.Detour
                     }
 
                     // If the circle is not touching the next polygon, skip it.
-                    var distSqr = DetourCommon.DistancePtSegSqr2D(centerPos, va, vb, out var tesg);
+                    var distSqr = DtUtils.DistancePtSegSqr2D(centerPos, va, vb, out var tesg);
                     if (distSqr > radiusSqr)
                     {
                         continue;
@@ -406,7 +406,7 @@ namespace DotRecast.Detour
             float t = frand.Next();
 
             float[] areas = new float[randomPolyVerts.Length / 3];
-            RcVec3f pt = DetourCommon.RandomPointInConvexPoly(randomPolyVerts, randomPolyVerts.Length / 3, areas, s, t);
+            RcVec3f pt = DtUtils.RandomPointInConvexPoly(randomPolyVerts, randomPolyVerts.Length / 3, areas, s, t);
             ClosestPointOnPoly(randomPolyRef, pt, out var closest, out var _);
 
             randomRef = randomPolyRef;
@@ -485,7 +485,7 @@ namespace DotRecast.Detour
                 Array.Copy(tile.data.verts, poly.verts[i] * 3, verts, i * 3, 3);
             }
 
-            if (DetourCommon.DistancePtPolyEdgesSqr(pos, verts, nv, edged, edget))
+            if (DtUtils.DistancePtPolyEdgesSqr(pos, verts, nv, edged, edget))
             {
                 closest = pos;
             }
@@ -545,7 +545,7 @@ namespace DotRecast.Detour
                 var v0 = new RcVec3f { x = tile.data.verts[i], y = tile.data.verts[i + 1], z = tile.data.verts[i + 2] };
                 i = poly.verts[1] * 3;
                 var v1 = new RcVec3f { x = tile.data.verts[i], y = tile.data.verts[i + 1], z = tile.data.verts[i + 2] };
-                DetourCommon.DistancePtSegSqr2D(pos, v0, v1, out var t);
+                DtUtils.DistancePtSegSqr2D(pos, v0, v1, out var t);
                 height = v0.y + (v1.y - v0.y) * t;
 
                 return DtStatus.DT_SUCCSESS;
@@ -624,7 +624,7 @@ namespace DotRecast.Detour
                 while (nodeIndex < end)
                 {
                     DtBVNode node = tile.data.bvTree[nodeIndex];
-                    bool overlap = DetourCommon.OverlapQuantBounds(bmin, bmax, node.bmin, node.bmax);
+                    bool overlap = DtUtils.OverlapQuantBounds(bmin, bmax, node.bmin, node.bmax);
                     bool isLeafNode = node.i >= 0;
 
                     if (isLeafNode && overlap)
@@ -678,7 +678,7 @@ namespace DotRecast.Detour
                         bmax.Max(tile.data.verts, v);
                     }
 
-                    if (DetourCommon.OverlapBounds(qmin, qmax, bmin, bmax))
+                    if (DtUtils.OverlapBounds(qmin, qmax, bmin, bmax))
                     {
                         query.Process(tile, p, refs);
                     }
@@ -1435,7 +1435,7 @@ namespace DotRecast.Detour
         protected DtStatus AppendVertex(RcVec3f pos, int flags, long refs, ref List<StraightPathItem> straightPath,
             int maxStraightPath)
         {
-            if (straightPath.Count > 0 && DetourCommon.VEqual(straightPath[straightPath.Count - 1].pos, pos))
+            if (straightPath.Count > 0 && DtUtils.VEqual(straightPath[straightPath.Count - 1].pos, pos))
             {
                 // The vertices are equal, update flags and poly.
                 straightPath[straightPath.Count - 1] = new StraightPathItem(straightPath[straightPath.Count - 1].pos, flags, refs);
@@ -1497,7 +1497,7 @@ namespace DotRecast.Detour
                 }
 
                 // Append intersection
-                if (DetourCommon.IntersectSegSeg2D(startPos, endPos, left, right, out var _, out var t))
+                if (DtUtils.IntersectSegSeg2D(startPos, endPos, left, right, out var _, out var t))
                 {
                     var pt = RcVec3f.Lerp(left, right, t);
                     stat = AppendVertex(pt, 0, path[i + 1], ref straightPath, maxStraightPath);
@@ -1622,7 +1622,7 @@ namespace DotRecast.Detour
                         // If starting really close the portal, advance.
                         if (i == 0)
                         {
-                            var distSqr = DetourCommon.DistancePtSegSqr2D(portalApex, left, right, out var t);
+                            var distSqr = DtUtils.DistancePtSegSqr2D(portalApex, left, right, out var t);
                             if (distSqr < Sqr(0.001f))
                             {
                                 continue;
@@ -1638,9 +1638,9 @@ namespace DotRecast.Detour
                     }
 
                     // Right vertex.
-                    if (DetourCommon.TriArea2D(portalApex, portalRight, right) <= 0.0f)
+                    if (DtUtils.TriArea2D(portalApex, portalRight, right) <= 0.0f)
                     {
-                        if (DetourCommon.VEqual(portalApex, portalRight) || DetourCommon.TriArea2D(portalApex, portalLeft, right) > 0.0f)
+                        if (DtUtils.VEqual(portalApex, portalRight) || DtUtils.TriArea2D(portalApex, portalLeft, right) > 0.0f)
                         {
                             portalRight = right;
                             rightPolyRef = (i + 1 < path.Count) ? path[i + 1] : 0;
@@ -1694,9 +1694,9 @@ namespace DotRecast.Detour
                     }
 
                     // Left vertex.
-                    if (DetourCommon.TriArea2D(portalApex, portalLeft, left) >= 0.0f)
+                    if (DtUtils.TriArea2D(portalApex, portalLeft, left) >= 0.0f)
                     {
-                        if (DetourCommon.VEqual(portalApex, portalLeft) || DetourCommon.TriArea2D(portalApex, portalRight, left) < 0.0f)
+                        if (DtUtils.VEqual(portalApex, portalLeft) || DtUtils.TriArea2D(portalApex, portalRight, left) < 0.0f)
                         {
                             portalLeft = left;
                             leftPolyRef = (i + 1 < path.Count) ? path[i + 1] : 0;
@@ -1853,7 +1853,7 @@ namespace DotRecast.Detour
                 }
 
                 // If target is inside the poly, stop search.
-                if (DetourCommon.PointInPolygon(endPos, verts, nverts))
+                if (DtUtils.PointInPolygon(endPos, verts, nverts))
                 {
                     bestNode = curNode;
                     bestPos = endPos;
@@ -1906,7 +1906,7 @@ namespace DotRecast.Detour
                         // Wall edge, calc distance.
                         int vj = j * 3;
                         int vi = i * 3;
-                        var distSqr = DetourCommon.DistancePtSegSqr2D(endPos, verts, vj, vi, out var tseg);
+                        var distSqr = DtUtils.DistancePtSegSqr2D(endPos, verts, vj, vi, out var tseg);
                         if (distSqr < bestDist)
                         {
                             // Update nearest distance.
@@ -1930,7 +1930,7 @@ namespace DotRecast.Detour
                             // TODO: Maybe should use GetPortalPoints(), but this one is way faster.
                             int vj = j * 3;
                             int vi = i * 3;
-                            var distSqr = DetourCommon.DistancePtSegSqr2D(searchPos, verts, vj, vi, out var _);
+                            var distSqr = DtUtils.DistancePtSegSqr2D(searchPos, verts, vj, vi, out var _);
                             if (distSqr > searchRadSqr)
                             {
                                 continue;
@@ -2124,7 +2124,7 @@ namespace DotRecast.Detour
             }
 
             float t = 0.5f;
-            if (DetourCommon.IntersectSegSeg2D(fromPos, toPos, left, right, out var _, out var t2))
+            if (DtUtils.IntersectSegSeg2D(fromPos, toPos, left, right, out var _, out var t2))
             {
                 t = Clamp(t2, 0.1f, 0.9f);
             }
@@ -2233,7 +2233,7 @@ namespace DotRecast.Detour
                     nv++;
                 }
 
-                bool intersects = DetourCommon.IntersectSegmentPoly2D(startPos, endPos, verts, nv, out var tmin, out var tmax, out var segMin, out var segMax);
+                bool intersects = DtUtils.IntersectSegmentPoly2D(startPos, endPos, verts, nv, out var tmin, out var tmax, out var segMin, out var segMax);
                 if (!intersects)
                 {
                     // Could not hit the polygon, keep the old t and report hit.
@@ -2541,7 +2541,7 @@ namespace DotRecast.Detour
                     }
 
                     // If the circle is not touching the next polygon, skip it.
-                    var distSqr = DetourCommon.DistancePtSegSqr2D(centerPos, va, vb, out var _);
+                    var distSqr = DtUtils.DistancePtSegSqr2D(centerPos, va, vb, out var _);
                     if (distSqr > radiusSqr)
                     {
                         continue;
@@ -2718,7 +2718,7 @@ namespace DotRecast.Detour
                     }
 
                     // If the poly is not touching the edge to the next polygon, skip the connection it.
-                    bool intersects = DetourCommon.IntersectSegmentPoly2D(va, vb, verts, nverts, out var tmin, out var tmax, out var segMin, out var segMax);
+                    bool intersects = DtUtils.IntersectSegmentPoly2D(va, vb, verts, nverts, out var tmin, out var tmax, out var segMin, out var segMax);
                     if (!intersects)
                     {
                         continue;
@@ -2886,7 +2886,7 @@ namespace DotRecast.Detour
                     }
 
                     // If the circle is not touching the next polygon, skip it.
-                    var distSqr = DetourCommon.DistancePtSegSqr2D(centerPos, va, vb, out var _);
+                    var distSqr = DtUtils.DistancePtSegSqr2D(centerPos, va, vb, out var _);
                     if (distSqr > radiusSqr)
                     {
                         continue;
@@ -2937,7 +2937,7 @@ namespace DotRecast.Detour
                             Array.Copy(pastTile.data.verts, pastPoly.verts[k] * 3, pb, k * 3, 3);
                         }
 
-                        if (DetourCommon.OverlapPolyPoly2D(pa, npa, pb, npb))
+                        if (DtUtils.OverlapPolyPoly2D(pa, npa, pb, npb))
                         {
                             overlap = true;
                             break;
@@ -3227,7 +3227,7 @@ namespace DotRecast.Detour
                     // Calc distance to the edge.
                     int vj = bestPoly.verts[j] * 3;
                     int vi = bestPoly.verts[i] * 3;
-                    var distSqr = DetourCommon.DistancePtSegSqr2D(centerPos, bestTile.data.verts, vj, vi, out var tseg);
+                    var distSqr = DtUtils.DistancePtSegSqr2D(centerPos, bestTile.data.verts, vj, vi, out var tseg);
 
                     // Edge is too far, skip.
                     if (distSqr > radiusSqr)
@@ -3268,7 +3268,7 @@ namespace DotRecast.Detour
                     // Calc distance to the edge.
                     int va = bestPoly.verts[link.edge] * 3;
                     int vb = bestPoly.verts[(link.edge + 1) % bestPoly.vertCount] * 3;
-                    var distSqr = DetourCommon.DistancePtSegSqr2D(centerPos, bestTile.data.verts, va, vb, out var tseg);
+                    var distSqr = DtUtils.DistancePtSegSqr2D(centerPos, bestTile.data.verts, va, vb, out var tseg);
                     // If the circle is not touching the next polygon, skip it.
                     if (distSqr > radiusSqr)
                     {
diff --git a/src/DotRecast.Detour/DetourCommon.cs b/src/DotRecast.Detour/DtUtils.cs
similarity index 99%
rename from src/DotRecast.Detour/DetourCommon.cs
rename to src/DotRecast.Detour/DtUtils.cs
index 309e3da..9bee385 100644
--- a/src/DotRecast.Detour/DetourCommon.cs
+++ b/src/DotRecast.Detour/DtUtils.cs
@@ -3,7 +3,7 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour
 {
-    public static class DetourCommon
+    public static class DtUtils
     {
         private static readonly float EQUAL_THRESHOLD = RcMath.Sqr(1.0f / 16384.0f);
 
diff --git a/src/DotRecast.Detour/Io/DtMeshSetReader.cs b/src/DotRecast.Detour/Io/DtMeshSetReader.cs
index 107bb4b..26b384e 100644
--- a/src/DotRecast.Detour/Io/DtMeshSetReader.cs
+++ b/src/DotRecast.Detour/Io/DtMeshSetReader.cs
@@ -137,8 +137,8 @@ namespace DotRecast.Detour.Io
 
         private long Convert32BitRef(int refs, DtNavMeshParams option)
         {
-            int m_tileBits = DetourCommon.Ilog2(DetourCommon.NextPow2(option.maxTiles));
-            int m_polyBits = DetourCommon.Ilog2(DetourCommon.NextPow2(option.maxPolys));
+            int m_tileBits = DtUtils.Ilog2(DtUtils.NextPow2(option.maxTiles));
+            int m_polyBits = DtUtils.Ilog2(DtUtils.NextPow2(option.maxPolys));
             // Only allow 31 salt bits, since the salt mask is calculated using 32bit uint and it will overflow.
             int m_saltBits = Math.Min(31, 32 - m_tileBits - m_polyBits);
             int saltMask = (1 << m_saltBits) - 1;
diff --git a/src/DotRecast.Detour/StrictPolygonByCircleConstraint.cs b/src/DotRecast.Detour/StrictPolygonByCircleConstraint.cs
index 0ced034..59de356 100644
--- a/src/DotRecast.Detour/StrictPolygonByCircleConstraint.cs
+++ b/src/DotRecast.Detour/StrictPolygonByCircleConstraint.cs
@@ -52,7 +52,7 @@ namespace DotRecast.Detour
 
             float[] qCircle = Circle(center, radius);
             float[] intersection = ConvexConvexIntersection.Intersect(verts, qCircle);
-            if (intersection == null && DetourCommon.PointInPolygon(center, verts, verts.Length / 3))
+            if (intersection == null && DtUtils.PointInPolygon(center, verts, verts.Length / 3))
             {
                 // circle inside polygon
                 return qCircle;
diff --git a/src/DotRecast.Recast.Demo/Tools/CrowdTool.cs b/src/DotRecast.Recast.Demo/Tools/CrowdTool.cs
index eaa6da3..971b292 100644
--- a/src/DotRecast.Recast.Demo/Tools/CrowdTool.cs
+++ b/src/DotRecast.Recast.Demo/Tools/CrowdTool.cs
@@ -480,7 +480,7 @@ public class CrowdTool : IRcTool
                     RcVec3f[] s = ag.boundary.GetSegment(j);
                     RcVec3f s0 = s[0];
                     RcVec3f s3 = s[1];
-                    if (DetourCommon.TriArea2D(pos, s0, s3) < 0.0f)
+                    if (DtUtils.TriArea2D(pos, s0, s3) < 0.0f)
                         col = DuDarkenCol(col);
 
                     dd.AppendArrow(s[0].x, s[0].y + 0.2f, s[0].z, s[1].x, s[1].z + 0.2f, s[1].z, 0.0f, 0.3f, col);
diff --git a/src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs b/src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs
index 85330e0..981c529 100644
--- a/src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs
+++ b/src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs
@@ -681,7 +681,7 @@ public class TestNavmeshTool : IRcTool
                                 var v0 = s.vmin;
                                 var s3 = s.vmax;
                                 // Skip too distant segments.
-                                var distSqr = DetourCommon.DistancePtSegSqr2D(m_spos, v0, s3, out var tseg);
+                                var distSqr = DtUtils.DistancePtSegSqr2D(m_spos, v0, s3, out var tseg);
                                 if (distSqr > RcMath.Sqr(m_neighbourhoodRadius))
                                 {
                                     continue;
@@ -702,7 +702,7 @@ public class TestNavmeshTool : IRcTool
                                 else
                                 {
                                     int col = DuRGBA(192, 32, 16, 192);
-                                    if (DetourCommon.TriArea2D(m_spos, s.vmin, s3) < 0.0f)
+                                    if (DtUtils.TriArea2D(m_spos, s.vmin, s3) < 0.0f)
                                     {
                                         col = DuRGBA(96, 32, 16, 192);
                                     }
diff --git a/src/DotRecast.Recast.DemoTool/Builder/TileNavMeshBuilder.cs b/src/DotRecast.Recast.DemoTool/Builder/TileNavMeshBuilder.cs
index e8473a5..b1a9ccb 100644
--- a/src/DotRecast.Recast.DemoTool/Builder/TileNavMeshBuilder.cs
+++ b/src/DotRecast.Recast.DemoTool/Builder/TileNavMeshBuilder.cs
@@ -131,7 +131,7 @@ namespace DotRecast.Recast.DemoTool.Builder
             RcUtils.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(DetourCommon.Ilog2(DetourCommon.NextPow2(tw * th)), 14);
+            int tileBits = Math.Min(DtUtils.Ilog2(DtUtils.NextPow2(tw * th)), 14);
             return tileBits;
         }