move RcMath VDist, VLen -> Vector3f.Distance, Length

src/DotRecast.Core/RcMath.cs

@@ -172,19 +172,6 @@ namespace DotRecast.Core
         }
 
 
-        /// Returns the distance between two points.
-        /// @param[in] v1 A point. [(x, y, z)]
-        /// @param[in] v2 A point. [(x, y, z)]
-        /// @return The distance between the two points.
-        public static float VDist(Vector3f v1, Vector3f v2)
-        {
-            float dx = v2.x - v1.x;
-            float dy = v2.y - v1.y;
-            float dz = v2.z - v1.z;
-            return (float)Math.Sqrt(dx * dx + dy * dy + dz * dz);
-        }
-
-
         /// Returns the distance between two points.
         /// @param[in] v1 A point. [(x, y, z)]
         /// @param[in] v2 A point. [(x, y, z)]
@@ -201,37 +188,12 @@ namespace DotRecast.Core
         /// Derives the square of the scalar length of the vector. (len * len)
         /// @param[in] v The vector. [(x, y, z)]
         /// @return The square of the scalar length of the vector.
-        public static float VLenSqr(float[] v)
-        {
-            return v[0] * v[0] + v[1] * v[1] + v[2] * v[2];
-        }
-
         public static float VLenSqr(Vector3f v)
         {
             return v.x * v.x + v.y * v.y + v.z * v.z;
         }
 
 
-        public static float VLen(float[] v)
-        {
-            return (float)Math.Sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]);
-        }
-
-        public static float VLen(Vector3f v)
-        {
-            return (float)Math.Sqrt(v.x * v.x + v.y * v.y + v.z * v.z);
-        }
-
-
-        public static float VDist(float[] v1, float[] verts, int i)
-        {
-            float dx = verts[i] - v1[0];
-            float dy = verts[i + 1] - v1[1];
-            float dz = verts[i + 2] - v1[2];
-            return (float)Math.Sqrt(dx * dx + dy * dy + dz * dz);
-        }
-
-
         /// Derives the distance between the specified points on the xz-plane.
         /// @param[in] v1 A point. [(x, y, z)]
         /// @param[in] v2 A point. [(x, y, z)]

src/DotRecast.Core/Vector3f.cs

@@ -93,9 +93,15 @@ namespace DotRecast.Core
                 default: throw new IndexOutOfRangeException($"{index}-{value}");
             }
         }
-
+        
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public Vector3f Subtract(Vector3f right)
+        public readonly float Length()
+        {
+            return (float)Math.Sqrt(x * x + y * y + z * z);
+        }
+        
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public readonly Vector3f Subtract(Vector3f right)
         {
             return new Vector3f(
                 x - right.x,
@@ -105,7 +111,7 @@ namespace DotRecast.Core
         }
 
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public Vector3f Add(Vector3f v2)
+        public readonly Vector3f Add(Vector3f v2)
         {
             return new Vector3f(
                 x + v2.x,
@@ -122,13 +128,13 @@ namespace DotRecast.Core
         /// The vectors are projected onto the xz-plane, so the y-values are
         /// ignored.
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public float Dot2D(Vector3f v)
+        public readonly float Dot2D(Vector3f v)
         {
             return x * v.x + z * v.z;
         }
 
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public float Dot2D(float[] v, int vi)
+        public readonly float Dot2D(float[] v, int vi)
         {
             return x * v[vi] + z * v[vi + 2];
         }
@@ -210,5 +216,20 @@ namespace DotRecast.Core
                 v1.z + (v2.z - v1.z) * t
             );
         }
+
+        /// Returns the distance between two points.
+        /// @param[in] v1 A point. [(x, y, z)]
+        /// @param[in] v2 A point. [(x, y, z)]
+        /// @return The distance between the two points.
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float Distance(Vector3f v1, Vector3f v2)
+        {
+            float dx = v2.x - v1.x;
+            float dy = v2.y - v1.y;
+            float dz = v2.z - v1.z;
+            return (float)Math.Sqrt(dx * dx + dy * dy + dz * dz);
+        }
+
+
     }
 }

src/DotRecast.Detour.Crowd/Crowd.cs

@@ -1055,7 +1055,7 @@ namespace DotRecast.Detour.Crowd
                 if (ag.targetState == MoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY)
                 {
                     dvel = ag.targetPos;
-                    ag.desiredSpeed = VLen(ag.targetPos);
+                    ag.desiredSpeed = ag.targetPos.Length();
                 }
                 else
                 {

src/DotRecast.Detour.Crowd/CrowdAgent.cs

@@ -116,13 +116,13 @@ namespace DotRecast.Detour.Crowd
             // Fake dynamic constraint.
             float maxDelta = option.maxAcceleration * dt;
             Vector3f dv = nvel.Subtract(vel);
-            float ds = VLen(dv);
+            float ds = dv.Length();
             if (ds > maxDelta)
                 dv = VScale(dv, maxDelta / ds);
             vel = vel.Add(dv);
 
             // Integrate
-            if (VLen(vel) > 0.0001f)
+            if (vel.Length() > 0.0001f)
                 npos = VMad(npos, vel, dt);
             else
                 vel = Vector3f.Zero;
@@ -174,8 +174,8 @@ namespace DotRecast.Detour.Crowd
                 dir0.y = 0;
                 dir1.y = 0;
 
-                float len0 = VLen(dir0);
+                float len0 = dir0.Length();
-                float len1 = VLen(dir1);
+                float len1 = dir1.Length();
                 if (len1 > 0.001f)
                     dir1 = VScale(dir1, 1.0f / len1);
 

src/DotRecast.Detour/DefaultQueryFilter.cs

@@ -89,7 +89,7 @@ namespace DotRecast.Detour
         public float GetCost(Vector3f pa, Vector3f pb, long prevRef, MeshTile prevTile, Poly prevPoly, long curRef,
             MeshTile curTile, Poly curPoly, long nextRef, MeshTile nextTile, Poly nextPoly)
         {
-            return VDist(pa, pb) * m_areaCost[curPoly.GetArea()];
+            return Vector3f.Distance(pa, pb) * m_areaCost[curPoly.GetArea()];
         }
 
         public int GetIncludeFlags()

src/DotRecast.Detour/DefaultQueryHeuristic.cs

@@ -37,7 +37,7 @@ namespace DotRecast.Detour
 
         public float GetCost(Vector3f neighbourPos, Vector3f endPos)
         {
-            return VDist(neighbourPos, endPos) * scale;
+            return Vector3f.Distance(neighbourPos, endPos) * scale;
         }
     }
 }

src/DotRecast.Detour/LegacyNavMeshQuery.cs

@@ -62,7 +62,7 @@ namespace DotRecast.Detour
             startNode.pos = startPos;
             startNode.pidx = 0;
             startNode.cost = 0;
-            startNode.total = VDist(startPos, endPos) * H_SCALE;
+            startNode.total = Vector3f.Distance(startPos, endPos) * H_SCALE;
             startNode.id = startRef;
             startNode.flags = Node.DT_NODE_OPEN;
             m_openList.Push(startNode);
@@ -173,7 +173,7 @@ namespace DotRecast.Detour
                         float curCost = filter.GetCost(bestNode.pos, neighbourNode.pos, parentRef, parentTile, parentPoly,
                             bestRef, bestTile, bestPoly, neighbourRef, neighbourTile, neighbourPoly);
                         cost = bestNode.cost + curCost;
-                        heuristic = VDist(neighbourNode.pos, endPos) * H_SCALE;
+                        heuristic = Vector3f.Distance(neighbourNode.pos, endPos) * H_SCALE;
                     }
 
                     float total = cost + heuristic;
@@ -410,7 +410,7 @@ namespace DotRecast.Detour
                     }
                     else
                     {
-                        heuristic = VDist(neighbourNode.pos, m_query.endPos) * H_SCALE;
+                        heuristic = Vector3f.Distance(neighbourNode.pos, m_query.endPos) * H_SCALE;
                     }
 
                     float total = cost + heuristic;
@@ -815,7 +815,7 @@ namespace DotRecast.Detour
                         }
                     }
 
-                    float total = bestNode.total + VDist(bestNode.pos, neighbourNode.pos);
+                    float total = bestNode.total + Vector3f.Distance(bestNode.pos, neighbourNode.pos);
 
                     // The node is already in open list and the new result is worse, skip.
                     if ((neighbourNode.flags & Node.DT_NODE_OPEN) != 0 && total >= neighbourNode.total)

src/DotRecast.Detour/NavMeshQuery.cs

@@ -367,7 +367,7 @@ namespace DotRecast.Detour
                         neighbourNode.pos = Vector3f.Lerp(va, vb, 0.5f);
                     }
 
-                    float total = bestNode.total + VDist(bestNode.pos, neighbourNode.pos);
+                    float total = bestNode.total + Vector3f.Distance(bestNode.pos, neighbourNode.pos);
 
                     // The node is already in open list and the new result is worse, skip.
                     if ((neighbourNode.flags & Node.DT_NODE_OPEN) != 0 && total >= neighbourNode.total)
@@ -1827,7 +1827,7 @@ namespace DotRecast.Detour
 
             // Search constraints
             var searchPos = Vector3f.Lerp(startPos, endPos, 0.5f);
-            float searchRadSqr = Sqr(VDist(startPos, endPos) / 2.0f + 0.001f);
+            float searchRadSqr = Sqr(Vector3f.Distance(startPos, endPos) / 2.0f + 0.001f);
 
             float[] verts = new float[m_nav.GetMaxVertsPerPoly() * 3];
 
@@ -3339,7 +3339,7 @@ namespace DotRecast.Detour
                         }
                     }
 
-                    float total = bestNode.total + VDist(bestNode.pos, neighbourNode.pos);
+                    float total = bestNode.total + Vector3f.Distance(bestNode.pos, neighbourNode.pos);
 
                     // The node is already in open list and the new result is worse, skip.
                     if ((neighbourNode.flags & Node.DT_NODE_OPEN) != 0 && total >= neighbourNode.total)

src/DotRecast.Recast.Demo/Tools/Gizmos/CapsuleGizmo.cs

@@ -33,7 +33,7 @@ public class CapsuleGizmo : IColliderGizmo
         var trY = Vector3f.Of(normals[0].y, normals[1].y, normals[2].y);
         var trZ = Vector3f.Of(normals[0].z, normals[1].z, normals[2].z);
         float[] spVertices = GenerateSphericalVertices();
-        float halfLength = 0.5f * VLen(axis);
+        float halfLength = 0.5f * axis.Length();
         vertices = new float[spVertices.Length];
         gradient = new float[spVertices.Length / 3];
         Vector3f v = new Vector3f();

src/DotRecast.Recast.Demo/Tools/Gizmos/CylinderGizmo.cs

@@ -33,7 +33,7 @@ public class CylinderGizmo : IColliderGizmo
         Vector3f trY = Vector3f.Of(normals[0].y, normals[1].y, normals[2].y);
         Vector3f trZ = Vector3f.Of(normals[0].z, normals[1].z, normals[2].z);
         vertices = GenerateCylindricalVertices();
-        float halfLength = 0.5f * VLen(axis);
+        float halfLength = 0.5f * axis.Length();
         gradient = new float[vertices.Length / 3];
         Vector3f v = new Vector3f();
         for (int i = 0; i < vertices.Length; i += 3)