diff --git a/src/DotRecast.Detour.Extras/Jumplink/ClimbTrajectory.cs b/src/DotRecast.Detour.Extras/Jumplink/ClimbTrajectory.cs
index e11ac57..a8abd77 100644
--- a/src/DotRecast.Detour.Extras/Jumplink/ClimbTrajectory.cs
+++ b/src/DotRecast.Detour.Extras/Jumplink/ClimbTrajectory.cs
@@ -1,4 +1,5 @@
 using System;
+using DotRecast.Core;
 using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour.Extras.Jumplink
@@ -9,9 +10,9 @@ namespace DotRecast.Detour.Extras.Jumplink
         {
             return new RcVec3f()
             {
-                X = Lerp(start.X, end.X, Math.Min(2f * u, 1f)),
-                Y = Lerp(start.Y, end.Y, Math.Max(0f, 2f * u - 1f)),
-                Z = Lerp(start.Z, end.Z, Math.Min(2f * u, 1f))
+                X = RcMath.Lerp(start.X, end.X, Math.Min(2f * u, 1f)),
+                Y = RcMath.Lerp(start.Y, end.Y, Math.Max(0f, 2f * u - 1f)),
+                Z = RcMath.Lerp(start.Z, end.Z, Math.Min(2f * u, 1f))
             };
         }
     }
diff --git a/src/DotRecast.Detour.Extras/Jumplink/EdgeSamplerFactory.cs b/src/DotRecast.Detour.Extras/Jumplink/EdgeSamplerFactory.cs
index 3b0b976..01c16d7 100644
--- a/src/DotRecast.Detour.Extras/Jumplink/EdgeSamplerFactory.cs
+++ b/src/DotRecast.Detour.Extras/Jumplink/EdgeSamplerFactory.cs
@@ -3,7 +3,7 @@ using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour.Extras.Jumplink
 {
-    class EdgeSamplerFactory
+    public class EdgeSamplerFactory
     {
         public EdgeSampler Get(JumpLinkBuilderConfig acfg, JumpLinkType type, JumpEdge edge)
         {
diff --git a/src/DotRecast.Detour.Extras/Jumplink/JumpSegmentBuilder.cs b/src/DotRecast.Detour.Extras/Jumplink/JumpSegmentBuilder.cs
index e4fc68d..73f5758 100644
--- a/src/DotRecast.Detour.Extras/Jumplink/JumpSegmentBuilder.cs
+++ b/src/DotRecast.Detour.Extras/Jumplink/JumpSegmentBuilder.cs
@@ -4,7 +4,7 @@ using DotRecast.Core;
 
 namespace DotRecast.Detour.Extras.Jumplink
 {
-    class JumpSegmentBuilder
+    public class JumpSegmentBuilder
     {
         public JumpSegment[] Build(JumpLinkBuilderConfig acfg, EdgeSampler es)
         {
diff --git a/src/DotRecast.Detour.Extras/Jumplink/JumpTrajectory.cs b/src/DotRecast.Detour.Extras/Jumplink/JumpTrajectory.cs
index 07221db..080eff3 100644
--- a/src/DotRecast.Detour.Extras/Jumplink/JumpTrajectory.cs
+++ b/src/DotRecast.Detour.Extras/Jumplink/JumpTrajectory.cs
@@ -1,4 +1,5 @@
 using System;
+using DotRecast.Core;
 using DotRecast.Core.Numerics;
 
 namespace DotRecast.Detour.Extras.Jumplink
@@ -16,9 +17,9 @@ namespace DotRecast.Detour.Extras.Jumplink
         {
             return new RcVec3f
             {
-                X = Lerp(start.X, end.X, u), 
+                X = RcMath.Lerp(start.X, end.X, u),
                 Y = InterpolateHeight(start.Y, end.Y, u),
-                Z = Lerp(start.Z, end.Z, u)
+                Z = RcMath.Lerp(start.Z, end.Z, u)
             };
         }
 
diff --git a/src/DotRecast.Detour.Extras/Jumplink/NavMeshGroundSampler.cs b/src/DotRecast.Detour.Extras/Jumplink/NavMeshGroundSampler.cs
index 5a62246..b14de89 100644
--- a/src/DotRecast.Detour.Extras/Jumplink/NavMeshGroundSampler.cs
+++ b/src/DotRecast.Detour.Extras/Jumplink/NavMeshGroundSampler.cs
@@ -4,7 +4,7 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.Extras.Jumplink
 {
-    class NavMeshGroundSampler : AbstractGroundSampler
+    public class NavMeshGroundSampler : AbstractGroundSampler
     {
         public override void Sample(JumpLinkBuilderConfig acfg, RcBuilderResult result, EdgeSampler es)
         {
diff --git a/src/DotRecast.Detour.Extras/Jumplink/Trajectory.cs b/src/DotRecast.Detour.Extras/Jumplink/Trajectory.cs
index 4e3cc7d..e51802c 100644
--- a/src/DotRecast.Detour.Extras/Jumplink/Trajectory.cs
+++ b/src/DotRecast.Detour.Extras/Jumplink/Trajectory.cs
@@ -5,11 +5,6 @@ namespace DotRecast.Detour.Extras.Jumplink
 {
     public class Trajectory
     {
-        public float Lerp(float f, float g, float u)
-        {
-            return u * g + (1f - u) * f;
-        }
-
         public virtual RcVec3f Apply(RcVec3f start, RcVec3f end, float u)
         {
             throw new NotImplementedException();
diff --git a/src/DotRecast.Detour.Extras/Jumplink/TrajectorySampler.cs b/src/DotRecast.Detour.Extras/Jumplink/TrajectorySampler.cs
index dc2dc6f..a2ec1f1 100644
--- a/src/DotRecast.Detour.Extras/Jumplink/TrajectorySampler.cs
+++ b/src/DotRecast.Detour.Extras/Jumplink/TrajectorySampler.cs
@@ -5,7 +5,7 @@ using DotRecast.Recast;
 
 namespace DotRecast.Detour.Extras.Jumplink
 {
-    class TrajectorySampler
+    public class TrajectorySampler
     {
         public void Sample(JumpLinkBuilderConfig acfg, RcHeightfield heightfield, EdgeSampler es)
         {