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It also depends heavily on the stage configuration - the above tests were on empty battle fields with no walls for checking line of sight. It's fairly well optimized as it is - for line of sight, it ignores the outer walls, doesn't re-calculate AxB and BxA, and line intersections involve no trig at all. And circle/line and circle/circle intersections, for collisions, will short-circuit quickly most of the time.

I considered trying some fancy improvements to the line of sight stuff - sorting the walls by how frequently they obstruct vision would be a big one - but as it will probably be quickly dwarfed by the CPU power required by bots, I figured it was better not to waste time on it and to keep the code simple.