Reversed if's in Variant code to favor the correct type.

Added non-const Variant functions to get modifiable collection objects (buffer, variant vector, variant map.)
Added Recast & Detour libraries. Added skeleton of a Navigation library & component, no functionality yet.

Android/jni/Android.mk

@@ -45,6 +45,23 @@ LOCAL_C_INCLUDES := \
 include $(BUILD_STATIC_LIBRARY)
 
 
+# Detour library
+LOCAL_PATH = $(ROOT_PATH)/ThirdParty/Detour
+
+include $(CLEAR_VARS)
+
+LOCAL_MODULE := Detour
+
+LOCAL_SRC_FILES := \
+    $(subst $(LOCAL_PATH)/,, \
+    $(wildcard $(LOCAL_PATH)/Source/*.cpp))
+
+LOCAL_C_INCLUDES := \
+    $(LOCAL_PATH)/Include
+
+include $(BUILD_STATIC_LIBRARY)
+
+
 # FreeType library
 LOCAL_PATH = $(ROOT_PATH)/ThirdParty/FreeType
 
@@ -132,6 +149,23 @@ LOCAL_SRC_FILES := \
 include $(BUILD_STATIC_LIBRARY)
 
 
+# Recast library
+LOCAL_PATH = $(ROOT_PATH)/ThirdParty/Recast
+
+include $(CLEAR_VARS)
+
+LOCAL_MODULE := Recast
+
+LOCAL_SRC_FILES := \
+    $(subst $(LOCAL_PATH)/,, \
+    $(wildcard $(LOCAL_PATH)/Source/*.cpp))
+
+LOCAL_C_INCLUDES := \
+    $(LOCAL_PATH)/Include
+
+include $(BUILD_STATIC_LIBRARY)
+
+
 # SDL library
 LOCAL_PATH = $(ROOT_PATH)/ThirdParty/SDL
 
@@ -227,6 +261,7 @@ LOCAL_C_INCLUDES := \
     $(LOCAL_PATH)/Engine/Input \
     $(LOCAL_PATH)/Engine/IO \
     $(LOCAL_PATH)/Engine/Math \
+    $(LOCAL_PATH)/Engine/Navigation \
     $(LOCAL_PATH)/Engine/Network \
     $(LOCAL_PATH)/Engine/Physics \
     $(LOCAL_PATH)/Engine/Resource \
@@ -235,9 +270,11 @@ LOCAL_C_INCLUDES := \
     $(LOCAL_PATH)/Engine/UI \
     $(LOCAL_PATH)/ThirdParty/AngelScript/include \
     $(LOCAL_PATH)/ThirdParty/Bullet/src \
+    $(LOCAL_PATH)/ThirdParty/Detour/Include \
     $(LOCAL_PATH)/ThirdParty/FreeType/include \
     $(LOCAL_PATH)/ThirdParty/kNet/include \
     $(LOCAL_PATH)/ThirdParty/PugiXml/src \
+    $(LOCAL_PATH)/ThirdParty/Recast/Include \
     $(LOCAL_PATH)/ThirdParty/SDL/include \
     $(LOCAL_PATH)/ThirdParty/StanHull \
     $(LOCAL_PATH)/ThirdParty/STB \
@@ -254,6 +291,7 @@ LOCAL_SRC_FILES := \
     $(wildcard $(LOCAL_PATH)/Engine/Input/*.cpp) \
     $(wildcard $(LOCAL_PATH)/Engine/IO/*.cpp) \
     $(wildcard $(LOCAL_PATH)/Engine/Math/*.cpp) \
+    $(wildcard $(LOCAL_PATH)/Engine/Navigation/*.cpp) \
     $(wildcard $(LOCAL_PATH)/Engine/Network/*.cpp) \
     $(wildcard $(LOCAL_PATH)/Engine/Physics/*.cpp) \
     $(wildcard $(LOCAL_PATH)/Engine/Resource/*.cpp) \
@@ -265,7 +303,7 @@ LOCAL_SRC_FILES := \
 
 LOCAL_CPPFLAGS += -DENABLE_LOGGING
 
-LOCAL_STATIC_LIBRARIES := AngelScript Bullet FreeType kNet PugiXml SDL StanHull STB JO
+LOCAL_STATIC_LIBRARIES := AngelScript Bullet Detour FreeType kNet PugiXml Recast SDL StanHull STB JO
 
 LOCAL_LDLIBS := -ldl -lGLESv1_CM -lGLESv2 -llog
 

CMakeLists.txt

@@ -119,7 +119,7 @@ macro (setup_target)
     # Include directories
     include_directories (${LIBS} ${INCLUDE_DIRS_ONLY})
     # Link libraries
-    string (REGEX REPLACE "\\.\\./|ThirdParty/|Engine/|/include|/src" "" STRIP_LIBS "${LIBS};${LINK_LIBS_ONLY}")
+    string (REGEX REPLACE "\\.\\./|ThirdParty/|Engine/|/Include|/include|/src" "" STRIP_LIBS "${LIBS};${LINK_LIBS_ONLY}")
     target_link_libraries (${TARGET_NAME} ${STRIP_LIBS})
 endmacro ()
 
@@ -156,6 +156,7 @@ add_subdirectory (Engine/Graphics)
 add_subdirectory (Engine/Input)
 add_subdirectory (Engine/IO)
 add_subdirectory (Engine/Math)
+add_subdirectory (Engine/Navigation)
 add_subdirectory (Engine/Network)
 add_subdirectory (Engine/Physics)
 add_subdirectory (Engine/Resource)
@@ -164,9 +165,11 @@ add_subdirectory (Engine/Script)
 add_subdirectory (Engine/UI)
 add_subdirectory (ThirdParty/AngelScript)
 add_subdirectory (ThirdParty/Bullet)
+add_subdirectory (ThirdParty/Detour)
 add_subdirectory (ThirdParty/FreeType)
 add_subdirectory (ThirdParty/kNet)
 add_subdirectory (ThirdParty/PugiXml)
+add_subdirectory (ThirdParty/Recast)
 add_subdirectory (ThirdParty/SDL)
 add_subdirectory (ThirdParty/StanHull)
 add_subdirectory (ThirdParty/STB)

Docs/Urho3D.dox

@@ -85,6 +85,7 @@ Urho3D uses the following third-party libraries:
 - MojoShader (http://icculus.org/mojoshader/)
 - Open Asset Import Library (http://assimp.sourceforge.net/)
 - pugixml 1.0 (http://pugixml.org/)
+- Recast/Detour (http://code.google.com/p/recastnavigation/)
 - SDL 2.0 (http://www.libsdl.org/)
 - StanHull (http://codesuppository.blogspot.com/2006/03/john-ratcliffs-code-suppository-blog.html)
 - stb_image 1.29 (http://nothings.org/)

Engine/Core/Variant.h

@@ -544,189 +544,48 @@ public:
     
     /// Test for equality with another variant.
     bool operator == (const Variant& rhs) const;
-    /// Test for inequality with another variant.
-    bool operator != (const Variant& rhs) const { return !(*this == rhs); }
-    
     /// Test for equality with an integer. To return true, both the type and value must match.
-    bool operator == (int rhs) const
-    {
-        if (type_ == VAR_INT)
-            return value_.int_ == rhs;
-        else
-            return false;
-    }
-    
+    bool operator == (int rhs) const { return type_ == VAR_INT ? value_.int_ == rhs : false; }
     /// Test for equality with an unsigned integer. To return true, both the type and value must match.
-    bool operator == (unsigned rhs) const
-    {
-        if (type_ == VAR_INT)
-            return value_.int_ == (int)rhs;
-        else
-            return false;
-    }
-    
+    bool operator == (unsigned rhs) const { return type_ == VAR_INT ? value_.int_ == (int)rhs : false; }
     /// Test for equality with a bool. To return true, both the type and value must match.
-    bool operator == (bool rhs) const
-    {
-        if (type_ == VAR_BOOL)
-            return value_.bool_ == rhs;
-        else
-            return false;
-    }
-    
+    bool operator == (bool rhs) const { return type_ == VAR_BOOL ? value_.bool_ == rhs : false; }
     /// Test for equality with a float. To return true, both the type and value must match.
-    bool operator == (float rhs) const
-    {
-        if (type_ == VAR_FLOAT)
-            return value_.float_ == rhs;
-        else
-            return false;
-    }
-    
+    bool operator == (float rhs) const { return type_ == VAR_FLOAT ? value_.float_ == rhs : false; }
     /// Test for equality with a Vector2. To return true, both the type and value must match.
-    bool operator == (const Vector2& rhs) const
-    {
-        if (type_ == VAR_VECTOR2)
-            return *(reinterpret_cast<const Vector2*>(&value_)) == rhs;
-        else
-            return false;
-    }
-    
+    bool operator == (const Vector2& rhs) const { return type_ == VAR_VECTOR2 ? *(reinterpret_cast<const Vector2*>(&value_)) == rhs : false; }
     /// Test for equality with a Vector3. To return true, both the type and value must match.
-    bool operator == (const Vector3& rhs) const
-    {
-        if (type_ == VAR_VECTOR3)
-            return *(reinterpret_cast<const Vector3*>(&value_)) == rhs;
-        else
-            return false;
-    }
-    
+    bool operator == (const Vector3& rhs) const { return type_ == VAR_VECTOR3 ? *(reinterpret_cast<const Vector3*>(&value_)) == rhs : false; }
     /// Test for equality with a Vector4. To return true, both the type and value must match.
-    bool operator == (const Vector4& rhs) const
-    {
-        if (type_ == VAR_VECTOR4)
-            return *(reinterpret_cast<const Vector4*>(&value_)) == rhs;
-        else
-            return false;
-    }
-    
+    bool operator == (const Vector4& rhs) const { return type_ == VAR_VECTOR4 ? *(reinterpret_cast<const Vector4*>(&value_)) == rhs : false; }
     /// Test for equality with a quaternion. To return true, both the type and value must match.
-    bool operator == (const Quaternion& rhs) const
-    {
-        if (type_ == VAR_QUATERNION)
-            return *(reinterpret_cast<const Quaternion*>(&value_)) == rhs;
-        else
-            return false;
-    }
-    
+    bool operator == (const Quaternion& rhs) const { return type_ == VAR_QUATERNION ? *(reinterpret_cast<const Quaternion*>(&value_)) == rhs : false; }
     /// Test for equality with a color. To return true, both the type and value must match.
-    bool operator == (const Color& rhs) const
-    {
-        if (type_ == VAR_COLOR)
-            return *(reinterpret_cast<const Color*>(&value_)) == rhs;
-        else
-            return false;
-    }
-    
+    bool operator == (const Color& rhs) const { return type_ == VAR_COLOR ? *(reinterpret_cast<const Color*>(&value_)) == rhs : false; }
     /// Test for equality with a string. To return true, both the type and value must match.
-    bool operator == (const String& rhs) const
-    {
-        if (type_ == VAR_STRING)
-            return *(reinterpret_cast<const String*>(&value_)) == rhs;
-        else
-            return false;
-    }
-    
+    bool operator == (const String& rhs) const { return type_ == VAR_STRING ? *(reinterpret_cast<const String*>(&value_)) == rhs : false; }
     /// Test for equality with a buffer. To return true, both the type and value must match.
-    bool operator == (const PODVector<unsigned char>& rhs) const
-    {
-        if (type_ == VAR_BUFFER)
-            return *(reinterpret_cast<const PODVector<unsigned char>*>(&value_)) == rhs;
-        else
-            return false;
-    }
-    
+    bool operator == (const PODVector<unsigned char>& rhs) const { return type_ == VAR_BUFFER ? *(reinterpret_cast<const PODVector<unsigned char>*>(&value_)) == rhs : false; }
     /// Test for equality with a pointer. To return true, both the type and value must match.
-    bool operator == (void* rhs) const
-    {
-        if (type_ == VAR_PTR)
-            return value_.ptr_ == rhs;
-        else
-            return false;
-    }
-    
+    bool operator == (void* rhs) const { return type_ == VAR_PTR ? value_.ptr_ == rhs : false; }
     /// Test for equality with a resource reference. To return true, both the type and value must match.
-    bool operator == (const ResourceRef& rhs) const
-    {
-        if (type_ == VAR_RESOURCEREF)
-            return *(reinterpret_cast<const ResourceRef*>(&value_)) == rhs;
-        else
-            return false;
-    }
-    
+    bool operator == (const ResourceRef& rhs) const { return type_ == VAR_RESOURCEREF ? *(reinterpret_cast<const ResourceRef*>(&value_)) == rhs : false; }
     /// Test for equality with a resource reference list. To return true, both the type and value must match.
-    bool operator == (const ResourceRefList& rhs) const
-    {
-        if (type_ == VAR_RESOURCEREFLIST)
-            return *(reinterpret_cast<const ResourceRefList*>(&value_)) == rhs;
-        else
-            return false;
-    }
-    
+    bool operator == (const ResourceRefList& rhs) const { return type_ == VAR_RESOURCEREFLIST ? *(reinterpret_cast<const ResourceRefList*>(&value_)) == rhs : false; }
     /// Test for equality with a variant vector. To return true, both the type and value must match.
-    bool operator == (const VariantVector& rhs) const
-    {
-        if (type_ == VAR_VARIANTVECTOR)
-            return *(reinterpret_cast<const VariantVector*>(&value_)) == rhs;
-        else
-            return false;
-    }
-    
+    bool operator == (const VariantVector& rhs) const { return type_ == VAR_VARIANTVECTOR ? *(reinterpret_cast<const VariantVector*>(&value_)) == rhs : false; }
     /// Test for equality with a variant map. To return true, both the type and value must match.
-    bool operator == (const VariantMap& rhs) const
-    {
-        if (type_ == VAR_VARIANTMAP)
-            return *(reinterpret_cast<const VariantMap*>(&value_)) == rhs;
-        else
-            return false;
-    }
-    
+    bool operator == (const VariantMap& rhs) const { return type_ == VAR_VARIANTMAP ? *(reinterpret_cast<const VariantMap*>(&value_)) == rhs : false; }
     /// Test for equality with an integer rect. To return true, both the type and value must match.
-    bool operator == (const IntRect& rhs) const
-    {
-        if (type_ == VAR_INTRECT)
-            return *(reinterpret_cast<const IntRect*>(&value_)) == rhs;
-        else
-            return false;
-    }
-    
+    bool operator == (const IntRect& rhs) const { return type_ == VAR_INTRECT ? *(reinterpret_cast<const IntRect*>(&value_)) == rhs : false; }
     /// Test for equality with an IntVector2. To return true, both the type and value must match.
-    bool operator == (const IntVector2& rhs) const
-    {
-        if (type_ == VAR_INTVECTOR2)
-            return *(reinterpret_cast<const IntVector2*>(&value_)) == rhs;
-        else
-            return false;
-    }
-    
+    bool operator == (const IntVector2& rhs) const { return type_ == VAR_INTVECTOR2 ? *(reinterpret_cast<const IntVector2*>(&value_)) == rhs : false; }
     /// Test for equality with a StringHash. To return true, both the type and value must match.
-    bool operator == (const StringHash& rhs) const
-    {
-        if (type_ == VAR_INT)
-            return (unsigned)value_.int_ == rhs.Value();
-        else
-            return false;
-    }
-    
+    bool operator == (const StringHash& rhs) const { return type_ == VAR_INT ? (unsigned)value_.int_ == rhs.Value() : false; }
     /// Test for equality with a ShortStringHash. To return true, both the type and value must match.
-    bool operator == (const ShortStringHash& rhs) const
-    {
-        if (type_ == VAR_INT)
-            return (unsigned short)value_.int_ == rhs.Value();
-        else
-            return false;
-    }
-    
+    bool operator == (const ShortStringHash& rhs) const { return type_ == VAR_INT ? value_.int_ == rhs.Value() : false; }
+    /// Test for inequality with another variant.
+    bool operator != (const Variant& rhs) const { return !(*this == rhs); }
     /// Test for inequality with an integer.
     bool operator != (int rhs) const { return !(*this == rhs); }
     /// Test for inequality with an unsigned integer.
@@ -778,164 +637,52 @@ public:
     void SetBuffer(const void* data, unsigned size);
     
     /// Return int or zero on type mismatch.
-    int GetInt() const
-    {
-        if (type_ != VAR_INT)
-            return 0;
-        return value_.int_;
-    }
-    
+    int GetInt() const { return type_ == VAR_INT ? value_.int_ : 0; }
     /// Return unsigned int or zero on type mismatch.
-    int GetUInt() const
-    {
-        if (type_ != VAR_INT)
-            return 0;
-        return (unsigned)value_.int_;
-    }
-    
+    int GetUInt() const { return type_ == VAR_INT ? (unsigned)value_.int_ : 0; }
     /// Return StringHash or zero on type mismatch.
-    StringHash GetStringHash() const
-    {
-        if (type_ != VAR_INT)
-            return StringHash::ZERO;
-        return StringHash(value_.int_);
-    }
-    
+    StringHash GetStringHash() const { return StringHash(GetUInt()); }
     /// Return ShortStringHash or zero on type mismatch.
-    ShortStringHash GetShortStringHash() const
-    {
-        if (type_ != VAR_INT)
-            return ShortStringHash::ZERO;
-        return ShortStringHash(value_.int_);
-    }
-    
+    ShortStringHash GetShortStringHash() const { return ShortStringHash(GetUInt()); }
     /// Return bool or false on type mismatch.
-    bool GetBool() const
-    {
-        if (type_ != VAR_BOOL)
-            return false;
-        return value_.bool_;
-    }
-    
+    bool GetBool() const { return type_ == VAR_BOOL ? value_.bool_ : false; }
     /// Return float or zero on type mismatch.
-    float GetFloat() const
-    {
-        if (type_ != VAR_FLOAT)
-            return 0.0f;
-        return value_.float_;
-    }
-    
+    float GetFloat() const { return type_ == VAR_FLOAT ? value_.float_ : 0.0f; }
     /// Return Vector2 or zero on type mismatch.
-    const Vector2& GetVector2() const
-    {
-        if (type_ != VAR_VECTOR2)
-            return Vector2::ZERO;
-        return *reinterpret_cast<const Vector2*>(&value_);
-    }
-    
+    const Vector2& GetVector2() const { return type_ == VAR_VECTOR2 ? *reinterpret_cast<const Vector2*>(&value_) : Vector2::ZERO; }
     /// Return Vector3 or zero on type mismatch.
-    const Vector3& GetVector3() const
-    {
-        if (type_ != VAR_VECTOR3)
-            return Vector3::ZERO;
-        return *reinterpret_cast<const Vector3*>(&value_);
-    }
-    
+    const Vector3& GetVector3() const { return type_ == VAR_VECTOR3 ? *reinterpret_cast<const Vector3*>(&value_) : Vector3::ZERO; }
     /// Return Vector4 or zero on type mismatch.
-    const Vector4& GetVector4() const
-    {
-        if (type_ != VAR_VECTOR4)
-            return Vector4::ZERO;
-        return *reinterpret_cast<const Vector4*>(&value_);
-    }
-    
+    const Vector4& GetVector4() const { return type_ == VAR_VECTOR4 ? *reinterpret_cast<const Vector4*>(&value_) : Vector4::ZERO; }
     /// Return quaternion or identity on type mismatch.
-    const Quaternion& GetQuaternion() const
-    {
-        if (type_ != VAR_QUATERNION)
-            return Quaternion::IDENTITY;
-        return *reinterpret_cast<const Quaternion*>(&value_);
-    }
-    
+    const Quaternion& GetQuaternion() const { return type_ == VAR_QUATERNION ? *reinterpret_cast<const Quaternion*>(&value_) : Quaternion::IDENTITY; }
     /// Return color or default on type mismatch.
-    const Color& GetColor() const
-    {
-        if (type_ != VAR_COLOR)
-            return Color::WHITE;
-        return *reinterpret_cast<const Color*>(&value_);
-    }
-    
+    const Color& GetColor() const { return type_ == VAR_COLOR ? *reinterpret_cast<const Color*>(&value_) : Color::WHITE; }
     /// Return string or empty on type mismatch.
-    const String& GetString() const
-    {
-        if (type_ != VAR_STRING)
-            return String::EMPTY;
-        return *reinterpret_cast<const String*>(&value_);
-    }
-    
+    const String& GetString() const { return type_ == VAR_STRING ? *reinterpret_cast<const String*>(&value_) : String::EMPTY; }
     /// Return buffer or empty on type mismatch.
-    const PODVector<unsigned char>& GetBuffer() const
-    {
-        if (type_ != VAR_BUFFER)
-            return emptyBuffer;
-        return *reinterpret_cast<const PODVector<unsigned char>*>(&value_);
-    }
-    
+    const PODVector<unsigned char>& GetBuffer() const { return type_ == VAR_BUFFER ? *reinterpret_cast<const PODVector<unsigned char>*>(&value_) : emptyBuffer; }
     /// Return pointer or null on type mismatch.
-    void* GetPtr() const
-    {
-        if (type_ != VAR_PTR)
-            return 0;
-        return value_.ptr_;
-    }
-    
+    void* GetPtr() const { return type_ == VAR_PTR ? value_.ptr_ : 0; }
     /// Return a resource reference or empty on type mismatch.
-    const ResourceRef& GetResourceRef() const
-    {
-        if (type_ != VAR_RESOURCEREF)
-            return emptyResourceRef;
-        return *reinterpret_cast<const ResourceRef*>(&value_);
-    }
-    
+    const ResourceRef& GetResourceRef() const { return type_ == VAR_RESOURCEREF ? *reinterpret_cast<const ResourceRef*>(&value_) : emptyResourceRef; }
     /// Return a resource reference list or empty on type mismatch.
-    const ResourceRefList& GetResourceRefList() const
-    {
-        if (type_ != VAR_RESOURCEREFLIST)
-            return emptyResourceRefList;
-        return *reinterpret_cast<const ResourceRefList*>(&value_);
-    }
-    
+    const ResourceRefList& GetResourceRefList() const { return type_ == VAR_RESOURCEREFLIST ? *reinterpret_cast<const ResourceRefList*>(&value_) : emptyResourceRefList; }
     /// Return a variant vector or empty on type mismatch.
-    const VariantVector& GetVariantVector() const
-    {
-        if (type_ != VAR_VARIANTVECTOR)
-            return emptyVariantVector;
-        return *reinterpret_cast<const VariantVector*>(&value_);
-    }
-    
+    const VariantVector& GetVariantVector() const { return type_ == VAR_VARIANTVECTOR ? *reinterpret_cast<const VariantVector*>(&value_) : emptyVariantVector; }
     /// Return a variant map or empty on type mismatch.
-    const VariantMap& GetVariantMap() const
-    {
-        if (type_ != VAR_VARIANTMAP)
-            return emptyVariantMap;
-        return *reinterpret_cast<const VariantMap*>(&value_);
-    }
-    
+    const VariantMap& GetVariantMap() const { return type_ == VAR_VARIANTMAP ? *reinterpret_cast<const VariantMap*>(&value_) : emptyVariantMap; }
     /// Return an integer rect or empty on type mismatch.
-    const IntRect& GetIntRect() const
-    {
-        if (type_ != VAR_INTRECT)
-            return IntRect::ZERO;
-        return *reinterpret_cast<const IntRect*>(&value_);
-    }
-    
+    const IntRect& GetIntRect() const { return type_ == VAR_INTRECT ? *reinterpret_cast<const IntRect*>(&value_) : IntRect::ZERO; }
     /// Return an IntVector2 or empty on type mismatch.
-    const IntVector2& GetIntVector2() const
-    {
-        if (type_ != VAR_INTVECTOR2)
-            return IntVector2::ZERO;
-        return *reinterpret_cast<const IntVector2*>(&value_);
-    }
+    const IntVector2& GetIntVector2() const { return type_ == VAR_INTVECTOR2 ? *reinterpret_cast<const IntVector2*>(&value_) : IntVector2::ZERO; }
+    
+    /// Return a pointer to a modifiable buffer or null on type mismatch.
+    PODVector<unsigned char>* GetBufferPtr() { return type_ == VAR_BUFFER ? reinterpret_cast<PODVector<unsigned char>*>(&value_) : 0; }
+    /// Return a pointer to a modifiable variant vector or null on type mismatch.
+    VariantVector* GetVariantVectorPtr() { return type_ == VAR_VARIANTVECTOR ? reinterpret_cast<VariantVector*>(&value_) : 0; }
+    /// Return a pointer to a modifiable variant map or null on type mismatch.
+    VariantMap* GetVariantMapPtr() { return type_ == VAR_VARIANTMAP ? reinterpret_cast<VariantMap*>(&value_) : 0; }
     
     /// Return the value, template version.
     template <class T> T Get() const;

Engine/Engine/CMakeLists.txt

@@ -7,7 +7,8 @@ file (GLOB H_FILES *.h)
 set (SOURCE_FILES ${CPP_FILES} ${H_FILES})
 
 # Define dependency libs
-set (LIBS ../Audio ../Container ../Core ../Graphics ../Input ../IO ../Math ../Network ../Physics ../Resource ../Scene ../Script ../UI)
+set (LIBS ../Audio ../Container ../Core ../Graphics ../Input ../IO ../Math ../Navigation ../Network ../Physics ../Resource 
+    ../Scene ../Script ../UI)
 set (INCLUDE_DIRS_ONLY ../../ThirdParty/AngelScript/include ../../ThirdParty/Bullet/src ../../ThirdParty/kNet/include)
 
 # Setup target

Engine/Engine/Engine.cpp

@@ -31,6 +31,7 @@
 #include "Graphics.h"
 #include "Input.h"
 #include "Log.h"
+#include "Navigation.h"
 #include "Network.h"
 #include "PackageFile.h"
 #include "PhysicsWorld.h"
@@ -644,6 +645,7 @@ void Engine::RegisterObjects()
     RegisterAudioLibrary(context_);
     RegisterUILibrary(context_);
     RegisterPhysicsLibrary(context_);
+    RegisterNavigationLibrary(context_);
     
     // In debug mode, check that all factory created objects can be created without crashing
     #ifdef _DEBUG

Engine/Navigation/CMakeLists.txt

@@ -0,0 +1,14 @@
+# Define target name
+set (TARGET_NAME Navigation)
+
+# Define source files
+file (GLOB CPP_FILES *.cpp)
+file (GLOB H_FILES *.h)
+set (SOURCE_FILES ${CPP_FILES} ${H_FILES})
+
+# Define dependency libs
+set (LIBS ../Container ../Core ../Graphics ../IO ../Math ../Resource ../Scene ../../ThirdParty/Recast/Include ../../ThirdParty/Detour/Include)
+
+# Setup target
+enable_pch ()
+setup_library ()

Engine/Navigation/NavigationMesh.cpp

@@ -0,0 +1,48 @@
+//
+// Copyright (c) 2008-2013 the Urho3D project.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+// THE SOFTWARE.
+//
+
+#include "Precompiled.h"
+#include "Context.h"
+#include "NavigationMesh.h"
+
+#include "DebugNew.h"
+
+namespace Urho3D
+{
+
+OBJECTTYPESTATIC(NavigationMesh);
+
+NavigationMesh::NavigationMesh(Context* context) :
+    Component(context)
+{
+}
+
+NavigationMesh::~NavigationMesh()
+{
+}
+
+void NavigationMesh::RegisterObject(Context* context)
+{
+    context->RegisterFactory<NavigationMesh>();
+}
+
+}

Engine/Navigation/NavigationMesh.h

@@ -0,0 +1,44 @@
+//
+// Copyright (c) 2008-2013 the Urho3D project.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+// THE SOFTWARE.
+//
+
+#pragma once
+
+#include "Component.h"
+
+namespace Urho3D
+{
+
+/// Navigation mesh component.
+class NavigationMesh : public Component
+{
+    OBJECT(NavigationMesh);
+    
+public:
+    /// Construct.
+    NavigationMesh(Context* context);
+    /// Destruct.
+    virtual ~NavigationMesh();
+    /// Register object factory.
+    static void RegisterObject(Context* context);
+};
+
+}

Engine/Navigation/Precompiled.cpp

@@ -0,0 +1,23 @@
+//
+// Copyright (c) 2008-2013 the Urho3D project.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+// THE SOFTWARE.
+//
+
+#include "Precompiled.h"

Engine/Navigation/Precompiled.h

@@ -0,0 +1,27 @@
+//
+// Copyright (c) 2008-2013 the Urho3D project.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+// THE SOFTWARE.
+//
+
+#pragma once
+
+#include "HashMap.h"
+#include "HashSet.h"
+#include "Str.h"

Engine/Network/NetworkPriority.h

@@ -36,7 +36,7 @@ public:
     /// Construct.
     NetworkPriority(Context* context);
     /// Destruct.
-    ~NetworkPriority();
+    virtual ~NetworkPriority();
     /// Register object factory.
     static void RegisterObject(Context* context);
     

Extras/CharacterDemo/CMakeLists.txt

@@ -8,7 +8,8 @@ set (SOURCE_FILES ${CPP_FILES} ${H_FILES})
 
 # Define dependency libs
 set (LIBS ../../Engine/Container ../../Engine/Core ../../Engine/Engine ../../Engine/Graphics ../../Engine/Input ../../Engine/IO ../../Engine/Math 
-    ../../Engine/Network ../../Engine/Physics ../../Engine/Resource ../../Engine/Scene ../../Engine/UI ../../ThirdParty/Bullet/src)
+    ../../Engine/Network ../../Engine/Physics ../../Engine/Resource ../../Engine/Scene ../../Engine/UI)
+set (INCLUDE_DIRS_ONLY ../../ThirdParty/Bullet/src)
 
 # Setup target
 if (WIN32)

License.txt

@@ -321,6 +321,28 @@ FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
 OTHER DEALINGS IN THE SOFTWARE.
 
 
+Recast/Detour license
+---------------------
+
+Copyright (c) 2009 Mikko Mononen [email protected]
+
+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.
+
+
 SDL license
 -----------
 

Readme.txt

@@ -57,6 +57,7 @@ Urho3D uses the following third-party libraries:
 - MojoShader (http://icculus.org/mojoshader/)
 - Open Asset Import Library (http://assimp.sourceforge.net/)
 - pugixml 1.0 (http://pugixml.org/)
+- Recast/Detour (http://code.google.com/p/recastnavigation/)
 - SDL 2.0 (http://www.libsdl.org/)
 - StanHull (http://codesuppository.blogspot.com/2006/03/
   john-ratcliffs-code-suppository-blog.html)

ThirdParty/Detour/CMakeLists.txt

@@ -0,0 +1,22 @@
+SET(detour_SRCS
+	Source/DetourAlloc.cpp
+	Source/DetourCommon.cpp
+	Source/DetourNavMesh.cpp
+	Source/DetourNavMeshBuilder.cpp
+	Source/DetourNavMeshQuery.cpp
+	Source/DetourNode.cpp
+)
+
+SET(detour_HDRS
+	Include/DetourAlloc.h
+	Include/DetourAssert.h
+	Include/DetourCommon.h
+	Include/DetourNavMesh.h
+	Include/DetourNavMeshBuilder.h
+	Include/DetourNavMeshQuery.h
+	Include/DetourNode.h
+)
+
+INCLUDE_DIRECTORIES(Include)
+
+ADD_LIBRARY(Detour ${detour_SRCS} ${detour_HDRS})

ThirdParty/Detour/Include/DetourAlloc.h

@@ -0,0 +1,59 @@
+//
+// Copyright (c) 2009-2010 Mikko Mononen [email protected]
+//
+// 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.
+//
+
+#ifndef DETOURALLOCATOR_H
+#define DETOURALLOCATOR_H
+
+/// Provides hint values to the memory allocator on how long the
+/// memory is expected to be used.
+enum dtAllocHint
+{
+	DT_ALLOC_PERM,		///< Memory persist after a function call.
+	DT_ALLOC_TEMP		///< Memory used temporarily within a function.
+};
+
+/// A memory allocation function.
+//  @param[in]		size			The size, in bytes of memory, to allocate.
+//  @param[in]		rcAllocHint	A hint to the allocator on how long the memory is expected to be in use.
+//  @return A pointer to the beginning of the allocated memory block, or null if the allocation failed.
+///  @see dtAllocSetCustom
+typedef void* (dtAllocFunc)(int size, dtAllocHint hint);
+
+/// A memory deallocation function.
+///  @param[in]		ptr		A pointer to a memory block previously allocated using #dtAllocFunc.
+/// @see dtAllocSetCustom
+typedef void (dtFreeFunc)(void* ptr);
+
+/// Sets the base custom allocation functions to be used by Detour.
+///  @param[in]		allocFunc	The memory allocation function to be used by #dtAlloc
+///  @param[in]		freeFunc	The memory de-allocation function to be used by #dtFree
+void dtAllocSetCustom(dtAllocFunc *allocFunc, dtFreeFunc *freeFunc);
+
+/// Allocates a memory block.
+///  @param[in]		size	The size, in bytes of memory, to allocate.
+///  @param[in]		hint	A hint to the allocator on how long the memory is expected to be in use.
+///  @return A pointer to the beginning of the allocated memory block, or null if the allocation failed.
+/// @see dtFree
+void* dtAlloc(int size, dtAllocHint hint);
+
+/// Deallocates a memory block.
+///  @param[in]		ptr		A pointer to a memory block previously allocated using #dtAlloc.
+/// @see dtAlloc
+void dtFree(void* ptr);
+
+#endif

ThirdParty/Detour/Include/DetourAssert.h

@@ -0,0 +1,33 @@
+//
+// Copyright (c) 2009-2010 Mikko Mononen [email protected]
+//
+// 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.
+//
+
+#ifndef DETOURASSERT_H
+#define DETOURASSERT_H
+
+// Note: This header file's only purpose is to include define assert.
+// Feel free to change the file and include your own implementation instead.
+
+#ifdef NDEBUG
+// From http://cnicholson.net/2009/02/stupid-c-tricks-adventures-in-assert/
+#	define dtAssert(x) do { (void)sizeof(x); } while((void)(__LINE__==-1),false)  
+#else
+#	include <assert.h> 
+#	define dtAssert assert
+#endif
+
+#endif // DETOURASSERT_H

ThirdParty/Detour/Include/DetourCommon.h

@@ -0,0 +1,530 @@
+//
+// Copyright (c) 2009-2010 Mikko Mononen [email protected]
+//
+// 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.
+//
+
+#ifndef DETOURCOMMON_H
+#define DETOURCOMMON_H
+
+/**
+@defgroup detour Detour
+
+Members in this module are used to create, manipulate, and query navigation 
+meshes.
+
+@note This is a summary list of members.  Use the index or search 
+feature to find minor members.
+*/
+
+/// @name General helper functions
+/// @{
+
+/// Swaps the values of the two parameters.
+///  @param[in,out]	a	Value A
+///  @param[in,out]	b	Value B
+template<class T> inline void dtSwap(T& a, T& b) { T t = a; a = b; b = t; }
+
+/// Returns the minimum of two values.
+///  @param[in]		a	Value A
+///  @param[in]		b	Value B
+///  @return The minimum of the two values.
+template<class T> inline T dtMin(T a, T b) { return a < b ? a : b; }
+
+/// Returns the maximum of two values.
+///  @param[in]		a	Value A
+///  @param[in]		b	Value B
+///  @return The maximum of the two values.
+template<class T> inline T dtMax(T a, T b) { return a > b ? a : b; }
+
+/// Returns the absolute value.
+///  @param[in]		a	The value.
+///  @return The absolute value of the specified value.
+template<class T> inline T dtAbs(T a) { return a < 0 ? -a : a; }
+
+/// Returns the square of the value.
+///  @param[in]		a	The value.
+///  @return The square of the value.
+template<class T> inline T dtSqr(T a) { return a*a; }
+
+/// Clamps the value to the specified range.
+///  @param[in]		v	The value to clamp.
+///  @param[in]		mn	The minimum permitted return value.
+///  @param[in]		mx	The maximum permitted return value.
+///  @return The value, clamped to the specified range.
+template<class T> inline T dtClamp(T v, T mn, T mx) { return v < mn ? mn : (v > mx ? mx : v); }
+
+/// Returns the square root of the value.
+///  @param[in]		x	The value.
+///  @return The square root of the vlaue.
+float dtSqrt(float x);
+
+/// @}
+/// @name Vector helper functions.
+/// @{
+
+/// Derives the cross product of two vectors. (@p v1 x @p v2)
+///  @param[out]	dest	The cross product. [(x, y, z)]
+///  @param[in]		v1		A Vector [(x, y, z)]
+///  @param[in]		v2		A vector [(x, y, z)]
+inline void dtVcross(float* dest, const float* v1, const float* v2)
+{
+	dest[0] = v1[1]*v2[2] - v1[2]*v2[1];
+	dest[1] = v1[2]*v2[0] - v1[0]*v2[2];
+	dest[2] = v1[0]*v2[1] - v1[1]*v2[0]; 
+}
+
+/// Derives the dot product of two vectors. (@p v1 . @p v2)
+///  @param[in]		v1	A Vector [(x, y, z)]
+///  @param[in]		v2	A vector [(x, y, z)]
+/// @return The dot product.
+inline float dtVdot(const float* v1, const float* v2)
+{
+	return v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2];
+}
+
+/// Performs a scaled vector addition. (@p v1 + (@p v2 * @p s))
+///  @param[out]	dest	The result vector. [(x, y, z)]
+///  @param[in]		v1		The base vector. [(x, y, z)]
+///  @param[in]		v2		The vector to scale and add to @p v1. [(x, y, z)]
+///  @param[in]		s		The amount to scale @p v2 by before adding to @p v1.
+inline void dtVmad(float* dest, const float* v1, const float* v2, const float s)
+{
+	dest[0] = v1[0]+v2[0]*s;
+	dest[1] = v1[1]+v2[1]*s;
+	dest[2] = v1[2]+v2[2]*s;
+}
+
+/// Performs a linear interpolation between two vectors. (@p v1 toward @p v2)
+///  @param[out]	dest	The result vector. [(x, y, x)]
+///  @param[in]		v1		The starting vector.
+///  @param[in]		v2		The destination vector.
+///	 @param[in]		t		The interpolation factor. [Limits: 0 <= value <= 1.0]
+inline void dtVlerp(float* dest, const float* v1, const float* v2, const float t)
+{
+	dest[0] = v1[0]+(v2[0]-v1[0])*t;
+	dest[1] = v1[1]+(v2[1]-v1[1])*t;
+	dest[2] = v1[2]+(v2[2]-v1[2])*t;
+}
+
+/// Performs a vector addition. (@p v1 + @p v2)
+///  @param[out]	dest	The result vector. [(x, y, z)]
+///  @param[in]		v1		The base vector. [(x, y, z)]
+///  @param[in]		v2		The vector to add to @p v1. [(x, y, z)]
+inline void dtVadd(float* dest, const float* v1, const float* v2)
+{
+	dest[0] = v1[0]+v2[0];
+	dest[1] = v1[1]+v2[1];
+	dest[2] = v1[2]+v2[2];
+}
+
+/// Performs a vector subtraction. (@p v1 - @p v2)
+///  @param[out]	dest	The result vector. [(x, y, z)]
+///  @param[in]		v1		The base vector. [(x, y, z)]
+///  @param[in]		v2		The vector to subtract from @p v1. [(x, y, z)]
+inline void dtVsub(float* dest, const float* v1, const float* v2)
+{
+	dest[0] = v1[0]-v2[0];
+	dest[1] = v1[1]-v2[1];
+	dest[2] = v1[2]-v2[2];
+}
+
+/// Scales the vector by the specified value. (@p v * @p t)
+///  @param[out]	dest	The result vector. [(x, y, z)]
+///  @param[in]		v		The vector to scale. [(x, y, z)]
+///  @param[in]		t		The scaling factor.
+inline void dtVscale(float* dest, const float* v, const float t)
+{
+	dest[0] = v[0]*t;
+	dest[1] = v[1]*t;
+	dest[2] = v[2]*t;
+}
+
+/// Selects the minimum value of each element from the specified vectors.
+///  @param[in,out]	mn	A vector.  (Will be updated with the result.) [(x, y, z)]
+///  @param[in]	v	A vector. [(x, y, z)]
+inline void dtVmin(float* mn, const float* v)
+{
+	mn[0] = dtMin(mn[0], v[0]);
+	mn[1] = dtMin(mn[1], v[1]);
+	mn[2] = dtMin(mn[2], v[2]);
+}
+
+/// Selects the maximum value of each element from the specified vectors.
+///  @param[in,out]	mx	A vector.  (Will be updated with the result.) [(x, y, z)]
+///  @param[in]		v	A vector. [(x, y, z)]
+inline void dtVmax(float* mx, const float* v)
+{
+	mx[0] = dtMax(mx[0], v[0]);
+	mx[1] = dtMax(mx[1], v[1]);
+	mx[2] = dtMax(mx[2], v[2]);
+}
+
+/// Sets the vector elements to the specified values.
+///  @param[out]	dest	The result vector. [(x, y, z)]
+///  @param[in]		x		The x-value of the vector.
+///  @param[in]		y		The y-value of the vector.
+///  @param[in]		z		The z-value of the vector.
+inline void dtVset(float* dest, const float x, const float y, const float z)
+{
+	dest[0] = x; dest[1] = y; dest[2] = z;
+}
+
+/// Performs a vector copy.
+///  @param[out]	dest	The result. [(x, y, z)]
+///  @param[in]		a		The vector to copy. [(x, y, z)]
+inline void dtVcopy(float* dest, const float* a)
+{
+	dest[0] = a[0];
+	dest[1] = a[1];
+	dest[2] = a[2];
+}
+
+/// Derives the scalar length of the vector.
+///  @param[in]		v The vector. [(x, y, z)]
+/// @return The scalar length of the vector.
+inline float dtVlen(const float* v)
+{
+	return dtSqrt(v[0]*v[0] + v[1]*v[1] + v[2]*v[2]);
+}
+
+/// 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.
+inline float dtVlenSqr(const float* v)
+{
+	return v[0]*v[0] + v[1]*v[1] + v[2]*v[2];
+}
+
+/// 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.
+inline float dtVdist(const float* v1, const float* v2)
+{
+	const float dx = v2[0] - v1[0];
+	const float dy = v2[1] - v1[1];
+	const float dz = v2[2] - v1[2];
+	return dtSqrt(dx*dx + dy*dy + dz*dz);
+}
+
+/// Returns the square of the distance between two points.
+///  @param[in]		v1	A point. [(x, y, z)]
+///  @param[in]		v2	A point. [(x, y, z)]
+/// @return The square of the distance between the two points.
+inline float dtVdistSqr(const float* v1, const float* v2)
+{
+	const float dx = v2[0] - v1[0];
+	const float dy = v2[1] - v1[1];
+	const float dz = v2[2] - v1[2];
+	return 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)]
+/// @return The distance between the point on the xz-plane.
+///
+/// The vectors are projected onto the xz-plane, so the y-values are ignored.
+inline float dtVdist2D(const float* v1, const float* v2)
+{
+	const float dx = v2[0] - v1[0];
+	const float dz = v2[2] - v1[2];
+	return dtSqrt(dx*dx + dz*dz);
+}
+
+/// Derives the square of 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)]
+/// @return The square of the distance between the point on the xz-plane.
+inline float dtVdist2DSqr(const float* v1, const float* v2)
+{
+	const float dx = v2[0] - v1[0];
+	const float dz = v2[2] - v1[2];
+	return dx*dx + dz*dz;
+}
+
+/// Normalizes the vector.
+///  @param[in,out]	v	The vector to normalize. [(x, y, z)]
+inline void dtVnormalize(float* v)
+{
+	float d = 1.0f / dtSqrt(dtSqr(v[0]) + dtSqr(v[1]) + dtSqr(v[2]));
+	v[0] *= d;
+	v[1] *= d;
+	v[2] *= d;
+}
+
+/// Performs a 'sloppy' colocation check of the specified points.
+///  @param[in]		p0	A point. [(x, y, z)]
+///  @param[in]		p1	A point. [(x, y, z)]
+/// @return True if the points are considered to be at the same location.
+///
+/// Basically, this function will return true if the specified points are 
+/// close enough to eachother to be considered colocated.
+inline bool dtVequal(const float* p0, const float* p1)
+{
+	static const float thr = dtSqr(1.0f/16384.0f);
+	const float d = dtVdistSqr(p0, p1);
+	return d < thr;
+}
+
+/// Derives the dot product of two vectors on the xz-plane. (@p u . @p v)
+///  @param[in]		u		A vector [(x, y, z)]
+///  @param[in]		v		A vector [(x, y, z)]
+/// @return The dot product on the xz-plane.
+///
+/// The vectors are projected onto the xz-plane, so the y-values are ignored.
+inline float dtVdot2D(const float* u, const float* v)
+{
+	return u[0]*v[0] + u[2]*v[2];
+}
+
+/// Derives the xz-plane 2D perp product of the two vectors. (uz*vx - ux*vz)
+///  @param[in]		u		The LHV vector [(x, y, z)]
+///  @param[in]		v		The RHV vector [(x, y, z)]
+/// @return The dot product on the xz-plane.
+///
+/// The vectors are projected onto the xz-plane, so the y-values are ignored.
+inline float dtVperp2D(const float* u, const float* v)
+{
+	return u[2]*v[0] - u[0]*v[2];
+}
+
+/// @}
+/// @name Computational geometry helper functions.
+/// @{
+
+/// Derives the signed xz-plane area of the triangle ABC, or the relationship of line AB to point C.
+///  @param[in]		a		Vertex A. [(x, y, z)]
+///  @param[in]		b		Vertex B. [(x, y, z)]
+///  @param[in]		c		Vertex C. [(x, y, z)]
+/// @return The signed xz-plane area of the triangle.
+inline float dtTriArea2D(const float* a, const float* b, const float* c)
+{
+	const float abx = b[0] - a[0];
+	const float abz = b[2] - a[2];
+	const float acx = c[0] - a[0];
+	const float acz = c[2] - a[2];
+	return acx*abz - abx*acz;
+}
+
+/// Determines if two axis-aligned bounding boxes overlap.
+///  @param[in]		amin	Minimum bounds of box A. [(x, y, z)]
+///  @param[in]		amax	Maximum bounds of box A. [(x, y, z)]
+///  @param[in]		bmin	Minimum bounds of box B. [(x, y, z)]
+///  @param[in]		bmax	Maximum bounds of box B. [(x, y, z)]
+/// @return True if the two AABB's overlap.
+/// @see dtOverlapBounds
+inline bool dtOverlapQuantBounds(const unsigned short amin[3], const unsigned short amax[3],
+								 const unsigned short bmin[3], const unsigned short bmax[3])
+{
+	bool overlap = true;
+	overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap;
+	overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap;
+	overlap = (amin[2] > bmax[2] || amax[2] < bmin[2]) ? false : overlap;
+	return overlap;
+}
+
+/// Determines if two axis-aligned bounding boxes overlap.
+///  @param[in]		amin	Minimum bounds of box A. [(x, y, z)]
+///  @param[in]		amax	Maximum bounds of box A. [(x, y, z)]
+///  @param[in]		bmin	Minimum bounds of box B. [(x, y, z)]
+///  @param[in]		bmax	Maximum bounds of box B. [(x, y, z)]
+/// @return True if the two AABB's overlap.
+/// @see dtOverlapQuantBounds
+inline bool dtOverlapBounds(const float* amin, const float* amax,
+							const float* bmin, const float* bmax)
+{
+	bool overlap = true;
+	overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap;
+	overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap;
+	overlap = (amin[2] > bmax[2] || amax[2] < bmin[2]) ? false : overlap;
+	return overlap;
+}
+
+/// Derives the closest point on a triangle from the specified reference point.
+///  @param[out]	closest	The closest point on the triangle.	
+///  @param[in]		p		The reference point from which to test. [(x, y, z)]
+///  @param[in]		a		Vertex A of triangle ABC. [(x, y, z)]
+///  @param[in]		b		Vertex B of triangle ABC. [(x, y, z)]
+///  @param[in]		c		Vertex C of triangle ABC. [(x, y, z)]
+void dtClosestPtPointTriangle(float* closest, const float* p,
+							  const float* a, const float* b, const float* c);
+
+/// Derives the y-axis height of the closest point on the triangle from the specified reference point.
+///  @param[in]		p		The reference point from which to test. [(x, y, z)]
+///  @param[in]		a		Vertex A of triangle ABC. [(x, y, z)]
+///  @param[in]		b		Vertex B of triangle ABC. [(x, y, z)]
+///  @param[in]		c		Vertex C of triangle ABC. [(x, y, z)]
+///  @param[out]	h		The resulting height.
+bool dtClosestHeightPointTriangle(const float* p, const float* a, const float* b, const float* c, float& h);
+
+bool dtIntersectSegmentPoly2D(const float* p0, const float* p1,
+							  const float* verts, int nverts,
+							  float& tmin, float& tmax,
+							  int& segMin, int& segMax);
+
+bool dtIntersectSegSeg2D(const float* ap, const float* aq,
+						 const float* bp, const float* bq,
+						 float& s, float& t);
+
+/// Determines if the specified point is inside the convex polygon on the xz-plane.
+///  @param[in]		pt		The point to check. [(x, y, z)]
+///  @param[in]		verts	The polygon vertices. [(x, y, z) * @p nverts]
+///  @param[in]		nverts	The number of vertices. [Limit: >= 3]
+/// @return True if the point is inside the polygon.
+bool dtPointInPolygon(const float* pt, const float* verts, const int nverts);
+
+bool dtDistancePtPolyEdgesSqr(const float* pt, const float* verts, const int nverts,
+							float* ed, float* et);
+
+float dtDistancePtSegSqr2D(const float* pt, const float* p, const float* q, float& t);
+
+/// Derives the centroid of a convex polygon.
+///  @param[out]	tc		The centroid of the polgyon. [(x, y, z)]
+///  @param[in]		idx		The polygon indices. [(vertIndex) * @p nidx]
+///  @param[in]		nidx	The number of indices in the polygon. [Limit: >= 3]
+///  @param[in]		verts	The polygon vertices. [(x, y, z) * vertCount]
+void dtCalcPolyCenter(float* tc, const unsigned short* idx, int nidx, const float* verts);
+
+/// Determines if the two convex polygons overlap on the xz-plane.
+///  @param[in]		polya		Polygon A vertices.	[(x, y, z) * @p npolya]
+///  @param[in]		npolya		The number of vertices in polygon A.
+///  @param[in]		polyb		Polygon B vertices.	[(x, y, z) * @p npolyb]
+///  @param[in]		npolyb		The number of vertices in polygon B.
+/// @return True if the two polygons overlap.
+bool dtOverlapPolyPoly2D(const float* polya, const int npolya,
+						 const float* polyb, const int npolyb);
+
+/// @}
+/// @name Miscellanious functions.
+/// @{
+
+inline unsigned int dtNextPow2(unsigned int v)
+{
+	v--;
+	v |= v >> 1;
+	v |= v >> 2;
+	v |= v >> 4;
+	v |= v >> 8;
+	v |= v >> 16;
+	v++;
+	return v;
+}
+
+inline unsigned int dtIlog2(unsigned int v)
+{
+	unsigned int r;
+	unsigned int shift;
+	r = (v > 0xffff) << 4; v >>= r;
+	shift = (v > 0xff) << 3; v >>= shift; r |= shift;
+	shift = (v > 0xf) << 2; v >>= shift; r |= shift;
+	shift = (v > 0x3) << 1; v >>= shift; r |= shift;
+	r |= (v >> 1);
+	return r;
+}
+
+inline int dtAlign4(int x) { return (x+3) & ~3; }
+
+inline int dtOppositeTile(int side) { return (side+4) & 0x7; }
+
+inline void dtSwapByte(unsigned char* a, unsigned char* b)
+{
+	unsigned char tmp = *a;
+	*a = *b;
+	*b = tmp;
+}
+
+inline void dtSwapEndian(unsigned short* v)
+{
+	unsigned char* x = (unsigned char*)v;
+	dtSwapByte(x+0, x+1);
+}
+
+inline void dtSwapEndian(short* v)
+{
+	unsigned char* x = (unsigned char*)v;
+	dtSwapByte(x+0, x+1);
+}
+
+inline void dtSwapEndian(unsigned int* v)
+{
+	unsigned char* x = (unsigned char*)v;
+	dtSwapByte(x+0, x+3); dtSwapByte(x+1, x+2);
+}
+
+inline void dtSwapEndian(int* v)
+{
+	unsigned char* x = (unsigned char*)v;
+	dtSwapByte(x+0, x+3); dtSwapByte(x+1, x+2);
+}
+
+inline void dtSwapEndian(float* v)
+{
+	unsigned char* x = (unsigned char*)v;
+	dtSwapByte(x+0, x+3); dtSwapByte(x+1, x+2);
+}
+
+void dtRandomPointInConvexPoly(const float* pts, const int npts, float* areas,
+							   const float s, const float t, float* out);
+
+/// @}
+
+#endif // DETOURCOMMON_H
+
+///////////////////////////////////////////////////////////////////////////
+
+// This section contains detailed documentation for members that don't have
+// a source file. It reduces clutter in the main section of the header.
+
+/**
+
+@fn float dtTriArea2D(const float* a, const float* b, const float* c)
+@par
+
+The vertices are projected onto the xz-plane, so the y-values are ignored.
+
+This is a low cost function than can be used for various purposes.  Its main purpose
+is for point/line relationship testing.
+
+In all cases: A value of zero indicates that all vertices are collinear or represent the same point.
+(On the xz-plane.)
+
+When used for point/line relationship tests, AB usually represents a line against which
+the C point is to be tested.  In this case:
+
+A positive value indicates that point C is to the left of line AB, looking from A toward B.<br/>
+A negative value indicates that point C is to the right of lineAB, looking from A toward B.
+
+When used for evaluating a triangle:
+
+The absolute value of the return value is two times the area of the triangle when it is
+projected onto the xz-plane.
+
+A positive return value indicates:
+
+<ul>
+<li>The vertices are wrapped in the normal Detour wrap direction.</li>
+<li>The triangle's 3D face normal is in the general up direction.</li>
+</ul>
+
+A negative return value indicates:
+
+<ul>
+<li>The vertices are reverse wrapped. (Wrapped opposite the normal Detour wrap direction.)</li>
+<li>The triangle's 3D face normal is in the general down direction.</li>
+</ul>
+
+*/

ThirdParty/Detour/Include/DetourNavMesh.h

@@ -0,0 +1,689 @@
+//
+// Copyright (c) 2009-2010 Mikko Mononen [email protected]
+//
+// 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.
+//
+
+#ifndef DETOURNAVMESH_H
+#define DETOURNAVMESH_H
+
+#include "DetourAlloc.h"
+#include "DetourStatus.h"
+
+// Note: If you want to use 64-bit refs, change the types of both dtPolyRef & dtTileRef.
+// It is also recommended that you change dtHashRef() to a proper 64-bit hash.
+
+/// A handle to a polygon within a navigation mesh tile.
+/// @ingroup detour
+typedef unsigned int dtPolyRef;
+
+/// A handle to a tile within a navigation mesh.
+/// @ingroup detour
+typedef unsigned int dtTileRef;
+
+/// The maximum number of vertices per navigation polygon.
+/// @ingroup detour
+static const int DT_VERTS_PER_POLYGON = 6;
+
+/// @{
+/// @name Tile Serialization Constants
+/// These constants are used to detect whether a navigation tile's data
+/// and state format is compatible with the current build.
+///
+
+/// A magic number used to detect compatibility of navigation tile data.
+static const int DT_NAVMESH_MAGIC = 'D'<<24 | 'N'<<16 | 'A'<<8 | 'V';
+
+/// A version number used to detect compatibility of navigation tile data.
+static const int DT_NAVMESH_VERSION = 7;
+
+/// A magic number used to detect the compatibility of navigation tile states.
+static const int DT_NAVMESH_STATE_MAGIC = 'D'<<24 | 'N'<<16 | 'M'<<8 | 'S';
+
+/// A version number used to detect compatibility of navigation tile states.
+static const int DT_NAVMESH_STATE_VERSION = 1;
+
+/// @}
+
+/// 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.)
+static const unsigned short DT_EXT_LINK = 0x8000;
+
+/// A value that indicates the entity does not link to anything.
+static const unsigned int DT_NULL_LINK = 0xffffffff;
+
+/// A flag that indicates that an off-mesh connection can be traversed in both directions. (Is bidirectional.)
+static const unsigned int DT_OFFMESH_CON_BIDIR = 1;
+
+/// The maximum number of user defined area ids.
+/// @ingroup detour
+static const int DT_MAX_AREAS = 64;
+
+/// Tile flags used for various functions and fields.
+/// For an example, see dtNavMesh::addTile().
+enum dtTileFlags
+{
+	/// The navigation mesh owns the tile memory and is responsible for freeing it.
+	DT_TILE_FREE_DATA = 0x01,
+};
+
+/// Vertex flags returned by dtNavMeshQuery::findStraightPath.
+enum dtStraightPathFlags
+{
+	DT_STRAIGHTPATH_START = 0x01,				///< The vertex is the start position in the path.
+	DT_STRAIGHTPATH_END = 0x02,					///< The vertex is the end position in the path.
+	DT_STRAIGHTPATH_OFFMESH_CONNECTION = 0x04,	///< The vertex is the start of an off-mesh connection.
+};
+
+/// Options for dtNavMeshQuery::findStraightPath.
+enum dtStraightPathOptions
+{
+	DT_STRAIGHTPATH_AREA_CROSSINGS = 0x01,	///< Add a vertex at every polygon edge crossing where area changes.
+	DT_STRAIGHTPATH_ALL_CROSSINGS = 0x02,	///< Add a vertex at every polygon edge crossing.
+};
+
+/// Flags representing the type of a navigation mesh polygon.
+enum dtPolyTypes
+{
+	/// The polygon is a standard convex polygon that is part of the surface of the mesh.
+	DT_POLYTYPE_GROUND = 0,
+	/// The polygon is an off-mesh connection consisting of two vertices.
+	DT_POLYTYPE_OFFMESH_CONNECTION = 1,
+};
+
+
+/// Defines a polyogn within a dtMeshTile object.
+/// @ingroup detour
+struct dtPoly
+{
+	/// Index to first link in linked list. (Or #DT_NULL_LINK if there is no link.)
+	unsigned int firstLink;
+
+	/// The indices of the polygon's vertices.
+	/// The actual vertices are located in dtMeshTile::verts.
+	unsigned short verts[DT_VERTS_PER_POLYGON];
+
+	/// Packed data representing neighbor polygons references and flags for each edge.
+	unsigned short neis[DT_VERTS_PER_POLYGON];
+
+	/// The user defined polygon flags.
+	unsigned short flags;
+
+	/// The number of vertices in the polygon.
+	unsigned char vertCount;
+
+	/// The bit packed area id and polygon type.
+	/// @note Use the structure's set and get methods to acess this value.
+	unsigned char areaAndtype;
+
+	/// Sets the user defined area id. [Limit: < #DT_MAX_AREAS]
+	inline void setArea(unsigned char a) { areaAndtype = (areaAndtype & 0xc0) | (a & 0x3f); }
+
+	/// Sets the polygon type. (See: #dtPolyTypes.)
+	inline void setType(unsigned char t) { areaAndtype = (areaAndtype & 0x3f) | (t << 6); }
+
+	/// Gets the user defined area id.
+	inline unsigned char getArea() const { return areaAndtype & 0x3f; }
+
+	/// Gets the polygon type. (See: #dtPolyTypes)
+	inline unsigned char getType() const { return areaAndtype >> 6; }
+};
+
+/// Defines the location of detail sub-mesh data within a dtMeshTile.
+struct dtPolyDetail
+{
+	unsigned int vertBase;			///< The offset of the vertices in the dtMeshTile::detailVerts array.
+	unsigned int triBase;			///< The offset of the triangles in the dtMeshTile::detailTris array.
+	unsigned char vertCount;		///< The number of vertices in the sub-mesh.
+	unsigned char triCount;			///< The number of triangles in the sub-mesh.
+};
+
+/// Defines a link between polygons.
+/// @note This structure is rarely if ever used by the end user.
+/// @see dtMeshTile
+struct dtLink
+{
+	dtPolyRef ref;					///< Neighbour reference. (The neighbor that is linked to.)
+	unsigned int next;				///< Index of the next link.
+	unsigned char edge;				///< Index of the polygon edge that owns this link.
+	unsigned char side;				///< If a boundary link, defines on which side the link is.
+	unsigned char bmin;				///< If a boundary link, defines the minimum sub-edge area.
+	unsigned char bmax;				///< If a boundary link, defines the maximum sub-edge area.
+};
+
+/// Bounding volume node.
+/// @note This structure is rarely if ever used by the end user.
+/// @see dtMeshTile
+struct dtBVNode
+{
+	unsigned short bmin[3];			///< Minimum bounds of the node's AABB. [(x, y, z)]
+	unsigned short bmax[3];			///< Maximum bounds of the node's AABB. [(x, y, z)]
+	int i;							///< The node's index. (Negative for escape sequence.)
+};
+
+/// Defines an navigation mesh off-mesh connection within a dtMeshTile object.
+/// An off-mesh connection is a user defined traversable connection made up to two vertices.
+struct dtOffMeshConnection
+{
+	/// The endpoints of the connection. [(ax, ay, az, bx, by, bz)]
+	float pos[6];
+
+	/// The radius of the endpoints. [Limit: >= 0]
+	float rad;		
+
+	/// The polygon reference of the connection within the tile.
+	unsigned short poly;
+
+	/// Link flags. 
+	/// @note These are not the connection's user defined flags. Those are assigned via the 
+	/// connection's dtPoly definition. These are link flags used for internal purposes.
+	unsigned char flags;
+
+	/// End point side.
+	unsigned char side;
+
+	/// The id of the offmesh connection. (User assigned when the navigation mesh is built.)
+	unsigned int userId;
+};
+
+/// Provides high level information related to a dtMeshTile object.
+/// @ingroup detour
+struct dtMeshHeader
+{
+	int magic;				///< Tile magic number. (Used to identify the data format.)
+	int version;			///< Tile data format version number.
+	int x;					///< The x-position of the tile within the dtNavMesh tile grid. (x, y, layer)
+	int y;					///< The y-position of the tile within the dtNavMesh tile grid. (x, y, layer)
+	int layer;				///< The layer of the tile within the dtNavMesh tile grid. (x, y, layer)
+	unsigned int userId;	///< The user defined id of the tile.
+	int polyCount;			///< The number of polygons in the tile.
+	int vertCount;			///< The number of vertices in the tile.
+	int maxLinkCount;		///< The number of allocated links.
+	int detailMeshCount;	///< The number of sub-meshes in the detail mesh.
+	
+	/// The number of unique vertices in the detail mesh. (In addition to the polygon vertices.)
+	int detailVertCount;
+	
+	int detailTriCount;			///< The number of triangles in the detail mesh.
+	int bvNodeCount;			///< The number of bounding volume nodes. (Zero if bounding volumes are disabled.)
+	int offMeshConCount;		///< The number of off-mesh connections.
+	int offMeshBase;			///< The index of the first polygon which is an off-mesh connection.
+	float walkableHeight;		///< The height of the agents using the tile.
+	float walkableRadius;		///< The radius of the agents using the tile.
+	float walkableClimb;		///< The maximum climb height of the agents using the tile.
+	float bmin[3];				///< The minimum bounds of the tile's AABB. [(x, y, z)]
+	float bmax[3];				///< The maximum bounds of the tile's AABB. [(x, y, z)]
+	
+	/// The bounding volume quantization factor. 
+	float bvQuantFactor;
+};
+
+/// Defines a navigation mesh tile.
+/// @ingroup detour
+struct dtMeshTile
+{
+	unsigned int salt;					///< Counter describing modifications to the tile.
+
+	unsigned int linksFreeList;			///< Index to the next free link.
+	dtMeshHeader* header;				///< The tile header.
+	dtPoly* polys;						///< The tile polygons. [Size: dtMeshHeader::polyCount]
+	float* verts;						///< The tile vertices. [Size: dtMeshHeader::vertCount]
+	dtLink* links;						///< The tile links. [Size: dtMeshHeader::maxLinkCount]
+	dtPolyDetail* detailMeshes;			///< The tile's detail sub-meshes. [Size: dtMeshHeader::detailMeshCount]
+	
+	/// The detail mesh's unique vertices. [(x, y, z) * dtMeshHeader::detailVertCount]
+	float* detailVerts;	
+
+	/// The detail mesh's triangles. [(vertA, vertB, vertC) * dtMeshHeader::detailTriCount]
+	unsigned char* detailTris;	
+
+	/// The tile bounding volume nodes. [Size: dtMeshHeader::bvNodeCount]
+	/// (Will be null if bounding volumes are disabled.)
+	dtBVNode* bvTree;
+
+	dtOffMeshConnection* offMeshCons;		///< The tile off-mesh connections. [Size: dtMeshHeader::offMeshConCount]
+		
+	unsigned char* data;					///< The tile data. (Not directly accessed under normal situations.)
+	int dataSize;							///< Size of the tile data.
+	int flags;								///< Tile flags. (See: #dtTileFlags)
+	dtMeshTile* next;						///< The next free tile, or the next tile in the spatial grid.
+};
+
+/// Configuration parameters used to define multi-tile navigation meshes.
+/// The values are used to allocate space during the initialization of a navigation mesh.
+/// @see dtNavMesh::init()
+/// @ingroup detour
+struct dtNavMeshParams
+{
+	float orig[3];					///< The world space origin of the navigation mesh's tile space. [(x, y, z)]
+	float tileWidth;				///< The width of each tile. (Along the x-axis.)
+	float tileHeight;				///< The height of each tile. (Along the z-axis.)
+	int maxTiles;					///< The maximum number of tiles the navigation mesh can contain.
+	int maxPolys;					///< The maximum number of polygons each tile can contain.
+};
+
+/// A navigation mesh based on tiles of convex polygons.
+/// @ingroup detour
+class dtNavMesh
+{
+public:
+	dtNavMesh();
+	~dtNavMesh();
+
+	/// @{
+	/// @name Initialization and Tile Management
+
+	/// Initializes the navigation mesh for tiled use.
+	///  @param[in]	params		Initialization parameters.
+	/// @return The status flags for the operation.
+	dtStatus init(const dtNavMeshParams* params);
+
+	/// Initializes the navigation mesh for single tile use.
+	///  @param[in]	data		Data of the new tile. (See: #dtCreateNavMeshData)
+	///  @param[in]	dataSize	The data size of the new tile.
+	///  @param[in]	flags		The tile flags. (See: #dtTileFlags)
+	/// @return The status flags for the operation.
+	///  @see dtCreateNavMeshData
+	dtStatus init(unsigned char* data, const int dataSize, const int flags);
+	
+	/// The navigation mesh initialization params.
+	const dtNavMeshParams* getParams() const;
+
+	/// Adds a tile to the navigation mesh.
+	///  @param[in]		data		Data for the new tile mesh. (See: #dtCreateNavMeshData)
+	///  @param[in]		dataSize	Data size of the new tile mesh.
+	///  @param[in]		flags		Tile flags. (See: #dtTileFlags)
+	///  @param[in]		lastRef		The desired reference for the tile. (When reloading a tile.) [opt] [Default: 0]
+	///  @param[out]	result		The tile reference. (If the tile was succesfully added.) [opt]
+	/// @return The status flags for the operation.
+	dtStatus addTile(unsigned char* data, int dataSize, int flags, dtTileRef lastRef, dtTileRef* result);
+	
+	/// Removes the specified tile from the navigation mesh.
+	///  @param[in]		ref			The reference of the tile to remove.
+	///  @param[out]	data		Data associated with deleted tile.
+	///  @param[out]	dataSize	Size of the data associated with deleted tile.
+	/// @return The status flags for the operation.
+	dtStatus removeTile(dtTileRef ref, unsigned char** data, int* dataSize);
+
+	/// @}
+
+	/// @{
+	/// @name Query Functions
+
+	/// Calculates the tile grid location for the specified world position.
+	///  @param[in]	pos  The world position for the query. [(x, y, z)]
+	///  @param[out]	tx		The tile's x-location. (x, y)
+	///  @param[out]	ty		The tile's y-location. (x, y)
+	void calcTileLoc(const float* pos, int* tx, int* ty) const;
+
+	/// Gets the tile at the specified grid location.
+	///  @param[in]	x		The tile's x-location. (x, y, layer)
+	///  @param[in]	y		The tile's y-location. (x, y, layer)
+	///  @param[in]	layer	The tile's layer. (x, y, layer)
+	/// @return The tile, or null if the tile does not exist.
+	const dtMeshTile* getTileAt(const int x, const int y, const int layer) const;
+
+	/// Gets all tiles at the specified grid location. (All layers.)
+	///  @param[in]		x			The tile's x-location. (x, y)
+	///  @param[in]		y			The tile's y-location. (x, y)
+	///  @param[out]	tiles		A pointer to an array of tiles that will hold the result.
+	///  @param[in]		maxTiles	The maximum tiles the tiles parameter can hold.
+	/// @return The number of tiles returned in the tiles array.
+	int getTilesAt(const int x, const int y,
+				   dtMeshTile const** tiles, const int maxTiles) const;
+	
+	/// Gets the tile reference for the tile at specified grid location.
+	///  @param[in]	x		The tile's x-location. (x, y, layer)
+	///  @param[in]	y		The tile's y-location. (x, y, layer)
+	///  @param[in]	layer	The tile's layer. (x, y, layer)
+	/// @return The tile reference of the tile, or 0 if there is none.
+	dtTileRef getTileRefAt(int x, int y, int layer) const;
+
+	/// Gets the tile reference for the specified tile.
+	///  @param[in]	tile	The tile.
+	/// @return The tile reference of the tile.
+	dtTileRef getTileRef(const dtMeshTile* tile) const;
+
+	/// Gets the tile for the specified tile reference.
+	///  @param[in]	ref		The tile reference of the tile to retrieve.
+	/// @return The tile for the specified reference, or null if the 
+	///		reference is invalid.
+	const dtMeshTile* getTileByRef(dtTileRef ref) const;
+	
+	/// The maximum number of tiles supported by the navigation mesh.
+	/// @return The maximum number of tiles supported by the navigation mesh.
+	int getMaxTiles() const;
+	
+	/// Gets the tile at the specified index.
+	///  @param[in]	i		The tile index. [Limit: 0 >= index < #getMaxTiles()]
+	/// @return The tile at the specified index.
+	const dtMeshTile* getTile(int i) const;
+
+	/// Gets the tile and polygon for the specified polygon reference.
+	///  @param[in]		ref		The reference for the a polygon.
+	///  @param[out]	tile	The tile containing the polygon.
+	///  @param[out]	poly	The polygon.
+	/// @return The status flags for the operation.
+	dtStatus getTileAndPolyByRef(const dtPolyRef ref, const dtMeshTile** tile, const dtPoly** poly) const;
+	
+	/// Returns the tile and polygon for the specified polygon reference.
+	///  @param[in]		ref		A known valid reference for a polygon.
+	///  @param[out]	tile	The tile containing the polygon.
+	///  @param[out]	poly	The polygon.
+	void getTileAndPolyByRefUnsafe(const dtPolyRef ref, const dtMeshTile** tile, const dtPoly** poly) const;
+
+	/// Checks the validity of a polygon reference.
+	///  @param[in]	ref		The polygon reference to check.
+	/// @return True if polygon reference is valid for the navigation mesh.
+	bool isValidPolyRef(dtPolyRef ref) const;
+	
+	/// Gets the polygon reference for the tile's base polygon.
+	///  @param[in]	tile		The tile.
+	/// @return The polygon reference for the base polygon in the specified tile.
+	dtPolyRef getPolyRefBase(const dtMeshTile* tile) const;
+	
+	/// 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.
+	///  @param[out]	startPos	The start position of the off-mesh connection. [(x, y, z)]
+	///  @param[out]	endPos		The end position of the off-mesh connection. [(x, y, z)]
+	/// @return The status flags for the operation.
+	dtStatus getOffMeshConnectionPolyEndPoints(dtPolyRef prevRef, dtPolyRef polyRef, float* startPos, float* endPos) const;
+
+	/// Gets the specified off-mesh connection.
+	///  @param[in]	ref		The polygon reference of the off-mesh connection.
+	/// @return The specified off-mesh connection, or null if the polygon reference is not valid.
+	const dtOffMeshConnection* getOffMeshConnectionByRef(dtPolyRef ref) const;
+	
+	/// @}
+
+	/// @{
+	/// @name State Management
+	/// These functions do not effect #dtTileRef or #dtPolyRef's. 
+
+	/// Sets the user defined flags for the specified polygon.
+	///  @param[in]	ref		The polygon reference.
+	///  @param[in]	flags	The new flags for the polygon.
+	/// @return The status flags for the operation.
+	dtStatus setPolyFlags(dtPolyRef ref, unsigned short flags);
+
+	/// Gets the user defined flags for the specified polygon.
+	///  @param[in]		ref				The polygon reference.
+	///  @param[out]	resultFlags		The polygon flags.
+	/// @return The status flags for the operation.
+	dtStatus getPolyFlags(dtPolyRef ref, unsigned short* resultFlags) const;
+
+	/// Sets the user defined area for the specified polygon.
+	///  @param[in]	ref		The polygon reference.
+	///  @param[in]	area	The new area id for the polygon. [Limit: < #DT_MAX_AREAS]
+	/// @return The status flags for the operation.
+	dtStatus setPolyArea(dtPolyRef ref, unsigned char area);
+
+	/// Gets the user defined area for the specified polygon.
+	///  @param[in]		ref			The polygon reference.
+	///  @param[out]	resultArea	The area id for the polygon.
+	/// @return The status flags for the operation.
+	dtStatus getPolyArea(dtPolyRef ref, unsigned char* resultArea) const;
+
+	/// Gets the size of the buffer required by #storeTileState to store the specified tile's state.
+	///  @param[in]	tile	The tile.
+	/// @return The size of the buffer required to store the state.
+	int getTileStateSize(const dtMeshTile* tile) const;
+	
+	/// Stores the non-structural state of the tile in the specified buffer. (Flags, area ids, etc.)
+	///  @param[in]		tile			The tile.
+	///  @param[out]	data			The buffer to store the tile's state in.
+	///  @param[in]		maxDataSize		The size of the data buffer. [Limit: >= #getTileStateSize]
+	/// @return The status flags for the operation.
+	dtStatus storeTileState(const dtMeshTile* tile, unsigned char* data, const int maxDataSize) const;
+	
+	/// Restores the state of the tile.
+	///  @param[in]	tile			The tile.
+	///  @param[in]	data			The new state. (Obtained from #storeTileState.)
+	///  @param[in]	maxDataSize		The size of the state within the data buffer.
+	/// @return The status flags for the operation.
+	dtStatus restoreTileState(dtMeshTile* tile, const unsigned char* data, const int maxDataSize);
+	
+	/// @}
+
+	/// @{
+	/// @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.
+	inline dtPolyRef encodePolyId(unsigned int salt, unsigned int it, unsigned int ip) const
+	{
+		return ((dtPolyRef)salt << (m_polyBits+m_tileBits)) | ((dtPolyRef)it << m_polyBits) | (dtPolyRef)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
+	inline void decodePolyId(dtPolyRef ref, unsigned int& salt, unsigned int& it, unsigned int& ip) const
+	{
+		const dtPolyRef saltMask = ((dtPolyRef)1<<m_saltBits)-1;
+		const dtPolyRef tileMask = ((dtPolyRef)1<<m_tileBits)-1;
+		const dtPolyRef polyMask = ((dtPolyRef)1<<m_polyBits)-1;
+		salt = (unsigned int)((ref >> (m_polyBits+m_tileBits)) & saltMask);
+		it = (unsigned int)((ref >> m_polyBits) & tileMask);
+		ip = (unsigned int)(ref & 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
+	inline unsigned int decodePolyIdSalt(dtPolyRef ref) const
+	{
+		const dtPolyRef saltMask = ((dtPolyRef)1<<m_saltBits)-1;
+		return (unsigned int)((ref >> (m_polyBits+m_tileBits)) & 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
+	inline unsigned int decodePolyIdTile(dtPolyRef ref) const
+	{
+		const dtPolyRef tileMask = ((dtPolyRef)1<<m_tileBits)-1;
+		return (unsigned int)((ref >> m_polyBits) & 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
+	inline unsigned int decodePolyIdPoly(dtPolyRef ref) const
+	{
+		const dtPolyRef polyMask = ((dtPolyRef)1<<m_polyBits)-1;
+		return (unsigned int)(ref & polyMask);
+	}
+
+	/// @}
+	
+private:
+
+	/// Returns pointer to tile in the tile array.
+	dtMeshTile* getTile(int i);
+
+	/// Returns neighbour tile based on side.
+	int getTilesAt(const int x, const int y,
+				   dtMeshTile** tiles, const int maxTiles) const;
+
+	/// Returns neighbour tile based on side.
+	int getNeighbourTilesAt(const int x, const int y, const int side,
+							dtMeshTile** tiles, const int maxTiles) const;
+	
+	/// Returns all polygons in neighbour tile based on portal defined by the segment.
+	int findConnectingPolys(const float* va, const float* vb,
+							const dtMeshTile* tile, int side,
+							dtPolyRef* con, float* conarea, int maxcon) const;
+	
+	/// Builds internal polygons links for a tile.
+	void connectIntLinks(dtMeshTile* tile);
+	/// Builds internal polygons links for a tile.
+	void baseOffMeshLinks(dtMeshTile* tile);
+
+	/// Builds external polygon links for a tile.
+	void connectExtLinks(dtMeshTile* tile, dtMeshTile* target, int side);
+	/// Builds external polygon links for a tile.
+	void connectExtOffMeshLinks(dtMeshTile* tile, dtMeshTile* target, int side);
+	
+	/// Removes external links at specified side.
+	void unconnectExtLinks(dtMeshTile* tile, dtMeshTile* target);
+	
+
+	// TODO: These methods are duplicates from dtNavMeshQuery, but are needed for off-mesh connection finding.
+	
+	/// Queries polygons within a tile.
+	int queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, const float* qmax,
+							dtPolyRef* polys, const int maxPolys) const;
+	/// Find nearest polygon within a tile.
+	dtPolyRef findNearestPolyInTile(const dtMeshTile* tile, const float* center,
+									const float* extents, float* nearestPt) const;
+	/// Returns closest point on polygon.
+	void closestPointOnPolyInTile(const dtMeshTile* tile, unsigned int ip,
+								  const float* pos, float* closest) const;
+	
+	dtNavMeshParams m_params;			///< Current initialization params. TODO: do not store this info twice.
+	float m_orig[3];					///< Origin of the tile (0,0)
+	float m_tileWidth, m_tileHeight;	///< Dimensions of each tile.
+	int m_maxTiles;						///< Max number of tiles.
+	int m_tileLutSize;					///< Tile hash lookup size (must be pot).
+	int m_tileLutMask;					///< Tile hash lookup mask.
+
+	dtMeshTile** m_posLookup;			///< Tile hash lookup.
+	dtMeshTile* m_nextFree;				///< Freelist of tiles.
+	dtMeshTile* m_tiles;				///< List of tiles.
+		
+	unsigned int m_saltBits;			///< Number of salt bits in the tile ID.
+	unsigned int m_tileBits;			///< Number of tile bits in the tile ID.
+	unsigned int m_polyBits;			///< Number of poly bits in the tile ID.
+};
+
+/// Allocates a navigation mesh object using the Detour allocator.
+/// @return A navigation mesh that is ready for initialization, or null on failure.
+///  @ingroup detour
+dtNavMesh* dtAllocNavMesh();
+
+/// Frees the specified navigation mesh object using the Detour allocator.
+///  @param[in]	navmesh		A navigation mesh allocated using #dtAllocNavMesh
+///  @ingroup detour
+void dtFreeNavMesh(dtNavMesh* navmesh);
+
+#endif // DETOURNAVMESH_H
+
+///////////////////////////////////////////////////////////////////////////
+
+// This section contains detailed documentation for members that don't have
+// a source file. It reduces clutter in the main section of the header.
+
+/**
+
+@typedef dtPolyRef
+@par
+
+Polygon references are subject to the same invalidate/preserve/restore 
+rules that apply to #dtTileRef's.  If the #dtTileRef for the polygon's
+tile changes, the polygon reference becomes invalid.
+
+Changing a polygon's flags, area id, etc. does not impact its polygon
+reference.
+
+@typedef dtTileRef
+@par
+
+The following changes will invalidate a tile reference:
+
+- The referenced tile has been removed from the navigation mesh.
+- The navigation mesh has been initialized using a different set
+  of #dtNavMeshParams.
+
+A tile reference is preserved/restored if the tile is added to a navigation 
+mesh initialized with the original #dtNavMeshParams and is added at the
+original reference location. (E.g. The lastRef parameter is used with
+dtNavMesh::addTile.)
+
+Basically, if the storage structure of a tile changes, its associated
+tile reference changes.
+
+
+@var unsigned short dtPoly::neis[DT_VERTS_PER_POLYGON]
+@par
+
+Each entry represents data for the edge starting at the vertex of the same index. 
+E.g. The entry at index n represents the edge data for vertex[n] to vertex[n+1].
+
+A value of zero indicates the edge has no polygon connection. (It makes up the 
+border of the navigation mesh.)
+
+The information can be extracted as follows: 
+@code 
+neighborRef = neis[n] & 0xff; // Get the neighbor polygon reference.
+
+if (neis[n] & #DT_EX_LINK)
+{
+    // The edge is an external (portal) edge.
+}
+@endcode
+
+@var float dtMeshHeader::bvQuantFactor
+@par
+
+This value is used for converting between world and bounding volume coordinates.
+For example:
+@code
+const float cs = 1.0f / tile->header->bvQuantFactor;
+const dtBVNode* n = &tile->bvTree[i];
+if (n->i >= 0)
+{
+    // This is a leaf node.
+    float worldMinX = tile->header->bmin[0] + n->bmin[0]*cs;
+    float worldMinY = tile->header->bmin[0] + n->bmin[1]*cs;
+    // Etc...
+}
+@endcode
+
+@struct dtMeshTile
+@par
+
+Tiles generally only exist within the context of a dtNavMesh object.
+
+Some tile content is optional.  For example, a tile may not contain any
+off-mesh connections.  In this case the associated pointer will be null.
+
+If a detail mesh exists it will share vertices with the base polygon mesh.  
+Only the vertices unique to the detail mesh will be stored in #detailVerts.
+
+@warning Tiles returned by a dtNavMesh object are not guarenteed to be populated.
+For example: The tile at a location might not have been loaded yet, or may have been removed.
+In this case, pointers will be null.  So if in doubt, check the polygon count in the 
+tile's header to determine if a tile has polygons defined.
+
+@var float dtOffMeshConnection::pos[6]
+@par
+
+For a properly built navigation mesh, vertex A will always be within the bounds of the mesh. 
+Vertex B is not required to be within the bounds of the mesh.
+
+*/

ThirdParty/Detour/Include/DetourNavMeshBuilder.h

@@ -0,0 +1,148 @@
+//
+// Copyright (c) 2009-2010 Mikko Mononen [email protected]
+//
+// 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.
+//
+
+#ifndef DETOURNAVMESHBUILDER_H
+#define DETOURNAVMESHBUILDER_H
+
+#include "DetourAlloc.h"
+
+/// Represents the source data used to build an navigation mesh tile.
+/// @ingroup detour
+struct dtNavMeshCreateParams
+{
+
+	/// @name Polygon Mesh Attributes
+	/// Used to create the base navigation graph.
+	/// See #rcPolyMesh for details related to these attributes.
+	/// @{
+
+	const unsigned short* verts;			///< The polygon mesh vertices. [(x, y, z) * #vertCount] [Unit: vx]
+	int vertCount;							///< The number vertices in the polygon mesh. [Limit: >= 3]
+	const unsigned short* polys;			///< The polygon data. [Size: #polyCount * 2 * #nvp]
+	const unsigned short* polyFlags;		///< The user defined flags assigned to each polygon. [Size: #polyCount]
+	const unsigned char* polyAreas;			///< The user defined area ids assigned to each polygon. [Size: #polyCount]
+	int polyCount;							///< Number of polygons in the mesh. [Limit: >= 1]
+	int nvp;								///< Number maximum number of vertices per polygon. [Limit: >= 3]
+
+	/// @}
+	/// @name Height Detail Attributes (Optional)
+	/// See #rcPolyMeshDetail for details related to these attributes.
+	/// @{
+
+	const unsigned int* detailMeshes;		///< The height detail sub-mesh data. [Size: 4 * #polyCount]
+	const float* detailVerts;				///< The detail mesh vertices. [Size: 3 * #detailVertsCount] [Unit: wu]
+	int detailVertsCount;					///< The number of vertices in the detail mesh.
+	const unsigned char* detailTris;		///< The detail mesh triangles. [Size: 4 * #detailTriCount]
+	int detailTriCount;						///< The number of triangles in the detail mesh.
+
+	/// @}
+	/// @name Off-Mesh Connections Attributes (Optional)
+	/// Used to define a custom point-to-point edge within the navigation graph, an 
+	/// off-mesh connection is a user defined traversable connection made up to two vertices, 
+	/// at least one of which resides within a navigation mesh polygon.
+	/// @{
+
+	/// Off-mesh connection vertices. [(ax, ay, az, bx, by, bz) * #offMeshConCount] [Unit: wu]
+	const float* offMeshConVerts;
+	/// Off-mesh connection radii. [Size: #offMeshConCount] [Unit: wu]
+	const float* offMeshConRad;
+	/// User defined flags assigned to the off-mesh connections. [Size: #offMeshConCount]
+	const unsigned short* offMeshConFlags;
+	/// User defined area ids assigned to the off-mesh connections. [Size: #offMeshConCount]
+	const unsigned char* offMeshConAreas;
+	/// The permitted travel direction of the off-mesh connections. [Size: #offMeshConCount]
+	///
+	/// 0 = Travel only from endpoint A to endpoint B.<br/>
+	/// #DT_OFFMESH_CON_BIDIR = Bidirectional travel.
+	const unsigned char* offMeshConDir;	
+	/// The user defined ids of the off-mesh connection. [Size: #offMeshConCount]
+	const unsigned int* offMeshConUserID;
+	/// The number of off-mesh connections. [Limit: >= 0]
+	int offMeshConCount;
+
+	/// @}
+	/// @name Tile Attributes
+	/// @note The tile grid/layer data can be left at zero if the destination is a single tile mesh.
+	/// @{
+
+	unsigned int userId;	///< The user defined id of the tile.
+	int tileX;				///< The tile's x-grid location within the multi-tile destination mesh. (Along the x-axis.)
+	int tileY;				///< The tile's y-grid location within the multi-tile desitation mesh. (Along the z-axis.)
+	int tileLayer;			///< The tile's layer within the layered destination mesh. [Limit: >= 0] (Along the y-axis.)
+	float bmin[3];			///< The minimum bounds of the tile. [(x, y, z)] [Unit: wu]
+	float bmax[3];			///< The maximum bounds of the tile. [(x, y, z)] [Unit: wu]
+
+	/// @}
+	/// @name General Configuration Attributes
+	/// @{
+
+	float walkableHeight;	///< The agent height. [Unit: wu]
+	float walkableRadius;	///< The agent radius. [Unit: wu]
+	float walkableClimb;	///< The agent maximum traversable ledge. (Up/Down) [Unit: wu]
+	float cs;				///< The xz-plane cell size of the polygon mesh. [Limit: > 0] [Unit: wu]
+	float ch;				///< The y-axis cell height of the polygon mesh. [Limit: > 0] [Unit: wu]
+
+	/// True if a bounding volume tree should be built for the tile.
+	/// @note The BVTree is not normally needed for layered navigation meshes.
+	bool buildBvTree;
+
+	/// @}
+};
+
+/// Builds navigation mesh tile data from the provided tile creation data.
+/// @ingroup detour
+///  @param[in]		params		Tile creation data.
+///  @param[out]	outData		The resulting tile data.
+///  @param[out]	outDataSize	The size of the tile data array.
+/// @return True if the tile data was successfully created.
+bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData, int* outDataSize);
+
+/// Swaps the endianess of the tile data's header (#dtMeshHeader).
+///  @param[in,out]	data		The tile data array.
+///  @param[in]		dataSize	The size of the data array.
+bool dtNavMeshHeaderSwapEndian(unsigned char* data, const int dataSize);
+
+/// Swaps endianess of the tile data.
+///  @param[in,out]	data		The tile data array.
+///  @param[in]		dataSize	The size of the data array.
+bool dtNavMeshDataSwapEndian(unsigned char* data, const int dataSize);
+
+#endif // DETOURNAVMESHBUILDER_H
+
+// This section contains detailed documentation for members that don't have
+// a source file. It reduces clutter in the main section of the header.
+
+/**
+
+@struct dtNavMeshCreateParams
+@par
+
+This structure is used to marshal data between the Recast mesh generation pipeline and Detour navigation components.
+
+See the rcPolyMesh and rcPolyMeshDetail documentation for detailed information related to mesh structure.
+
+Units are usually in voxels (vx) or world units (wu). The units for voxels, grid size, and cell size 
+are all based on the values of #cs and #ch.
+
+The standard navigation mesh build process is to create tile data using dtCreateNavMeshData, then add the tile 
+to a navigation mesh using either the dtNavMesh single tile <tt>init()</tt> function or the dtNavMesh::addTile()
+function.
+
+@see dtCreateNavMeshData
+
+*/

ThirdParty/Detour/Include/DetourNavMeshQuery.h

@@ -0,0 +1,488 @@
+//
+// Copyright (c) 2009-2010 Mikko Mononen [email protected]
+//
+// 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.
+//
+
+#ifndef DETOURNAVMESHQUERY_H
+#define DETOURNAVMESHQUERY_H
+
+#include "DetourNavMesh.h"
+#include "DetourStatus.h"
+
+
+// Define DT_VIRTUAL_QUERYFILTER if you wish to derive a custom filter from dtQueryFilter.
+// On certain platforms indirect or virtual function call is expensive. The default
+// setting is to use non-virtual functions, the actual implementations of the functions
+// are declared as inline for maximum speed. 
+
+//#define DT_VIRTUAL_QUERYFILTER 1
+
+/// Defines polygon filtering and traversal costs for navigation mesh query operations.
+/// @ingroup detour
+class dtQueryFilter
+{
+	float m_areaCost[DT_MAX_AREAS];		///< Cost per area type. (Used by default implementation.)
+	unsigned short m_includeFlags;		///< Flags for polygons that can be visited. (Used by default implementation.)
+	unsigned short m_excludeFlags;		///< Flags for polygons that should not be visted. (Used by default implementation.)
+	
+public:
+	dtQueryFilter();
+	
+	/// Returns true if the polygon can be visited.  (I.e. Is traversable.)
+	///  @param[in]		ref		The reference id of the polygon test.
+	///  @param[in]		tile	The tile containing the polygon.
+	///  @param[in]		poly  The polygon to test.
+#ifdef DT_VIRTUAL_QUERYFILTER
+	virtual bool passFilter(const dtPolyRef ref,
+							const dtMeshTile* tile,
+							const dtPoly* poly) const;
+#else
+	bool passFilter(const dtPolyRef ref,
+					const dtMeshTile* tile,
+					const dtPoly* poly) const;
+#endif
+
+	/// Returns cost to move from the beginning to the end of a line segment
+	/// that is fully contained within a polygon.
+	///  @param[in]		pa			The start position on the edge of the previous and current polygon. [(x, y, z)]
+	///  @param[in]		pb			The end position on the edge of the current and next polygon. [(x, y, z)]
+	///  @param[in]		prevRef		The reference id of the previous polygon. [opt]
+	///  @param[in]		prevTile	The tile containing the previous polygon. [opt]
+	///  @param[in]		prevPoly	The previous polygon. [opt]
+	///  @param[in]		curRef		The reference id of the current polygon.
+	///  @param[in]		curTile		The tile containing the current polygon.
+	///  @param[in]		curPoly		The current polygon.
+	///  @param[in]		nextRef		The refernece id of the next polygon. [opt]
+	///  @param[in]		nextTile	The tile containing the next polygon. [opt]
+	///  @param[in]		nextPoly	The next polygon. [opt]
+#ifdef DT_VIRTUAL_QUERYFILTER
+	virtual float getCost(const float* pa, const float* pb,
+						  const dtPolyRef prevRef, const dtMeshTile* prevTile, const dtPoly* prevPoly,
+						  const dtPolyRef curRef, const dtMeshTile* curTile, const dtPoly* curPoly,
+						  const dtPolyRef nextRef, const dtMeshTile* nextTile, const dtPoly* nextPoly) const;
+#else
+	float getCost(const float* pa, const float* pb,
+				  const dtPolyRef prevRef, const dtMeshTile* prevTile, const dtPoly* prevPoly,
+				  const dtPolyRef curRef, const dtMeshTile* curTile, const dtPoly* curPoly,
+				  const dtPolyRef nextRef, const dtMeshTile* nextTile, const dtPoly* nextPoly) const;
+#endif
+
+	/// @name Getters and setters for the default implementation data.
+	///@{
+
+	/// Returns the traversal cost of the area.
+	///  @param[in]		i		The id of the area.
+	/// @returns The traversal cost of the area.
+	inline float getAreaCost(const int i) const { return m_areaCost[i]; }
+
+	/// Sets the traversal cost of the area.
+	///  @param[in]		i		The id of the area.
+	///  @param[in]		cost	The new cost of traversing the area.
+	inline void setAreaCost(const int i, const float cost) { m_areaCost[i] = cost; } 
+
+	/// Returns the include flags for the filter.
+	/// Any polygons that include one or more of these flags will be
+	/// included in the operation.
+	inline unsigned short getIncludeFlags() const { return m_includeFlags; }
+
+	/// Sets the include flags for the filter.
+	/// @param[in]		flags	The new flags.
+	inline void setIncludeFlags(const unsigned short flags) { m_includeFlags = flags; }
+
+	/// Returns the exclude flags for the filter.
+	/// Any polygons that include one ore more of these flags will be
+	/// excluded from the operation.
+	inline unsigned short getExcludeFlags() const { return m_excludeFlags; }
+
+	/// Sets the exclude flags for the filter.
+	/// @param[in]		flags		The new flags.
+	inline void setExcludeFlags(const unsigned short flags) { m_excludeFlags = flags; }	
+
+	///@}
+
+};
+
+/// Provides the ability to perform pathfinding related queries against
+/// a navigation mesh.
+/// @ingroup detour
+class dtNavMeshQuery
+{
+public:
+	dtNavMeshQuery();
+	~dtNavMeshQuery();
+	
+	/// Initializes the query object.
+	///  @param[in]		nav			Pointer to the dtNavMesh object to use for all queries.
+	///  @param[in]		maxNodes	Maximum number of search nodes. [Limits: 0 < value <= 65536]
+	/// @returns The status flags for the query.
+	dtStatus init(const dtNavMesh* nav, const int maxNodes);
+	
+	/// @name Standard Pathfinding Functions
+	// /@{
+
+	/// Finds a path from the start polygon to the end polygon.
+	///  @param[in]		startRef	The refrence id of the start polygon.
+	///  @param[in]		endRef		The reference id of the end polygon.
+	///  @param[in]		startPos	A position within the start polygon. [(x, y, z)]
+	///  @param[in]		endPos		A position within the end polygon. [(x, y, z)]
+	///  @param[in]		filter		The polygon filter to apply to the query.
+	///  @param[out]	path		An ordered list of polygon references representing the path. (Start to end.) 
+	///  							[(polyRef) * @p pathCount]
+	///  @param[out]	pathCount	The number of polygons returned in the @p path array.
+	///  @param[in]		maxPath		The maximum number of polygons the @p path array can hold. [Limit: >= 1]
+	dtStatus findPath(dtPolyRef startRef, dtPolyRef endRef,
+					  const float* startPos, const float* endPos,
+					  const dtQueryFilter* filter,
+					  dtPolyRef* path, int* pathCount, const int maxPath) const;
+	
+	/// Finds the straight path from the start to the end position within the polygon corridor.
+	///  @param[in]		startPos			Path start position. [(x, y, z)]
+	///  @param[in]		endPos				Path end position. [(x, y, z)]
+	///  @param[in]		path				An array of polygon references that represent the path corridor.
+	///  @param[in]		pathSize			The number of polygons in the @p path array.
+	///  @param[out]	straightPath		Points describing the straight path. [(x, y, z) * @p straightPathCount].
+	///  @param[out]	straightPathFlags	Flags describing each point. (See: #dtStraightPathFlags) [opt]
+	///  @param[out]	straightPathRefs	The reference id of the polygon that is being entered at each point. [opt]
+	///  @param[out]	straightPathCount	The number of points in the straight path.
+	///  @param[in]		maxStraightPath		The maximum number of points the straight path arrays can hold.  [Limit: > 0]
+	///  @param[in]		options				Query options. (see: #dtStraightPathOptions)
+	/// @returns The status flags for the query.
+	dtStatus findStraightPath(const float* startPos, const float* endPos,
+							  const dtPolyRef* path, const int pathSize,
+							  float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs,
+							  int* straightPathCount, const int maxStraightPath, const int options = 0) const;
+
+	///@}
+	/// @name Sliced Pathfinding Functions
+	/// Common use case:
+	///	-# Call initSlicedFindPath() to initialize the sliced path query.
+	///	-# Call updateSlicedFindPath() until it returns complete.
+	///	-# Call finalizeSlicedFindPath() to get the path.
+	///@{ 
+
+	/// Intializes a sliced path query.
+	///  @param[in]		startRef	The refrence id of the start polygon.
+	///  @param[in]		endRef		The reference id of the end polygon.
+	///  @param[in]		startPos	A position within the start polygon. [(x, y, z)]
+	///  @param[in]		endPos		A position within the end polygon. [(x, y, z)]
+	///  @param[in]		filter		The polygon filter to apply to the query.
+	/// @returns The status flags for the query.
+	dtStatus initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef,
+								const float* startPos, const float* endPos,
+								const dtQueryFilter* filter);
+
+	/// Updates an in-progress sliced path query.
+	///  @param[in]		maxIter		The maximum number of iterations to perform.
+	///  @param[out]	doneIters	The actual number of iterations completed. [opt]
+	/// @returns The status flags for the query.
+	dtStatus updateSlicedFindPath(const int maxIter, int* doneIters);
+
+	/// Finalizes and returns the results of a sliced path query.
+	///  @param[out]	path		An ordered list of polygon references representing the path. (Start to end.) 
+	///  							[(polyRef) * @p pathCount]
+	///  @param[out]	pathCount	The number of polygons returned in the @p path array.
+	///  @param[in]		maxPath		The max number of polygons the path array can hold. [Limit: >= 1]
+	/// @returns The status flags for the query.
+	dtStatus finalizeSlicedFindPath(dtPolyRef* path, int* pathCount, const int maxPath);
+	
+	/// Finalizes and returns the results of an incomplete sliced path query, returning the path to the furthest
+	/// polygon on the existing path that was visited during the search.
+	///  @param[out]	existing		An array of polygon references for the existing path.
+	///  @param[out]	existingSize	The number of polygon in the @p existing array.
+	///  @param[out]	path			An ordered list of polygon references representing the path. (Start to end.) 
+	///  								[(polyRef) * @p pathCount]
+	///  @param[out]	pathCount		The number of polygons returned in the @p path array.
+	///  @param[in]		maxPath			The max number of polygons the @p path array can hold. [Limit: >= 1]
+	/// @returns The status flags for the query.
+	dtStatus finalizeSlicedFindPathPartial(const dtPolyRef* existing, const int existingSize,
+										   dtPolyRef* path, int* pathCount, const int maxPath);
+
+	///@}
+	/// @name Dijkstra Search Functions
+	/// @{ 
+
+	/// Finds the polygons along the navigation graph that touch the specified circle.
+	///  @param[in]		startRef		The reference id of the polygon where the search starts.
+	///  @param[in]		centerPos		The center of the search circle. [(x, y, z)]
+	///  @param[in]		radius			The radius of the search circle.
+	///  @param[in]		filter			The polygon filter to apply to the query.
+	///  @param[out]	resultRef		The reference ids of the polygons touched by the circle. [opt]
+	///  @param[out]	resultParent	The reference ids of the parent polygons for each result. 
+	///  								Zero if a result polygon has no parent. [opt]
+	///  @param[out]	resultCost		The search cost from @p centerPos to the polygon. [opt]
+	///  @param[out]	resultCount		The number of polygons found. [opt]
+	///  @param[in]		maxResult		The maximum number of polygons the result arrays can hold.
+	/// @returns The status flags for the query.
+	dtStatus findPolysAroundCircle(dtPolyRef startRef, const float* centerPos, const float radius,
+								   const dtQueryFilter* filter,
+								   dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost,
+								   int* resultCount, const int maxResult) const;
+	
+	/// Finds the polygons along the naviation graph that touch the specified convex polygon.
+	///  @param[in]		startRef		The reference id of the polygon where the search starts.
+	///  @param[in]		verts			The vertices describing the convex polygon. (CCW) 
+	///  								[(x, y, z) * @p nverts]
+	///  @param[in]		nverts			The number of vertices in the polygon.
+	///  @param[in]		filter			The polygon filter to apply to the query.
+	///  @param[out]	resultRef		The reference ids of the polygons touched by the search polygon. [opt]
+	///  @param[out]	resultParent	The reference ids of the parent polygons for each result. Zero if a 
+	///  								result polygon has no parent. [opt]
+	///  @param[out]	resultCost		The search cost from the centroid point to the polygon. [opt]
+	///  @param[out]	resultCount		The number of polygons found.
+	///  @param[in]		maxResult		The maximum number of polygons the result arrays can hold.
+	/// @returns The status flags for the query.
+	dtStatus findPolysAroundShape(dtPolyRef startRef, const float* verts, const int nverts,
+								  const dtQueryFilter* filter,
+								  dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost,
+								  int* resultCount, const int maxResult) const;
+	
+	/// @}
+	/// @name Local Query Functions
+	///@{
+
+	/// Finds the polygon nearest to the specified center point.
+	///  @param[in]		center		The center of the search box. [(x, y, z)]
+	///  @param[in]		extents		The search distance along each axis. [(x, y, z)]
+	///  @param[in]		filter		The polygon filter to apply to the query.
+	///  @param[out]	nearestRef	The reference id of the nearest polygon.
+	///  @param[out]	nearestPt	The nearest point on the polygon. [opt] [(x, y, z)]
+	/// @returns The status flags for the query.
+	dtStatus findNearestPoly(const float* center, const float* extents,
+							 const dtQueryFilter* filter,
+							 dtPolyRef* nearestRef, float* nearestPt) const;
+	
+	/// Finds polygons that overlap the search box.
+	///  @param[in]		center		The center of the search box. [(x, y, z)]
+	///  @param[in]		extents		The search distance along each axis. [(x, y, z)]
+	///  @param[in]		filter		The polygon filter to apply to the query.
+	///  @param[out]	polys		The reference ids of the polygons that overlap the query box.
+	///  @param[out]	polyCount	The number of polygons in the search result.
+	///  @param[in]		maxPolys	The maximum number of polygons the search result can hold.
+	/// @returns The status flags for the query.
+	dtStatus queryPolygons(const float* center, const float* extents,
+						   const dtQueryFilter* filter,
+						   dtPolyRef* polys, int* polyCount, const int maxPolys) const;
+
+	/// Finds the non-overlapping navigation polygons in the local neighbourhood around the center position.
+	///  @param[in]		startRef		The reference id of the polygon where the search starts.
+	///  @param[in]		centerPos		The center of the query circle. [(x, y, z)]
+	///  @param[in]		radius			The radius of the query circle.
+	///  @param[in]		filter			The polygon filter to apply to the query.
+	///  @param[out]	resultRef		The reference ids of the polygons touched by the circle.
+	///  @param[out]	resultParent	The reference ids of the parent polygons for each result. 
+	///  								Zero if a result polygon has no parent. [opt]
+	///  @param[out]	resultCount		The number of polygons found.
+	///  @param[in]		maxResult		The maximum number of polygons the result arrays can hold.
+	/// @returns The status flags for the query.
+	dtStatus findLocalNeighbourhood(dtPolyRef startRef, const float* centerPos, const float radius,
+									const dtQueryFilter* filter,
+									dtPolyRef* resultRef, dtPolyRef* resultParent,
+									int* resultCount, const int maxResult) const;
+
+	/// Moves from the start to the end position constrained to the navigation mesh.
+	///  @param[in]		startRef		The reference id of the start polygon.
+	///  @param[in]		startPos		A position of the mover within the start polygon. [(x, y, x)]
+	///  @param[in]		endPos			The desired end position of the mover. [(x, y, z)]
+	///  @param[in]		filter			The polygon filter to apply to the query.
+	///  @param[out]	resultPos		The result position of the mover. [(x, y, z)]
+	///  @param[out]	visited			The reference ids of the polygons visited during the move.
+	///  @param[out]	visitedCount	The number of polygons visited during the move.
+	///  @param[in]		maxVisitedSize	The maximum number of polygons the @p visited array can hold.
+	/// @returns The status flags for the query.
+	dtStatus moveAlongSurface(dtPolyRef startRef, const float* startPos, const float* endPos,
+							  const dtQueryFilter* filter,
+							  float* resultPos, dtPolyRef* visited, int* visitedCount, const int maxVisitedSize) const;
+	
+	/// Casts a 'walkability' ray along the surface of the navigation mesh from 
+	/// the start position toward the end position.
+	///  @param[in]		startRef	The reference id of the start polygon.
+	///  @param[in]		startPos	A position within the start polygon representing 
+	///  							the start of the ray. [(x, y, z)]
+	///  @param[in]		endPos		The position to cast the ray toward. [(x, y, z)]
+	///  @param[out]	t			The hit parameter. (FLT_MAX if no wall hit.)
+	///  @param[out]	hitNormal	The normal of the nearest wall hit. [(x, y, z)]
+	///  @param[in]		filter		The polygon filter to apply to the query.
+	///  @param[out]	path		The reference ids of the visited polygons. [opt]
+	///  @param[out]	pathCount	The number of visited polygons. [opt]
+	///  @param[in]		maxPath		The maximum number of polygons the @p path array can hold.
+	/// @returns The status flags for the query.
+	dtStatus raycast(dtPolyRef startRef, const float* startPos, const float* endPos,
+					 const dtQueryFilter* filter,
+					 float* t, float* hitNormal, dtPolyRef* path, int* pathCount, const int maxPath) const;
+	
+	/// Finds the distance from the specified position to the nearest polygon wall.
+	///  @param[in]		startRef		The reference id of the polygon containing @p centerPos.
+	///  @param[in]		centerPos		The center of the search circle. [(x, y, z)]
+	///  @param[in]		maxRadius		The radius of the search circle.
+	///  @param[in]		filter			The polygon filter to apply to the query.
+	///  @param[out]	hitDist			The distance to the nearest wall from @p centerPos.
+	///  @param[out]	hitPos			The nearest position on the wall that was hit. [(x, y, z)]
+	///  @param[out]	hitNormal		The normalized ray formed from the wall point to the 
+	///  								source point. [(x, y, z)]
+	/// @returns The status flags for the query.
+	dtStatus findDistanceToWall(dtPolyRef startRef, const float* centerPos, const float maxRadius,
+								const dtQueryFilter* filter,
+								float* hitDist, float* hitPos, float* hitNormal) const;
+	
+	/// Returns the segments for the specified polygon, optionally including portals.
+	///  @param[in]		ref				The reference id of the polygon.
+	///  @param[in]		filter			The polygon filter to apply to the query.
+	///  @param[out]	segmentVerts	The segments. [(ax, ay, az, bx, by, bz) * segmentCount]
+	///  @param[out]	segmentRefs		The reference ids of each segment's neighbor polygon. 
+	///  								Or zero if the segment is a wall. [opt] [(parentRef) * @p segmentCount] 
+	///  @param[out]	segmentCount	The number of segments returned.
+	///  @param[in]		maxSegments		The maximum number of segments the result arrays can hold.
+	/// @returns The status flags for the query.
+	dtStatus getPolyWallSegments(dtPolyRef ref, const dtQueryFilter* filter,
+								 float* segmentVerts, dtPolyRef* segmentRefs, int* segmentCount,
+								 const int maxSegments) const;
+
+	/// Returns random location on navmesh.
+	/// Polygons are chosen weighted by area. The search runs in linear related to number of polygon.
+	///  @param[in]		filter			The polygon filter to apply to the query.
+	///  @param[in]		frand			Function returning a random number [0..1).
+	///  @param[out]	randomRef		The reference id of the random location.
+	///  @param[out]	randomPt		The random location. 
+	/// @returns The status flags for the query.
+	dtStatus findRandomPoint(const dtQueryFilter* filter, float (*frand)(),
+							 dtPolyRef* randomRef, float* randomPt) const;
+
+	/// Returns random location on navmesh within the reach of specified location.
+	/// Polygons are chosen weighted by area. The search runs in linear related to number of polygon.
+	/// The location is not exactly constrained by the circle, but it limits the visited polygons.
+	///  @param[in]		startRef		The reference id of the polygon where the search starts.
+	///  @param[in]		centerPos		The center of the search circle. [(x, y, z)]
+	///  @param[in]		filter			The polygon filter to apply to the query.
+	///  @param[in]		frand			Function returning a random number [0..1).
+	///  @param[out]	randomRef		The reference id of the random location.
+	///  @param[out]	randomPt		The random location. [(x, y, z)]
+	/// @returns The status flags for the query.
+	dtStatus findRandomPointAroundCircle(dtPolyRef startRef, const float* centerPos, const float maxRadius,
+										 const dtQueryFilter* filter, float (*frand)(),
+										 dtPolyRef* randomRef, float* randomPt) const;
+	
+	/// Finds the closest point on the specified polygon.
+	///  @param[in]		ref			The reference id of the polygon.
+	///  @param[in]		pos			The position to check. [(x, y, z)]
+	///  @param[out]	closest		The closest point on the polygon. [(x, y, z)]
+	/// @returns The status flags for the query.
+	dtStatus closestPointOnPoly(dtPolyRef ref, const float* pos, float* closest) const;
+	
+	/// Returns a point on the boundary closest to the source point if the source point is outside the 
+	/// polygon's xz-bounds.
+	///  @param[in]		ref			The reference id to the polygon.
+	///  @param[in]		pos			The position to check. [(x, y, z)]
+	///  @param[out]	closest		The closest point. [(x, y, z)]
+	/// @returns The status flags for the query.
+	dtStatus closestPointOnPolyBoundary(dtPolyRef ref, const float* pos, float* closest) const;
+	
+	/// Gets the height of the polygon at the provided position using the height detail. (Most accurate.)
+	///  @param[in]		ref			The reference id of the polygon.
+	///  @param[in]		pos			A position within the xz-bounds of the polygon. [(x, y, z)]
+	///  @param[out]	height		The height at the surface of the polygon.
+	/// @returns The status flags for the query.
+	dtStatus getPolyHeight(dtPolyRef ref, const float* pos, float* height) const;
+
+	/// @}
+	/// @name Miscellaneous Functions
+	/// @{
+
+	/// Returns true if the polygon reference is valid and passes the filter restrictions.
+	///  @param[in]		ref			The polygon reference to check.
+	///  @param[in]		filter		The filter to apply.
+	bool isValidPolyRef(dtPolyRef ref, const dtQueryFilter* filter) const;
+
+	/// Returns true if the polygon reference is in the closed list. 
+	///  @param[in]		ref		The reference id of the polygon to check.
+	/// @returns True if the polygon is in closed list.
+	bool isInClosedList(dtPolyRef ref) const;
+	
+	/// Gets the node pool.
+	/// @returns The node pool.
+	class dtNodePool* getNodePool() const { return m_nodePool; }
+	
+	/// Gets the navigation mesh the query object is using.
+	/// @return The navigation mesh the query object is using.
+	const dtNavMesh* getAttachedNavMesh() const { return m_nav; }
+
+	/// @}
+	
+private:
+	
+	/// Returns neighbour tile based on side.
+	dtMeshTile* getNeighbourTileAt(int x, int y, int side) const;
+
+	/// Queries polygons within a tile.
+	int queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, const float* qmax, const dtQueryFilter* filter,
+							dtPolyRef* polys, const int maxPolys) const;
+	/// Find nearest polygon within a tile.
+	dtPolyRef findNearestPolyInTile(const dtMeshTile* tile, const float* center, const float* extents,
+									const dtQueryFilter* filter, float* nearestPt) const;
+	/// Returns closest point on polygon.
+	void closestPointOnPolyInTile(const dtMeshTile* tile, const dtPoly* poly, const float* pos, float* closest) const;
+	
+	/// Returns portal points between two polygons.
+	dtStatus getPortalPoints(dtPolyRef from, dtPolyRef to, float* left, float* right,
+							 unsigned char& fromType, unsigned char& toType) const;
+	dtStatus getPortalPoints(dtPolyRef from, const dtPoly* fromPoly, const dtMeshTile* fromTile,
+							 dtPolyRef to, const dtPoly* toPoly, const dtMeshTile* toTile,
+							 float* left, float* right) const;
+	
+	/// Returns edge mid point between two polygons.
+	dtStatus getEdgeMidPoint(dtPolyRef from, dtPolyRef to, float* mid) const;
+	dtStatus getEdgeMidPoint(dtPolyRef from, const dtPoly* fromPoly, const dtMeshTile* fromTile,
+							 dtPolyRef to, const dtPoly* toPoly, const dtMeshTile* toTile,
+							 float* mid) const;
+	
+	// Appends vertex to a straight path
+	dtStatus appendVertex(const float* pos, const unsigned char flags, const dtPolyRef ref,
+						  float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs,
+						  int* straightPathCount, const int maxStraightPath) const;
+
+	// Appends intermediate portal points to a straight path.
+	dtStatus appendPortals(const int startIdx, const int endIdx, const float* endPos, const dtPolyRef* path,
+						   float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs,
+						   int* straightPathCount, const int maxStraightPath, const int options) const;
+	
+	const dtNavMesh* m_nav;				///< Pointer to navmesh data.
+
+	struct dtQueryData
+	{
+		dtStatus status;
+		struct dtNode* lastBestNode;
+		float lastBestNodeCost;
+		dtPolyRef startRef, endRef;
+		float startPos[3], endPos[3];
+		const dtQueryFilter* filter;
+	};
+	dtQueryData m_query;				///< Sliced query state.
+
+	class dtNodePool* m_tinyNodePool;	///< Pointer to small node pool.
+	class dtNodePool* m_nodePool;		///< Pointer to node pool.
+	class dtNodeQueue* m_openList;		///< Pointer to open list queue.
+};
+
+/// Allocates a query object using the Detour allocator.
+/// @return An allocated query object, or null on failure.
+/// @ingroup detour
+dtNavMeshQuery* dtAllocNavMeshQuery();
+
+/// Frees the specified query object using the Detour allocator.
+///  @param[in]		query		A query object allocated using #dtAllocNavMeshQuery
+/// @ingroup detour
+void dtFreeNavMeshQuery(dtNavMeshQuery* query);
+
+#endif // DETOURNAVMESHQUERY_H

ThirdParty/Detour/Include/DetourNode.h

@@ -0,0 +1,159 @@
+//
+// Copyright (c) 2009-2010 Mikko Mononen [email protected]
+//
+// 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.
+//
+
+#ifndef DETOURNODE_H
+#define DETOURNODE_H
+
+#include "DetourNavMesh.h"
+
+enum dtNodeFlags
+{
+	DT_NODE_OPEN = 0x01,
+	DT_NODE_CLOSED = 0x02,
+};
+
+typedef unsigned short dtNodeIndex;
+static const dtNodeIndex DT_NULL_IDX = (dtNodeIndex)~0;
+
+struct dtNode
+{
+	float pos[3];				///< Position of the node.
+	float cost;					///< Cost from previous node to current node.
+	float total;				///< Cost up to the node.
+	unsigned int pidx : 30;		///< Index to parent node.
+	unsigned int flags : 2;		///< Node flags 0/open/closed.
+	dtPolyRef id;				///< Polygon ref the node corresponds to.
+};
+
+
+class dtNodePool
+{
+public:
+	dtNodePool(int maxNodes, int hashSize);
+	~dtNodePool();
+	inline void operator=(const dtNodePool&) {}
+	void clear();
+	dtNode* getNode(dtPolyRef id);
+	dtNode* findNode(dtPolyRef id);
+
+	inline unsigned int getNodeIdx(const dtNode* node) const
+	{
+		if (!node) return 0;
+		return (unsigned int)(node - m_nodes)+1;
+	}
+
+	inline dtNode* getNodeAtIdx(unsigned int idx)
+	{
+		if (!idx) return 0;
+		return &m_nodes[idx-1];
+	}
+
+	inline const dtNode* getNodeAtIdx(unsigned int idx) const
+	{
+		if (!idx) return 0;
+		return &m_nodes[idx-1];
+	}
+	
+	inline int getMemUsed() const
+	{
+		return sizeof(*this) +
+			sizeof(dtNode)*m_maxNodes +
+			sizeof(dtNodeIndex)*m_maxNodes +
+			sizeof(dtNodeIndex)*m_hashSize;
+	}
+	
+	inline int getMaxNodes() const { return m_maxNodes; }
+	
+	inline int getHashSize() const { return m_hashSize; }
+	inline dtNodeIndex getFirst(int bucket) const { return m_first[bucket]; }
+	inline dtNodeIndex getNext(int i) const { return m_next[i]; }
+	
+private:
+	
+	dtNode* m_nodes;
+	dtNodeIndex* m_first;
+	dtNodeIndex* m_next;
+	const int m_maxNodes;
+	const int m_hashSize;
+	int m_nodeCount;
+};
+
+class dtNodeQueue
+{
+public:
+	dtNodeQueue(int n);
+	~dtNodeQueue();
+	inline void operator=(dtNodeQueue&) {}
+	
+	inline void clear()
+	{
+		m_size = 0;
+	}
+	
+	inline dtNode* top()
+	{
+		return m_heap[0];
+	}
+	
+	inline dtNode* pop()
+	{
+		dtNode* result = m_heap[0];
+		m_size--;
+		trickleDown(0, m_heap[m_size]);
+		return result;
+	}
+	
+	inline void push(dtNode* node)
+	{
+		m_size++;
+		bubbleUp(m_size-1, node);
+	}
+	
+	inline void modify(dtNode* node)
+	{
+		for (int i = 0; i < m_size; ++i)
+		{
+			if (m_heap[i] == node)
+			{
+				bubbleUp(i, node);
+				return;
+			}
+		}
+	}
+	
+	inline bool empty() const { return m_size == 0; }
+	
+	inline int getMemUsed() const
+	{
+		return sizeof(*this) +
+		sizeof(dtNode*)*(m_capacity+1);
+	}
+	
+	inline int getCapacity() const { return m_capacity; }
+	
+private:
+	void bubbleUp(int i, dtNode* node);
+	void trickleDown(int i, dtNode* node);
+	
+	dtNode** m_heap;
+	const int m_capacity;
+	int m_size;
+};		
+
+
+#endif // DETOURNODE_H

ThirdParty/Detour/Include/DetourStatus.h

@@ -0,0 +1,64 @@
+//
+// Copyright (c) 2009-2010 Mikko Mononen [email protected]
+//
+// 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.
+//
+
+#ifndef DETOURSTATUS_H
+#define DETOURSTATUS_H
+
+typedef unsigned int dtStatus;
+
+// High level status.
+static const unsigned int DT_FAILURE = 1u << 31;			// Operation failed.
+static const unsigned int DT_SUCCESS = 1u << 30;			// Operation succeed.
+static const unsigned int DT_IN_PROGRESS = 1u << 29;		// Operation still in progress.
+
+// Detail information for status.
+static const unsigned int DT_STATUS_DETAIL_MASK = 0x0ffffff;
+static const unsigned int DT_WRONG_MAGIC = 1 << 0;		// Input data is not recognized.
+static const unsigned int DT_WRONG_VERSION = 1 << 1;	// Input data is in wrong version.
+static const unsigned int DT_OUT_OF_MEMORY = 1 << 2;	// Operation ran out of memory.
+static const unsigned int DT_INVALID_PARAM = 1 << 3;	// An input parameter was invalid.
+static const unsigned int DT_BUFFER_TOO_SMALL = 1 << 4;	// Result buffer for the query was too small to store all results.
+static const unsigned int DT_OUT_OF_NODES = 1 << 5;		// Query ran out of nodes during search.
+static const unsigned int DT_PARTIAL_RESULT = 1 << 6;	// Query did not reach the end location, returning best guess. 
+
+
+// Returns true of status is success.
+inline bool dtStatusSucceed(dtStatus status)
+{
+	return (status & DT_SUCCESS) != 0;
+}
+
+// Returns true of status is failure.
+inline bool dtStatusFailed(dtStatus status)
+{
+	return (status & DT_FAILURE) != 0;
+}
+
+// Returns true of status is in progress.
+inline bool dtStatusInProgress(dtStatus status)
+{
+	return (status & DT_IN_PROGRESS) != 0;
+}
+
+// Returns true if specific detail is set.
+inline bool dtStatusDetail(dtStatus status, unsigned int detail)
+{
+	return (status & detail) != 0;
+}
+
+#endif // DETOURSTATUS_H

ThirdParty/Detour/License.txt

@@ -0,0 +1,18 @@
+Copyright (c) 2009 Mikko Mononen [email protected]
+
+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.
+

ThirdParty/Detour/Readme.txt

@@ -0,0 +1,120 @@
+
+Recast & Detour Version 1.4
+
+
+Recast
+
+Recast is state of the art navigation mesh construction toolset for games.
+
+    * It is automatic, which means that you can throw any level geometry
+      at it and you will get robust mesh out
+    * It is fast which means swift turnaround times for level designers
+    * It is open source so it comes with full source and you can
+      customize it to your hearts content. 
+
+The Recast process starts with constructing a voxel mold from a level geometry 
+and then casting a navigation mesh over it. The process consists of three steps, 
+building the voxel mold, partitioning the mold into simple regions, peeling off 
+the regions as simple polygons.
+
+   1. The voxel mold is build from the input triangle mesh by rasterizing 
+      the triangles into a multi-layer heightfield. Some simple filters are 
+      then applied to the mold to prune out locations where the character 
+      would not be able to move.
+   2. The walkable areas described by the mold are divided into simple 
+      overlayed 2D regions. The resulting regions have only one non-overlapping 
+      contour, which simplifies the final step of the process tremendously.
+   3. The navigation polygons are peeled off from the regions by first tracing 
+      the boundaries and then simplifying them. The resulting polygons are 
+      finally converted to convex polygons which makes them perfect for 
+      pathfinding and spatial reasoning about the level. 
+
+The toolset code is located in the Recast folder and demo application using the Recast
+toolset is located in the RecastDemo folder.
+
+The project files with this distribution can be compiled with Microsoft Visual C++ 2008
+(you can download it for free) and XCode 3.1.
+
+
+Detour
+
+Recast is accompanied with Detour, path-finding and spatial reasoning toolkit. You can use any navigation mesh with Detour, but of course the data generated with Recast fits perfectly.
+
+Detour offers simple static navigation mesh which is suitable for many simple cases, as well as tiled navigation mesh which allows you to plug in and out pieces of the mesh. The tiled mesh allows to create systems where you stream new navigation data in and out as the player progresses the level, or you may regenerate tiles as the world changes. 
+
+
+Latest code available at http://code.google.com/p/recastnavigation/
+
+
+--
+
+Release Notes
+
+----------------
+* Recast 1.4
+  Released August 24th, 2009
+
+- Added detail height mesh generation (RecastDetailMesh.cpp) for single,
+  tiled statmeshes as well as tilemesh.
+- Added feature to contour tracing which detects extra vertices along
+  tile edges which should be removed later.
+- Changed the tiled stat mesh preprocess, so that it first generated
+  polymeshes per tile and finally combines them.
+- Fixed bug in the GUI code where invisible buttons could be pressed.
+
+----------------
+* Recast 1.31
+  Released July 24th, 2009
+
+- Better cost and heuristic functions.
+- Fixed tile navmesh raycast on tile borders.
+
+----------------
+* Recast 1.3
+  Released July 14th, 2009
+
+- Added dtTileNavMesh which allows to dynamically add and remove navmesh pieces at runtime.
+- Renamed stat navmesh types to dtStat* (i.e. dtPoly is now dtStatPoly).
+- Moved common code used by tile and stat navmesh to DetourNode.h/cpp and DetourCommon.h/cpp.
+- Refactores the demo code.
+
+----------------
+* Recast 1.2
+  Released June 17th, 2009
+
+- Added tiled mesh generation. The tiled generation allows to generate navigation for
+  much larger worlds, it removes some of the artifacts that comes from distance fields
+  in open areas, and allows later streaming and dynamic runtime generation
+- Improved and added some debug draw modes
+- API change: The helper function rcBuildNavMesh does not exists anymore,
+  had to change few internal things to cope with the tiled processing,
+  similar API functionality will be added later once the tiled process matures
+- The demo is getting way too complicated, need to split demos
+- Fixed several filtering functions so that the mesh is tighter to the geometry,
+  sometimes there could be up error up to tow voxel units close to walls,
+  now it should be just one.
+
+----------------
+* Recast 1.1
+  Released April 11th, 2009
+
+This is the first release of Detour.
+
+----------------
+* Recast 1.0
+  Released March 29th, 2009
+
+This is the first release of Recast.
+
+The process is not always as robust as I would wish. The watershed phase sometimes swallows tiny islands
+which are close to edges. These droppings are handled in rcBuildContours, but the code is not
+particularly robust either.
+
+Another non-robust case is when portal contours (contours shared between two regions) are always
+assumed to be straight. That can lead to overlapping contours specially when the level has
+large open areas.
+
+
+
+Mikko Mononen
[email protected]

ThirdParty/Detour/Source/DetourAlloc.cpp

@@ -0,0 +1,50 @@
+//
+// Copyright (c) 2009-2010 Mikko Mononen [email protected]
+//
+// 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.
+//
+
+#include <stdlib.h>
+#include "DetourAlloc.h"
+
+static void *dtAllocDefault(int size, dtAllocHint)
+{
+	return malloc(size);
+}
+
+static void dtFreeDefault(void *ptr)
+{
+	free(ptr);
+}
+
+static dtAllocFunc* sAllocFunc = dtAllocDefault;
+static dtFreeFunc* sFreeFunc = dtFreeDefault;
+
+void dtAllocSetCustom(dtAllocFunc *allocFunc, dtFreeFunc *freeFunc)
+{
+	sAllocFunc = allocFunc ? allocFunc : dtAllocDefault;
+	sFreeFunc = freeFunc ? freeFunc : dtFreeDefault;
+}
+
+void* dtAlloc(int size, dtAllocHint hint)
+{
+	return sAllocFunc(size, hint);
+}
+
+void dtFree(void* ptr)
+{
+	if (ptr)
+		sFreeFunc(ptr);
+}

ThirdParty/Detour/Source/DetourCommon.cpp

@@ -0,0 +1,393 @@
+//
+// Copyright (c) 2009-2010 Mikko Mononen [email protected]
+//
+// 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.
+//
+
+#include <math.h>
+#include "DetourCommon.h"
+
+//////////////////////////////////////////////////////////////////////////////////////////
+
+float dtSqrt(float x)
+{
+	return sqrtf(x);
+}
+
+void dtClosestPtPointTriangle(float* closest, const float* p,
+							  const float* a, const float* b, const float* c)
+{
+	// Check if P in vertex region outside A
+	float ab[3], ac[3], ap[3];
+	dtVsub(ab, b, a);
+	dtVsub(ac, c, a);
+	dtVsub(ap, p, a);
+	float d1 = dtVdot(ab, ap);
+	float d2 = dtVdot(ac, ap);
+	if (d1 <= 0.0f && d2 <= 0.0f)
+	{
+		// barycentric coordinates (1,0,0)
+		dtVcopy(closest, a);
+		return;
+	}
+	
+	// Check if P in vertex region outside B
+	float bp[3];
+	dtVsub(bp, p, b);
+	float d3 = dtVdot(ab, bp);
+	float d4 = dtVdot(ac, bp);
+	if (d3 >= 0.0f && d4 <= d3)
+	{
+		// barycentric coordinates (0,1,0)
+		dtVcopy(closest, b);
+		return;
+	}
+	
+	// Check if P in edge region of AB, if so return projection of P onto AB
+	float vc = d1*d4 - d3*d2;
+	if (vc <= 0.0f && d1 >= 0.0f && d3 <= 0.0f)
+	{
+		// barycentric coordinates (1-v,v,0)
+		float v = d1 / (d1 - d3);
+		closest[0] = a[0] + v * ab[0];
+		closest[1] = a[1] + v * ab[1];
+		closest[2] = a[2] + v * ab[2];
+		return;
+	}
+	
+	// Check if P in vertex region outside C
+	float cp[3];
+	dtVsub(cp, p, c);
+	float d5 = dtVdot(ab, cp);
+	float d6 = dtVdot(ac, cp);
+	if (d6 >= 0.0f && d5 <= d6)
+	{
+		// barycentric coordinates (0,0,1)
+		dtVcopy(closest, c);
+		return;
+	}
+	
+	// Check if P in edge region of AC, if so return projection of P onto AC
+	float vb = d5*d2 - d1*d6;
+	if (vb <= 0.0f && d2 >= 0.0f && d6 <= 0.0f)
+	{
+		// barycentric coordinates (1-w,0,w)
+		float w = d2 / (d2 - d6);
+		closest[0] = a[0] + w * ac[0];
+		closest[1] = a[1] + w * ac[1];
+		closest[2] = a[2] + w * ac[2];
+		return;
+	}
+	
+	// Check if P in edge region of BC, if so return projection of P onto BC
+	float va = d3*d6 - d5*d4;
+	if (va <= 0.0f && (d4 - d3) >= 0.0f && (d5 - d6) >= 0.0f)
+	{
+		// barycentric coordinates (0,1-w,w)
+		float w = (d4 - d3) / ((d4 - d3) + (d5 - d6));
+		closest[0] = b[0] + w * (c[0] - b[0]);
+		closest[1] = b[1] + w * (c[1] - b[1]);
+		closest[2] = b[2] + w * (c[2] - b[2]);
+		return;
+	}
+	
+	// P inside face region. Compute Q through its barycentric coordinates (u,v,w)
+	float denom = 1.0f / (va + vb + vc);
+	float v = vb * denom;
+	float w = vc * denom;
+	closest[0] = a[0] + ab[0] * v + ac[0] * w;
+	closest[1] = a[1] + ab[1] * v + ac[1] * w;
+	closest[2] = a[2] + ab[2] * v + ac[2] * w;
+}
+
+bool dtIntersectSegmentPoly2D(const float* p0, const float* p1,
+							  const float* verts, int nverts,
+							  float& tmin, float& tmax,
+							  int& segMin, int& segMax)
+{
+	static const float EPS = 0.00000001f;
+	
+	tmin = 0;
+	tmax = 1;
+	segMin = -1;
+	segMax = -1;
+	
+	float dir[3];
+	dtVsub(dir, p1, p0);
+	
+	for (int i = 0, j = nverts-1; i < nverts; j=i++)
+	{
+		float edge[3], diff[3];
+		dtVsub(edge, &verts[i*3], &verts[j*3]);
+		dtVsub(diff, p0, &verts[j*3]);
+		const float n = dtVperp2D(edge, diff);
+		const float d = dtVperp2D(dir, edge);
+		if (fabsf(d) < EPS)
+		{
+			// S is nearly parallel to this edge
+			if (n < 0)
+				return false;
+			else
+				continue;
+		}
+		const float t = n / d;
+		if (d < 0)
+		{
+			// segment S is entering across this edge
+			if (t > tmin)
+			{
+				tmin = t;
+				segMin = j;
+				// S enters after leaving polygon
+				if (tmin > tmax)
+					return false;
+			}
+		}
+		else
+		{
+			// segment S is leaving across this edge
+			if (t < tmax)
+			{
+				tmax = t;
+				segMax = j;
+				// S leaves before entering polygon
+				if (tmax < tmin)
+					return false;
+			}
+		}
+	}
+	
+	return true;
+}
+
+float dtDistancePtSegSqr2D(const float* pt, const float* p, const float* q, float& t)
+{
+	float pqx = q[0] - p[0];
+	float pqz = q[2] - p[2];
+	float dx = pt[0] - p[0];
+	float dz = pt[2] - p[2];
+	float d = pqx*pqx + pqz*pqz;
+	t = pqx*dx + pqz*dz;
+	if (d > 0) t /= d;
+	if (t < 0) t = 0;
+	else if (t > 1) t = 1;
+	dx = p[0] + t*pqx - pt[0];
+	dz = p[2] + t*pqz - pt[2];
+	return dx*dx + dz*dz;
+}
+
+void dtCalcPolyCenter(float* tc, const unsigned short* idx, int nidx, const float* verts)
+{
+	tc[0] = 0.0f;
+	tc[1] = 0.0f;
+	tc[2] = 0.0f;
+	for (int j = 0; j < nidx; ++j)
+	{
+		const float* v = &verts[idx[j]*3];
+		tc[0] += v[0];
+		tc[1] += v[1];
+		tc[2] += v[2];
+	}
+	const float s = 1.0f / nidx;
+	tc[0] *= s;
+	tc[1] *= s;
+	tc[2] *= s;
+}
+
+bool dtClosestHeightPointTriangle(const float* p, const float* a, const float* b, const float* c, float& h)
+{
+	float v0[3], v1[3], v2[3];
+	dtVsub(v0, c,a);
+	dtVsub(v1, b,a);
+	dtVsub(v2, p,a);
+	
+	const float dot00 = dtVdot2D(v0, v0);
+	const float dot01 = dtVdot2D(v0, v1);
+	const float dot02 = dtVdot2D(v0, v2);
+	const float dot11 = dtVdot2D(v1, v1);
+	const float dot12 = dtVdot2D(v1, v2);
+	
+	// Compute barycentric coordinates
+	const float invDenom = 1.0f / (dot00 * dot11 - dot01 * dot01);
+	const float u = (dot11 * dot02 - dot01 * dot12) * invDenom;
+	const float v = (dot00 * dot12 - dot01 * dot02) * invDenom;
+
+	// The (sloppy) epsilon is needed to allow to get height of points which
+	// are interpolated along the edges of the triangles.
+	static const float EPS = 1e-4f;
+	
+	// If point lies inside the triangle, return interpolated ycoord.
+	if (u >= -EPS && v >= -EPS && (u+v) <= 1+EPS)
+	{
+		h = a[1] + v0[1]*u + v1[1]*v;
+		return true;
+	}
+	
+	return false;
+}
+
+/// @par
+///
+/// All points are projected onto the xz-plane, so the y-values are ignored.
+bool dtPointInPolygon(const float* pt, const float* verts, const int nverts)
+{
+	// TODO: Replace pnpoly with triArea2D tests?
+	int i, j;
+	bool c = false;
+	for (i = 0, j = nverts-1; i < nverts; j = i++)
+	{
+		const float* vi = &verts[i*3];
+		const float* vj = &verts[j*3];
+		if (((vi[2] > pt[2]) != (vj[2] > pt[2])) &&
+			(pt[0] < (vj[0]-vi[0]) * (pt[2]-vi[2]) / (vj[2]-vi[2]) + vi[0]) )
+			c = !c;
+	}
+	return c;
+}
+
+bool dtDistancePtPolyEdgesSqr(const float* pt, const float* verts, const int nverts,
+							  float* ed, float* et)
+{
+	// TODO: Replace pnpoly with triArea2D tests?
+	int i, j;
+	bool c = false;
+	for (i = 0, j = nverts-1; i < nverts; j = i++)
+	{
+		const float* vi = &verts[i*3];
+		const float* vj = &verts[j*3];
+		if (((vi[2] > pt[2]) != (vj[2] > pt[2])) &&
+			(pt[0] < (vj[0]-vi[0]) * (pt[2]-vi[2]) / (vj[2]-vi[2]) + vi[0]) )
+			c = !c;
+		ed[j] = dtDistancePtSegSqr2D(pt, vj, vi, et[j]);
+	}
+	return c;
+}
+
+static void projectPoly(const float* axis, const float* poly, const int npoly,
+						float& rmin, float& rmax)
+{
+	rmin = rmax = dtVdot2D(axis, &poly[0]);
+	for (int i = 1; i < npoly; ++i)
+	{
+		const float d = dtVdot2D(axis, &poly[i*3]);
+		rmin = dtMin(rmin, d);
+		rmax = dtMax(rmax, d);
+	}
+}
+
+inline bool overlapRange(const float amin, const float amax,
+						 const float bmin, const float bmax,
+						 const float eps)
+{
+	return ((amin+eps) > bmax || (amax-eps) < bmin) ? false : true;
+}
+
+/// @par
+///
+/// All vertices are projected onto the xz-plane, so the y-values are ignored.
+bool dtOverlapPolyPoly2D(const float* polya, const int npolya,
+						 const float* polyb, const int npolyb)
+{
+	const float eps = 1e-4f;
+	
+	for (int i = 0, j = npolya-1; i < npolya; j=i++)
+	{
+		const float* va = &polya[j*3];
+		const float* vb = &polya[i*3];
+		const float n[3] = { vb[2]-va[2], 0, -(vb[0]-va[0]) };
+		float amin,amax,bmin,bmax;
+		projectPoly(n, polya, npolya, amin,amax);
+		projectPoly(n, polyb, npolyb, bmin,bmax);
+		if (!overlapRange(amin,amax, bmin,bmax, eps))
+		{
+			// Found separating axis
+			return false;
+		}
+	}
+	for (int i = 0, j = npolyb-1; i < npolyb; j=i++)
+	{
+		const float* va = &polyb[j*3];
+		const float* vb = &polyb[i*3];
+		const float n[3] = { vb[2]-va[2], 0, -(vb[0]-va[0]) };
+		float amin,amax,bmin,bmax;
+		projectPoly(n, polya, npolya, amin,amax);
+		projectPoly(n, polyb, npolyb, bmin,bmax);
+		if (!overlapRange(amin,amax, bmin,bmax, eps))
+		{
+			// Found separating axis
+			return false;
+		}
+	}
+	return true;
+}
+
+// Returns a random point in a convex polygon.
+// Adapted from Graphics Gems article.
+void dtRandomPointInConvexPoly(const float* pts, const int npts, float* areas,
+							   const float s, const float t, float* out)
+{
+	// Calc triangle araes
+	float areasum = 0.0f;
+	for (int i = 2; i < npts; i++) {
+		areas[i] = dtTriArea2D(&pts[0], &pts[(i-1)*3], &pts[i*3]);
+		areasum += dtMax(0.001f, areas[i]);
+	}
+	// Find sub triangle weighted by area.
+	const float thr = s*areasum;
+	float acc = 0.0f;
+	float u = 0.0f;
+	int tri = 0;
+	for (int i = 2; i < npts; i++) {
+		const float dacc = areas[i];
+		if (thr >= acc && thr < (acc+dacc))
+		{
+			u = (thr - acc) / dacc;
+			tri = i;
+			break;
+		}
+		acc += dacc;
+	}
+	
+	float v = dtSqrt(t);
+	
+	const float a = 1 - v;
+	const float b = (1 - u) * v;
+	const float c = u * v;
+	const float* pa = &pts[0];
+	const float* pb = &pts[(tri-1)*3];
+	const float* pc = &pts[tri*3];
+	
+	out[0] = a*pa[0] + b*pb[0] + c*pc[0];
+	out[1] = a*pa[1] + b*pb[1] + c*pc[1];
+	out[2] = a*pa[2] + b*pb[2] + c*pc[2];
+}
+
+inline float vperpXZ(const float* a, const float* b) { return a[0]*b[2] - a[2]*b[0]; }
+
+bool dtIntersectSegSeg2D(const float* ap, const float* aq,
+						 const float* bp, const float* bq,
+						 float& s, float& t)
+{
+	float u[3], v[3], w[3];
+	dtVsub(u,aq,ap);
+	dtVsub(v,bq,bp);
+	dtVsub(w,ap,bp);
+	float d = vperpXZ(u,v);
+	if (fabsf(d) < 1e-6f) return false;
+	s = vperpXZ(v,w) / d;
+	t = vperpXZ(u,w) / d;
+	return true;
+}
+

ThirdParty/Detour/Source/DetourNavMesh.cpp

@@ -0,0 +1,1479 @@
+//
+// Copyright (c) 2009-2010 Mikko Mononen [email protected]
+//
+// 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.
+//
+
+#include <math.h>
+#include <float.h>
+#include <string.h>
+#include <stdio.h>
+#include "DetourNavMesh.h"
+#include "DetourNode.h"
+#include "DetourCommon.h"
+#include "DetourAlloc.h"
+#include "DetourAssert.h"
+#include <new>
+
+
+inline bool overlapSlabs(const float* amin, const float* amax,
+						 const float* bmin, const float* bmax,
+						 const float px, const float py)
+{
+	// Check for horizontal overlap.
+	// The segment is shrunken a little so that slabs which touch
+	// at end points are not connected.
+	const float minx = dtMax(amin[0]+px,bmin[0]+px);
+	const float maxx = dtMin(amax[0]-px,bmax[0]-px);
+	if (minx > maxx)
+		return false;
+	
+	// Check vertical overlap.
+	const float ad = (amax[1]-amin[1]) / (amax[0]-amin[0]);
+	const float ak = amin[1] - ad*amin[0];
+	const float bd = (bmax[1]-bmin[1]) / (bmax[0]-bmin[0]);
+	const float bk = bmin[1] - bd*bmin[0];
+	const float aminy = ad*minx + ak;
+	const float amaxy = ad*maxx + ak;
+	const float bminy = bd*minx + bk;
+	const float bmaxy = bd*maxx + bk;
+	const float dmin = bminy - aminy;
+	const float dmax = bmaxy - amaxy;
+		
+	// Crossing segments always overlap.
+	if (dmin*dmax < 0)
+		return true;
+		
+	// Check for overlap at endpoints.
+	const float thr = dtSqr(py*2);
+	if (dmin*dmin <= thr || dmax*dmax <= thr)
+		return true;
+		
+	return false;
+}
+
+static float getSlabCoord(const float* va, const int side)
+{
+	if (side == 0 || side == 4)
+		return va[0];
+	else if (side == 2 || side == 6)
+		return va[2];
+	return 0;
+}
+
+static void calcSlabEndPoints(const float* va, const float* vb, float* bmin, float* bmax, const int side)
+{
+	if (side == 0 || side == 4)
+	{
+		if (va[2] < vb[2])
+		{
+			bmin[0] = va[2];
+			bmin[1] = va[1];
+			bmax[0] = vb[2];
+			bmax[1] = vb[1];
+		}
+		else
+		{
+			bmin[0] = vb[2];
+			bmin[1] = vb[1];
+			bmax[0] = va[2];
+			bmax[1] = va[1];
+		}
+	}
+	else if (side == 2 || side == 6)
+	{
+		if (va[0] < vb[0])
+		{
+			bmin[0] = va[0];
+			bmin[1] = va[1];
+			bmax[0] = vb[0];
+			bmax[1] = vb[1];
+		}
+		else
+		{
+			bmin[0] = vb[0];
+			bmin[1] = vb[1];
+			bmax[0] = va[0];
+			bmax[1] = va[1];
+		}
+	}
+}
+
+inline int computeTileHash(int x, int y, const int mask)
+{
+	const unsigned int h1 = 0x8da6b343; // Large multiplicative constants;
+	const unsigned int h2 = 0xd8163841; // here arbitrarily chosen primes
+	unsigned int n = h1 * x + h2 * y;
+	return (int)(n & mask);
+}
+
+inline unsigned int allocLink(dtMeshTile* tile)
+{
+	if (tile->linksFreeList == DT_NULL_LINK)
+		return DT_NULL_LINK;
+	unsigned int link = tile->linksFreeList;
+	tile->linksFreeList = tile->links[link].next;
+	return link;
+}
+
+inline void freeLink(dtMeshTile* tile, unsigned int link)
+{
+	tile->links[link].next = tile->linksFreeList;
+	tile->linksFreeList = link;
+}
+
+
+dtNavMesh* dtAllocNavMesh()
+{
+	void* mem = dtAlloc(sizeof(dtNavMesh), DT_ALLOC_PERM);
+	if (!mem) return 0;
+	return new(mem) dtNavMesh;
+}
+
+/// @par
+///
+/// This function will only free the memory for tiles with the #DT_TILE_FREE_DATA
+/// flag set.
+void dtFreeNavMesh(dtNavMesh* navmesh)
+{
+	if (!navmesh) return;
+	navmesh->~dtNavMesh();
+	dtFree(navmesh);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////
+
+/**
+@class dtNavMesh
+
+The navigation mesh consists of one or more tiles defining three primary types of structural data:
+
+A polygon mesh which defines most of the navigation graph. (See rcPolyMesh for its structure.)
+A detail mesh used for determining surface height on the polygon mesh. (See rcPolyMeshDetail for its structure.)
+Off-mesh connections, which define custom point-to-point edges within the navigation graph.
+
+The general build process is as follows:
+
+-# Create rcPolyMesh and rcPolyMeshDetail data using the Recast build pipeline.
+-# Optionally, create off-mesh connection data.
+-# Combine the source data into a dtNavMeshCreateParams structure.
+-# Create a tile data array using dtCreateNavMeshData().
+-# Allocate at dtNavMesh object and initialize it. (For single tile navigation meshes,
+   the tile data is loaded during this step.)
+-# For multi-tile navigation meshes, load the tile data using dtNavMesh::addTile().
+
+Notes:
+
+- This class is usually used in conjunction with the dtNavMeshQuery class for pathfinding.
+- Technically, all navigation meshes are tiled. A 'solo' mesh is simply a navigation mesh initialized 
+  to have only a single tile.
+- This class does not implement any asynchronous methods. So the ::dtStatus result of all methods will 
+  always contain either a success or failure flag.
+
+@see dtNavMeshQuery, dtCreateNavMeshData, dtNavMeshCreateParams, #dtAllocNavMesh, #dtFreeNavMesh
+*/
+
+dtNavMesh::dtNavMesh() :
+	m_tileWidth(0),
+	m_tileHeight(0),
+	m_maxTiles(0),
+	m_tileLutSize(0),
+	m_tileLutMask(0),
+	m_posLookup(0),
+	m_nextFree(0),
+	m_tiles(0),
+	m_saltBits(0),
+	m_tileBits(0),
+	m_polyBits(0)
+{
+	memset(&m_params, 0, sizeof(dtNavMeshParams));
+	m_orig[0] = 0;
+	m_orig[1] = 0;
+	m_orig[2] = 0;
+}
+
+dtNavMesh::~dtNavMesh()
+{
+	for (int i = 0; i < m_maxTiles; ++i)
+	{
+		if (m_tiles[i].flags & DT_TILE_FREE_DATA)
+		{
+			dtFree(m_tiles[i].data);
+			m_tiles[i].data = 0;
+			m_tiles[i].dataSize = 0;
+		}
+	}
+	dtFree(m_posLookup);
+	dtFree(m_tiles);
+}
+		
+dtStatus dtNavMesh::init(const dtNavMeshParams* params)
+{
+	memcpy(&m_params, params, sizeof(dtNavMeshParams));
+	dtVcopy(m_orig, params->orig);
+	m_tileWidth = params->tileWidth;
+	m_tileHeight = params->tileHeight;
+	
+	// Init tiles
+	m_maxTiles = params->maxTiles;
+	m_tileLutSize = dtNextPow2(params->maxTiles/4);
+	if (!m_tileLutSize) m_tileLutSize = 1;
+	m_tileLutMask = m_tileLutSize-1;
+	
+	m_tiles = (dtMeshTile*)dtAlloc(sizeof(dtMeshTile)*m_maxTiles, DT_ALLOC_PERM);
+	if (!m_tiles)
+		return DT_FAILURE | DT_OUT_OF_MEMORY;
+	m_posLookup = (dtMeshTile**)dtAlloc(sizeof(dtMeshTile*)*m_tileLutSize, DT_ALLOC_PERM);
+	if (!m_posLookup)
+		return DT_FAILURE | DT_OUT_OF_MEMORY;
+	memset(m_tiles, 0, sizeof(dtMeshTile)*m_maxTiles);
+	memset(m_posLookup, 0, sizeof(dtMeshTile*)*m_tileLutSize);
+	m_nextFree = 0;
+	for (int i = m_maxTiles-1; i >= 0; --i)
+	{
+		m_tiles[i].salt = 1;
+		m_tiles[i].next = m_nextFree;
+		m_nextFree = &m_tiles[i];
+	}
+	
+	// Init ID generator values.
+	m_tileBits = dtIlog2(dtNextPow2((unsigned int)params->maxTiles));
+	m_polyBits = dtIlog2(dtNextPow2((unsigned int)params->maxPolys));
+	// Only allow 31 salt bits, since the salt mask is calculated using 32bit uint and it will overflow.
+	m_saltBits = dtMin((unsigned int)31, 32 - m_tileBits - m_polyBits);
+	if (m_saltBits < 10)
+		return DT_FAILURE | DT_INVALID_PARAM;
+	
+	return DT_SUCCESS;
+}
+
+dtStatus dtNavMesh::init(unsigned char* data, const int dataSize, const int flags)
+{
+	// Make sure the data is in right format.
+	dtMeshHeader* header = (dtMeshHeader*)data;
+	if (header->magic != DT_NAVMESH_MAGIC)
+		return DT_FAILURE | DT_WRONG_MAGIC;
+	if (header->version != DT_NAVMESH_VERSION)
+		return DT_FAILURE | DT_WRONG_VERSION;
+
+	dtNavMeshParams params;
+	dtVcopy(params.orig, header->bmin);
+	params.tileWidth = header->bmax[0] - header->bmin[0];
+	params.tileHeight = header->bmax[2] - header->bmin[2];
+	params.maxTiles = 1;
+	params.maxPolys = header->polyCount;
+	
+	dtStatus status = init(&params);
+	if (dtStatusFailed(status))
+		return status;
+
+	return addTile(data, dataSize, flags, 0, 0);
+}
+
+/// @par
+///
+/// @note The parameters are created automatically when the single tile
+/// initialization is performed.
+const dtNavMeshParams* dtNavMesh::getParams() const
+{
+	return &m_params;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////
+int dtNavMesh::findConnectingPolys(const float* va, const float* vb,
+								   const dtMeshTile* tile, int side,
+								   dtPolyRef* con, float* conarea, int maxcon) const
+{
+	if (!tile) return 0;
+	
+	float amin[2], amax[2];
+	calcSlabEndPoints(va,vb, amin,amax, side);
+	const float apos = getSlabCoord(va, side);
+
+	// Remove links pointing to 'side' and compact the links array. 
+	float bmin[2], bmax[2];
+	unsigned short m = DT_EXT_LINK | (unsigned short)side;
+	int n = 0;
+	
+	dtPolyRef base = getPolyRefBase(tile);
+	
+	for (int i = 0; i < tile->header->polyCount; ++i)
+	{
+		dtPoly* poly = &tile->polys[i];
+		const int nv = poly->vertCount;
+		for (int j = 0; j < nv; ++j)
+		{
+			// Skip edges which do not point to the right side.
+			if (poly->neis[j] != m) continue;
+			
+			const float* vc = &tile->verts[poly->verts[j]*3];
+			const float* vd = &tile->verts[poly->verts[(j+1) % nv]*3];
+			const float bpos = getSlabCoord(vc, side);
+			
+			// Segments are not close enough.
+			if (dtAbs(apos-bpos) > 0.01f)
+				continue;
+			
+			// Check if the segments touch.
+			calcSlabEndPoints(vc,vd, bmin,bmax, side);
+			
+			if (!overlapSlabs(amin,amax, bmin,bmax, 0.01f, tile->header->walkableClimb)) continue;
+			
+			// Add return value.
+			if (n < maxcon)
+			{
+				conarea[n*2+0] = dtMax(amin[0], bmin[0]);
+				conarea[n*2+1] = dtMin(amax[0], bmax[0]);
+				con[n] = base | (dtPolyRef)i;
+				n++;
+			}
+			break;
+		}
+	}
+	return n;
+}
+
+void dtNavMesh::unconnectExtLinks(dtMeshTile* tile, dtMeshTile* target)
+{
+	if (!tile || !target) return;
+
+	const unsigned int targetNum = decodePolyIdTile(getTileRef(target));
+
+	for (int i = 0; i < tile->header->polyCount; ++i)
+	{
+		dtPoly* poly = &tile->polys[i];
+		unsigned int j = poly->firstLink;
+		unsigned int pj = DT_NULL_LINK;
+		while (j != DT_NULL_LINK)
+		{
+			if (tile->links[j].side != 0xff &&
+				decodePolyIdTile(tile->links[j].ref) == targetNum)
+			{
+				// Revove link.
+				unsigned int nj = tile->links[j].next;
+				if (pj == DT_NULL_LINK)
+					poly->firstLink = nj;
+				else
+					tile->links[pj].next = nj;
+				freeLink(tile, j);
+				j = nj;
+			}
+			else
+			{
+				// Advance
+				pj = j;
+				j = tile->links[j].next;
+			}
+		}
+	}
+}
+
+void dtNavMesh::connectExtLinks(dtMeshTile* tile, dtMeshTile* target, int side)
+{
+	if (!tile) return;
+	
+	// Connect border links.
+	for (int i = 0; i < tile->header->polyCount; ++i)
+	{
+		dtPoly* poly = &tile->polys[i];
+
+		// Create new links.
+//		unsigned short m = DT_EXT_LINK | (unsigned short)side;
+		
+		const int nv = poly->vertCount;
+		for (int j = 0; j < nv; ++j)
+		{
+			// Skip non-portal edges.
+			if ((poly->neis[j] & DT_EXT_LINK) == 0)
+				continue;
+			
+			const int dir = (int)(poly->neis[j] & 0xff);
+			if (side != -1 && dir != side)
+				continue;
+			
+			// Create new links
+			const float* va = &tile->verts[poly->verts[j]*3];
+			const float* vb = &tile->verts[poly->verts[(j+1) % nv]*3];
+			dtPolyRef nei[4];
+			float neia[4*2];
+			int nnei = findConnectingPolys(va,vb, target, dtOppositeTile(dir), nei,neia,4);
+			for (int k = 0; k < nnei; ++k)
+			{
+				unsigned int idx = allocLink(tile);
+				if (idx != DT_NULL_LINK)
+				{
+					dtLink* link = &tile->links[idx];
+					link->ref = nei[k];
+					link->edge = (unsigned char)j;
+					link->side = (unsigned char)dir;
+					
+					link->next = poly->firstLink;
+					poly->firstLink = idx;
+
+					// Compress portal limits to a byte value.
+					if (dir == 0 || dir == 4)
+					{
+						float tmin = (neia[k*2+0]-va[2]) / (vb[2]-va[2]);
+						float tmax = (neia[k*2+1]-va[2]) / (vb[2]-va[2]);
+						if (tmin > tmax)
+							dtSwap(tmin,tmax);
+						link->bmin = (unsigned char)(dtClamp(tmin, 0.0f, 1.0f)*255.0f);
+						link->bmax = (unsigned char)(dtClamp(tmax, 0.0f, 1.0f)*255.0f);
+					}
+					else if (dir == 2 || dir == 6)
+					{
+						float tmin = (neia[k*2+0]-va[0]) / (vb[0]-va[0]);
+						float tmax = (neia[k*2+1]-va[0]) / (vb[0]-va[0]);
+						if (tmin > tmax)
+							dtSwap(tmin,tmax);
+						link->bmin = (unsigned char)(dtClamp(tmin, 0.0f, 1.0f)*255.0f);
+						link->bmax = (unsigned char)(dtClamp(tmax, 0.0f, 1.0f)*255.0f);
+					}
+				}
+			}
+		}
+	}
+}
+
+void dtNavMesh::connectExtOffMeshLinks(dtMeshTile* tile, dtMeshTile* target, int side)
+{
+	if (!tile) return;
+	
+	// Connect off-mesh links.
+	// We are interested on links which land from target tile to this tile.
+	const unsigned char oppositeSide = (side == -1) ? 0xff : (unsigned char)dtOppositeTile(side);
+	
+	for (int i = 0; i < target->header->offMeshConCount; ++i)
+	{
+		dtOffMeshConnection* targetCon = &target->offMeshCons[i];
+		if (targetCon->side != oppositeSide)
+			continue;
+
+		dtPoly* targetPoly = &target->polys[targetCon->poly];
+		// Skip off-mesh connections which start location could not be connected at all.
+		if (targetPoly->firstLink == DT_NULL_LINK)
+			continue;
+		
+		const float ext[3] = { targetCon->rad, target->header->walkableClimb, targetCon->rad };
+		
+		// Find polygon to connect to.
+		const float* p = &targetCon->pos[3];
+		float nearestPt[3];
+		dtPolyRef ref = findNearestPolyInTile(tile, p, ext, nearestPt);
+		if (!ref)
+			continue;
+		// findNearestPoly may return too optimistic results, further check to make sure. 
+		if (dtSqr(nearestPt[0]-p[0])+dtSqr(nearestPt[2]-p[2]) > dtSqr(targetCon->rad))
+			continue;
+		// Make sure the location is on current mesh.
+		float* v = &target->verts[targetPoly->verts[1]*3];
+		dtVcopy(v, nearestPt);
+				
+		// Link off-mesh connection to target poly.
+		unsigned int idx = allocLink(target);
+		if (idx != DT_NULL_LINK)
+		{
+			dtLink* link = &target->links[idx];
+			link->ref = ref;
+			link->edge = (unsigned char)1;
+			link->side = oppositeSide;
+			link->bmin = link->bmax = 0;
+			// Add to linked list.
+			link->next = targetPoly->firstLink;
+			targetPoly->firstLink = idx;
+		}
+		
+		// Link target poly to off-mesh connection.
+		if (targetCon->flags & DT_OFFMESH_CON_BIDIR)
+		{
+			unsigned int tidx = allocLink(tile);
+			if (tidx != DT_NULL_LINK)
+			{
+				const unsigned short landPolyIdx = (unsigned short)decodePolyIdPoly(ref);
+				dtPoly* landPoly = &tile->polys[landPolyIdx];
+				dtLink* link = &tile->links[tidx];
+				link->ref = getPolyRefBase(target) | (dtPolyRef)(targetCon->poly);
+				link->edge = 0xff;
+				link->side = (unsigned char)(side == -1 ? 0xff : side);
+				link->bmin = link->bmax = 0;
+				// Add to linked list.
+				link->next = landPoly->firstLink;
+				landPoly->firstLink = tidx;
+			}
+		}
+	}
+
+}
+
+void dtNavMesh::connectIntLinks(dtMeshTile* tile)
+{
+	if (!tile) return;
+
+	dtPolyRef base = getPolyRefBase(tile);
+
+	for (int i = 0; i < tile->header->polyCount; ++i)
+	{
+		dtPoly* poly = &tile->polys[i];
+		poly->firstLink = DT_NULL_LINK;
+
+		if (poly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION)
+			continue;
+			
+		// Build edge links backwards so that the links will be
+		// in the linked list from lowest index to highest.
+		for (int j = poly->vertCount-1; j >= 0; --j)
+		{
+			// Skip hard and non-internal edges.
+			if (poly->neis[j] == 0 || (poly->neis[j] & DT_EXT_LINK)) continue;
+
+			unsigned int idx = allocLink(tile);
+			if (idx != DT_NULL_LINK)
+			{
+				dtLink* link = &tile->links[idx];
+				link->ref = base | (dtPolyRef)(poly->neis[j]-1);
+				link->edge = (unsigned char)j;
+				link->side = 0xff;
+				link->bmin = link->bmax = 0;
+				// Add to linked list.
+				link->next = poly->firstLink;
+				poly->firstLink = idx;
+			}
+		}			
+	}
+}
+
+void dtNavMesh::baseOffMeshLinks(dtMeshTile* tile)
+{
+	if (!tile) return;
+	
+	dtPolyRef base = getPolyRefBase(tile);
+	
+	// Base off-mesh connection start points.
+	for (int i = 0; i < tile->header->offMeshConCount; ++i)
+	{
+		dtOffMeshConnection* con = &tile->offMeshCons[i];
+		dtPoly* poly = &tile->polys[con->poly];
+	
+		const float ext[3] = { con->rad, tile->header->walkableClimb, con->rad };
+		
+		// Find polygon to connect to.
+		const float* p = &con->pos[0]; // First vertex
+		float nearestPt[3];
+		dtPolyRef ref = findNearestPolyInTile(tile, p, ext, nearestPt);
+		if (!ref) continue;
+		// findNearestPoly may return too optimistic results, further check to make sure. 
+		if (dtSqr(nearestPt[0]-p[0])+dtSqr(nearestPt[2]-p[2]) > dtSqr(con->rad))
+			continue;
+		// Make sure the location is on current mesh.
+		float* v = &tile->verts[poly->verts[0]*3];
+		dtVcopy(v, nearestPt);
+
+		// Link off-mesh connection to target poly.
+		unsigned int idx = allocLink(tile);
+		if (idx != DT_NULL_LINK)
+		{
+			dtLink* link = &tile->links[idx];
+			link->ref = ref;
+			link->edge = (unsigned char)0;
+			link->side = 0xff;
+			link->bmin = link->bmax = 0;
+			// Add to linked list.
+			link->next = poly->firstLink;
+			poly->firstLink = idx;
+		}
+
+		// Start end-point is always connect back to off-mesh connection. 
+		unsigned int tidx = allocLink(tile);
+		if (tidx != DT_NULL_LINK)
+		{
+			const unsigned short landPolyIdx = (unsigned short)decodePolyIdPoly(ref);
+			dtPoly* landPoly = &tile->polys[landPolyIdx];
+			dtLink* link = &tile->links[tidx];
+			link->ref = base | (dtPolyRef)(con->poly);
+			link->edge = 0xff;
+			link->side = 0xff;
+			link->bmin = link->bmax = 0;
+			// Add to linked list.
+			link->next = landPoly->firstLink;
+			landPoly->firstLink = tidx;
+		}
+	}
+}
+
+void dtNavMesh::closestPointOnPolyInTile(const dtMeshTile* tile, unsigned int ip,
+										 const float* pos, float* closest) const
+{
+	const dtPoly* poly = &tile->polys[ip];
+	// Off-mesh connections don't have detail polygons.
+	if (poly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION)
+	{
+		const float* v0 = &tile->verts[poly->verts[0]*3];
+		const float* v1 = &tile->verts[poly->verts[1]*3];
+		const float d0 = dtVdist(pos, v0);
+		const float d1 = dtVdist(pos, v1);
+		const float u = d0 / (d0+d1);
+		dtVlerp(closest, v0, v1, u);
+		return;
+	}
+	
+	const dtPolyDetail* pd = &tile->detailMeshes[ip];
+
+	// Clamp point to be inside the polygon.
+	float verts[DT_VERTS_PER_POLYGON*3];	
+	float edged[DT_VERTS_PER_POLYGON];
+	float edget[DT_VERTS_PER_POLYGON];
+	const int nv = poly->vertCount;
+	for (int i = 0; i < nv; ++i)
+		dtVcopy(&verts[i*3], &tile->verts[poly->verts[i]*3]);
+	
+	dtVcopy(closest, pos);
+	if (!dtDistancePtPolyEdgesSqr(pos, verts, nv, edged, edget))
+	{
+		// Point is outside the polygon, dtClamp to nearest edge.
+		float dmin = FLT_MAX;
+		int imin = -1;
+		for (int i = 0; i < nv; ++i)
+		{
+			if (edged[i] < dmin)
+			{
+				dmin = edged[i];
+				imin = i;
+			}
+		}
+		const float* va = &verts[imin*3];
+		const float* vb = &verts[((imin+1)%nv)*3];
+		dtVlerp(closest, va, vb, edget[imin]);
+	}
+	
+	// Find height at the location.
+	for (int j = 0; j < pd->triCount; ++j)
+	{
+		const unsigned char* t = &tile->detailTris[(pd->triBase+j)*4];
+		const float* v[3];
+		for (int k = 0; k < 3; ++k)
+		{
+			if (t[k] < poly->vertCount)
+				v[k] = &tile->verts[poly->verts[t[k]]*3];
+			else
+				v[k] = &tile->detailVerts[(pd->vertBase+(t[k]-poly->vertCount))*3];
+		}
+		float h;
+		if (dtClosestHeightPointTriangle(pos, v[0], v[1], v[2], h))
+		{
+			closest[1] = h;
+			break;
+		}
+	}
+}
+
+dtPolyRef dtNavMesh::findNearestPolyInTile(const dtMeshTile* tile,
+										   const float* center, const float* extents,
+										   float* nearestPt) const
+{
+	float bmin[3], bmax[3];
+	dtVsub(bmin, center, extents);
+	dtVadd(bmax, center, extents);
+	
+	// Get nearby polygons from proximity grid.
+	dtPolyRef polys[128];
+	int polyCount = queryPolygonsInTile(tile, bmin, bmax, polys, 128);
+	
+	// Find nearest polygon amongst the nearby polygons.
+	dtPolyRef nearest = 0;
+	float nearestDistanceSqr = FLT_MAX;
+	for (int i = 0; i < polyCount; ++i)
+	{
+		dtPolyRef ref = polys[i];
+		float closestPtPoly[3];
+		closestPointOnPolyInTile(tile, decodePolyIdPoly(ref), center, closestPtPoly);
+		float d = dtVdistSqr(center, closestPtPoly);
+		if (d < nearestDistanceSqr)
+		{
+			if (nearestPt)
+				dtVcopy(nearestPt, closestPtPoly);
+			nearestDistanceSqr = d;
+			nearest = ref;
+		}
+	}
+	
+	return nearest;
+}
+
+int dtNavMesh::queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, const float* qmax,
+								   dtPolyRef* polys, const int maxPolys) const
+{
+	if (tile->bvTree)
+	{
+		const dtBVNode* node = &tile->bvTree[0];
+		const dtBVNode* end = &tile->bvTree[tile->header->bvNodeCount];
+		const float* tbmin = tile->header->bmin;
+		const float* tbmax = tile->header->bmax;
+		const float qfac = tile->header->bvQuantFactor;
+		
+		// Calculate quantized box
+		unsigned short bmin[3], bmax[3];
+		// dtClamp query box to world box.
+		float minx = dtClamp(qmin[0], tbmin[0], tbmax[0]) - tbmin[0];
+		float miny = dtClamp(qmin[1], tbmin[1], tbmax[1]) - tbmin[1];
+		float minz = dtClamp(qmin[2], tbmin[2], tbmax[2]) - tbmin[2];
+		float maxx = dtClamp(qmax[0], tbmin[0], tbmax[0]) - tbmin[0];
+		float maxy = dtClamp(qmax[1], tbmin[1], tbmax[1]) - tbmin[1];
+		float maxz = dtClamp(qmax[2], tbmin[2], tbmax[2]) - tbmin[2];
+		// Quantize
+		bmin[0] = (unsigned short)(qfac * minx) & 0xfffe;
+		bmin[1] = (unsigned short)(qfac * miny) & 0xfffe;
+		bmin[2] = (unsigned short)(qfac * minz) & 0xfffe;
+		bmax[0] = (unsigned short)(qfac * maxx + 1) | 1;
+		bmax[1] = (unsigned short)(qfac * maxy + 1) | 1;
+		bmax[2] = (unsigned short)(qfac * maxz + 1) | 1;
+		
+		// Traverse tree
+		dtPolyRef base = getPolyRefBase(tile);
+		int n = 0;
+		while (node < end)
+		{
+			const bool overlap = dtOverlapQuantBounds(bmin, bmax, node->bmin, node->bmax);
+			const bool isLeafNode = node->i >= 0;
+			
+			if (isLeafNode && overlap)
+			{
+				if (n < maxPolys)
+					polys[n++] = base | (dtPolyRef)node->i;
+			}
+			
+			if (overlap || isLeafNode)
+				node++;
+			else
+			{
+				const int escapeIndex = -node->i;
+				node += escapeIndex;
+			}
+		}
+		
+		return n;
+	}
+	else
+	{
+		float bmin[3], bmax[3];
+		int n = 0;
+		dtPolyRef base = getPolyRefBase(tile);
+		for (int i = 0; i < tile->header->polyCount; ++i)
+		{
+			dtPoly* p = &tile->polys[i];
+			// Do not return off-mesh connection polygons.
+			if (p->getType() == DT_POLYTYPE_OFFMESH_CONNECTION)
+				continue;
+			// Calc polygon bounds.
+			const float* v = &tile->verts[p->verts[0]*3];
+			dtVcopy(bmin, v);
+			dtVcopy(bmax, v);
+			for (int j = 1; j < p->vertCount; ++j)
+			{
+				v = &tile->verts[p->verts[j]*3];
+				dtVmin(bmin, v);
+				dtVmax(bmax, v);
+			}
+			if (dtOverlapBounds(qmin,qmax, bmin,bmax))
+			{
+				if (n < maxPolys)
+					polys[n++] = base | (dtPolyRef)i;
+			}
+		}
+		return n;
+	}
+}
+
+/// @par
+///
+/// The add operation will fail if the data is in the wrong format, the allocated tile
+/// space is full, or there is a tile already at the specified reference.
+///
+/// The lastRef parameter is used to restore a tile with the same tile
+/// reference it had previously used.  In this case the #dtPolyRef's for the
+/// tile will be restored to the same values they were before the tile was 
+/// removed.
+///
+/// @see dtCreateNavMeshData, #removeTile
+dtStatus dtNavMesh::addTile(unsigned char* data, int dataSize, int flags,
+							dtTileRef lastRef, dtTileRef* result)
+{
+	// Make sure the data is in right format.
+	dtMeshHeader* header = (dtMeshHeader*)data;
+	if (header->magic != DT_NAVMESH_MAGIC)
+		return DT_FAILURE | DT_WRONG_MAGIC;
+	if (header->version != DT_NAVMESH_VERSION)
+		return DT_FAILURE | DT_WRONG_VERSION;
+		
+	// Make sure the location is free.
+	if (getTileAt(header->x, header->y, header->layer))
+		return DT_FAILURE;
+		
+	// Allocate a tile.
+	dtMeshTile* tile = 0;
+	if (!lastRef)
+	{
+		if (m_nextFree)
+		{
+			tile = m_nextFree;
+			m_nextFree = tile->next;
+			tile->next = 0;
+		}
+	}
+	else
+	{
+		// Try to relocate the tile to specific index with same salt.
+		int tileIndex = (int)decodePolyIdTile((dtPolyRef)lastRef);
+		if (tileIndex >= m_maxTiles)
+			return DT_FAILURE | DT_OUT_OF_MEMORY;
+		// Try to find the specific tile id from the free list.
+		dtMeshTile* target = &m_tiles[tileIndex];
+		dtMeshTile* prev = 0;
+		tile = m_nextFree;
+		while (tile && tile != target)
+		{
+			prev = tile;
+			tile = tile->next;
+		}
+		// Could not find the correct location.
+		if (tile != target)
+			return DT_FAILURE | DT_OUT_OF_MEMORY;
+		// Remove from freelist
+		if (!prev)
+			m_nextFree = tile->next;
+		else
+			prev->next = tile->next;
+
+		// Restore salt.
+		tile->salt = decodePolyIdSalt((dtPolyRef)lastRef);
+	}
+
+	// Make sure we could allocate a tile.
+	if (!tile)
+		return DT_FAILURE | DT_OUT_OF_MEMORY;
+	
+	// Insert tile into the position lut.
+	int h = computeTileHash(header->x, header->y, m_tileLutMask);
+	tile->next = m_posLookup[h];
+	m_posLookup[h] = tile;
+	
+	// Patch header pointers.
+	const int headerSize = dtAlign4(sizeof(dtMeshHeader));
+	const int vertsSize = dtAlign4(sizeof(float)*3*header->vertCount);
+	const int polysSize = dtAlign4(sizeof(dtPoly)*header->polyCount);
+	const int linksSize = dtAlign4(sizeof(dtLink)*(header->maxLinkCount));
+	const int detailMeshesSize = dtAlign4(sizeof(dtPolyDetail)*header->detailMeshCount);
+	const int detailVertsSize = dtAlign4(sizeof(float)*3*header->detailVertCount);
+	const int detailTrisSize = dtAlign4(sizeof(unsigned char)*4*header->detailTriCount);
+	const int bvtreeSize = dtAlign4(sizeof(dtBVNode)*header->bvNodeCount);
+	const int offMeshLinksSize = dtAlign4(sizeof(dtOffMeshConnection)*header->offMeshConCount);
+	
+	unsigned char* d = data + headerSize;
+	tile->verts = (float*)d; d += vertsSize;
+	tile->polys = (dtPoly*)d; d += polysSize;
+	tile->links = (dtLink*)d; d += linksSize;
+	tile->detailMeshes = (dtPolyDetail*)d; d += detailMeshesSize;
+	tile->detailVerts = (float*)d; d += detailVertsSize;
+	tile->detailTris = (unsigned char*)d; d += detailTrisSize;
+	tile->bvTree = (dtBVNode*)d; d += bvtreeSize;
+	tile->offMeshCons = (dtOffMeshConnection*)d; d += offMeshLinksSize;
+
+	// If there are no items in the bvtree, reset the tree pointer.
+	if (!bvtreeSize)
+		tile->bvTree = 0;
+
+	// Build links freelist
+	tile->linksFreeList = 0;
+	tile->links[header->maxLinkCount-1].next = DT_NULL_LINK;
+	for (int i = 0; i < header->maxLinkCount-1; ++i)
+		tile->links[i].next = i+1;
+
+	// Init tile.
+	tile->header = header;
+	tile->data = data;
+	tile->dataSize = dataSize;
+	tile->flags = flags;
+
+	connectIntLinks(tile);
+	baseOffMeshLinks(tile);
+
+	// Create connections with neighbour tiles.
+	static const int MAX_NEIS = 32;
+	dtMeshTile* neis[MAX_NEIS];
+	int nneis;
+	
+	// Connect with layers in current tile.
+	nneis = getTilesAt(header->x, header->y, neis, MAX_NEIS);
+	for (int j = 0; j < nneis; ++j)
+	{
+		if (neis[j] != tile)
+		{
+			connectExtLinks(tile, neis[j], -1);
+			connectExtLinks(neis[j], tile, -1);
+		}
+		connectExtOffMeshLinks(tile, neis[j], -1);
+		connectExtOffMeshLinks(neis[j], tile, -1);
+	}
+	
+	// Connect with neighbour tiles.
+	for (int i = 0; i < 8; ++i)
+	{
+		nneis = getNeighbourTilesAt(header->x, header->y, i, neis, MAX_NEIS);
+		for (int j = 0; j < nneis; ++j)
+		{
+			connectExtLinks(tile, neis[j], i);
+			connectExtLinks(neis[j], tile, dtOppositeTile(i));
+			connectExtOffMeshLinks(tile, neis[j], i);
+			connectExtOffMeshLinks(neis[j], tile, dtOppositeTile(i));
+		}
+	}
+	
+	if (result)
+		*result = getTileRef(tile);
+	
+	return DT_SUCCESS;
+}
+
+const dtMeshTile* dtNavMesh::getTileAt(const int x, const int y, const int layer) const
+{
+	// Find tile based on hash.
+	int h = computeTileHash(x,y,m_tileLutMask);
+	dtMeshTile* tile = m_posLookup[h];
+	while (tile)
+	{
+		if (tile->header &&
+			tile->header->x == x &&
+			tile->header->y == y &&
+			tile->header->layer == layer)
+		{
+			return tile;
+		}
+		tile = tile->next;
+	}
+	return 0;
+}
+
+int dtNavMesh::getNeighbourTilesAt(const int x, const int y, const int side, dtMeshTile** tiles, const int maxTiles) const
+{
+	int nx = x, ny = y;
+	switch (side)
+	{
+		case 0: nx++; break;
+		case 1: nx++; ny++; break;
+		case 2: ny++; break;
+		case 3: nx--; ny++; break;
+		case 4: nx--; break;
+		case 5: nx--; ny--; break;
+		case 6: ny--; break;
+		case 7: nx++; ny--; break;
+	};
+
+	return getTilesAt(nx, ny, tiles, maxTiles);
+}
+
+int dtNavMesh::getTilesAt(const int x, const int y, dtMeshTile** tiles, const int maxTiles) const
+{
+	int n = 0;
+	
+	// Find tile based on hash.
+	int h = computeTileHash(x,y,m_tileLutMask);
+	dtMeshTile* tile = m_posLookup[h];
+	while (tile)
+	{
+		if (tile->header &&
+			tile->header->x == x &&
+			tile->header->y == y)
+		{
+			if (n < maxTiles)
+				tiles[n++] = tile;
+		}
+		tile = tile->next;
+	}
+	
+	return n;
+}
+
+/// @par
+///
+/// This function will not fail if the tiles array is too small to hold the
+/// entire result set.  It will simply fill the array to capacity.
+int dtNavMesh::getTilesAt(const int x, const int y, dtMeshTile const** tiles, const int maxTiles) const
+{
+	int n = 0;
+	
+	// Find tile based on hash.
+	int h = computeTileHash(x,y,m_tileLutMask);
+	dtMeshTile* tile = m_posLookup[h];
+	while (tile)
+	{
+		if (tile->header &&
+			tile->header->x == x &&
+			tile->header->y == y)
+		{
+			if (n < maxTiles)
+				tiles[n++] = tile;
+		}
+		tile = tile->next;
+	}
+	
+	return n;
+}
+
+
+dtTileRef dtNavMesh::getTileRefAt(const int x, const int y, const int layer) const
+{
+	// Find tile based on hash.
+	int h = computeTileHash(x,y,m_tileLutMask);
+	dtMeshTile* tile = m_posLookup[h];
+	while (tile)
+	{
+		if (tile->header &&
+			tile->header->x == x &&
+			tile->header->y == y &&
+			tile->header->layer == layer)
+		{
+			return getTileRef(tile);
+		}
+		tile = tile->next;
+	}
+	return 0;
+}
+
+const dtMeshTile* dtNavMesh::getTileByRef(dtTileRef ref) const
+{
+	if (!ref)
+		return 0;
+	unsigned int tileIndex = decodePolyIdTile((dtPolyRef)ref);
+	unsigned int tileSalt = decodePolyIdSalt((dtPolyRef)ref);
+	if ((int)tileIndex >= m_maxTiles)
+		return 0;
+	const dtMeshTile* tile = &m_tiles[tileIndex];
+	if (tile->salt != tileSalt)
+		return 0;
+	return tile;
+}
+
+int dtNavMesh::getMaxTiles() const
+{
+	return m_maxTiles;
+}
+
+dtMeshTile* dtNavMesh::getTile(int i)
+{
+	return &m_tiles[i];
+}
+
+const dtMeshTile* dtNavMesh::getTile(int i) const
+{
+	return &m_tiles[i];
+}
+
+void dtNavMesh::calcTileLoc(const float* pos, int* tx, int* ty) const
+{
+	*tx = (int)floorf((pos[0]-m_orig[0]) / m_tileWidth);
+	*ty = (int)floorf((pos[2]-m_orig[2]) / m_tileHeight);
+}
+
+dtStatus dtNavMesh::getTileAndPolyByRef(const dtPolyRef ref, const dtMeshTile** tile, const dtPoly** poly) const
+{
+	if (!ref) return DT_FAILURE;
+	unsigned int salt, it, ip;
+	decodePolyId(ref, salt, it, ip);
+	if (it >= (unsigned int)m_maxTiles) return DT_FAILURE | DT_INVALID_PARAM;
+	if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE | DT_INVALID_PARAM;
+	if (ip >= (unsigned int)m_tiles[it].header->polyCount) return DT_FAILURE | DT_INVALID_PARAM;
+	*tile = &m_tiles[it];
+	*poly = &m_tiles[it].polys[ip];
+	return DT_SUCCESS;
+}
+
+/// @par
+///
+/// @warning Only use this function if it is known that the provided polygon
+/// reference is valid. This function is faster than #getTileAndPolyByRef, but
+/// it does not validate the reference.
+void dtNavMesh::getTileAndPolyByRefUnsafe(const dtPolyRef ref, const dtMeshTile** tile, const dtPoly** poly) const
+{
+	unsigned int salt, it, ip;
+	decodePolyId(ref, salt, it, ip);
+	*tile = &m_tiles[it];
+	*poly = &m_tiles[it].polys[ip];
+}
+
+bool dtNavMesh::isValidPolyRef(dtPolyRef ref) const
+{
+	if (!ref) return false;
+	unsigned int salt, it, ip;
+	decodePolyId(ref, salt, it, ip);
+	if (it >= (unsigned int)m_maxTiles) return false;
+	if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return false;
+	if (ip >= (unsigned int)m_tiles[it].header->polyCount) return false;
+	return true;
+}
+
+/// @par
+///
+/// This function returns the data for the tile so that, if desired,
+/// it can be added back to the navigation mesh at a later point.
+///
+/// @see #addTile
+dtStatus dtNavMesh::removeTile(dtTileRef ref, unsigned char** data, int* dataSize)
+{
+	if (!ref)
+		return DT_FAILURE | DT_INVALID_PARAM;
+	unsigned int tileIndex = decodePolyIdTile((dtPolyRef)ref);
+	unsigned int tileSalt = decodePolyIdSalt((dtPolyRef)ref);
+	if ((int)tileIndex >= m_maxTiles)
+		return DT_FAILURE | DT_INVALID_PARAM;
+	dtMeshTile* tile = &m_tiles[tileIndex];
+	if (tile->salt != tileSalt)
+		return DT_FAILURE | DT_INVALID_PARAM;
+	
+	// Remove tile from hash lookup.
+	int h = computeTileHash(tile->header->x,tile->header->y,m_tileLutMask);
+	dtMeshTile* prev = 0;
+	dtMeshTile* cur = m_posLookup[h];
+	while (cur)
+	{
+		if (cur == tile)
+		{
+			if (prev)
+				prev->next = cur->next;
+			else
+				m_posLookup[h] = cur->next;
+			break;
+		}
+		prev = cur;
+		cur = cur->next;
+	}
+	
+	// Remove connections to neighbour tiles.
+	// Create connections with neighbour tiles.
+	static const int MAX_NEIS = 32;
+	dtMeshTile* neis[MAX_NEIS];
+	int nneis;
+	
+	// Connect with layers in current tile.
+	nneis = getTilesAt(tile->header->x, tile->header->y, neis, MAX_NEIS);
+	for (int j = 0; j < nneis; ++j)
+	{
+		if (neis[j] == tile) continue;
+		unconnectExtLinks(neis[j], tile);
+	}
+	
+	// Connect with neighbour tiles.
+	for (int i = 0; i < 8; ++i)
+	{
+		nneis = getNeighbourTilesAt(tile->header->x, tile->header->y, i, neis, MAX_NEIS);
+		for (int j = 0; j < nneis; ++j)
+			unconnectExtLinks(neis[j], tile);
+	}
+		
+	// Reset tile.
+	if (tile->flags & DT_TILE_FREE_DATA)
+	{
+		// Owns data
+		dtFree(tile->data);
+		tile->data = 0;
+		tile->dataSize = 0;
+		if (data) *data = 0;
+		if (dataSize) *dataSize = 0;
+	}
+	else
+	{
+		if (data) *data = tile->data;
+		if (dataSize) *dataSize = tile->dataSize;
+	}
+
+	tile->header = 0;
+	tile->flags = 0;
+	tile->linksFreeList = 0;
+	tile->polys = 0;
+	tile->verts = 0;
+	tile->links = 0;
+	tile->detailMeshes = 0;
+	tile->detailVerts = 0;
+	tile->detailTris = 0;
+	tile->bvTree = 0;
+	tile->offMeshCons = 0;
+
+	// Update salt, salt should never be zero.
+	tile->salt = (tile->salt+1) & ((1<<m_saltBits)-1);
+	if (tile->salt == 0)
+		tile->salt++;
+
+	// Add to free list.
+	tile->next = m_nextFree;
+	m_nextFree = tile;
+
+	return DT_SUCCESS;
+}
+
+dtTileRef dtNavMesh::getTileRef(const dtMeshTile* tile) const
+{
+	if (!tile) return 0;
+	const unsigned int it = (unsigned int)(tile - m_tiles);
+	return (dtTileRef)encodePolyId(tile->salt, it, 0);
+}
+
+/// @par
+///
+/// Example use case:
+/// @code
+///
+/// const dtPolyRef base = navmesh->getPolyRefBase(tile);
+/// for (int i = 0; i < tile->header->polyCount; ++i)
+/// {
+///     const dtPoly* p = &tile->polys[i];
+///     const dtPolyRef ref = base | (dtPolyRef)i;
+///     
+///     // Use the reference to access the polygon data.
+/// }
+/// @endcode
+dtPolyRef dtNavMesh::getPolyRefBase(const dtMeshTile* tile) const
+{
+	if (!tile) return 0;
+	const unsigned int it = (unsigned int)(tile - m_tiles);
+	return encodePolyId(tile->salt, it, 0);
+}
+
+struct dtTileState
+{
+	int magic;								// Magic number, used to identify the data.
+	int version;							// Data version number.
+	dtTileRef ref;							// Tile ref at the time of storing the data.
+};
+
+struct dtPolyState
+{
+	unsigned short flags;						// Flags (see dtPolyFlags).
+	unsigned char area;							// Area ID of the polygon.
+};
+
+///  @see #storeTileState
+int dtNavMesh::getTileStateSize(const dtMeshTile* tile) const
+{
+	if (!tile) return 0;
+	const int headerSize = dtAlign4(sizeof(dtTileState));
+	const int polyStateSize = dtAlign4(sizeof(dtPolyState) * tile->header->polyCount);
+	return headerSize + polyStateSize;
+}
+
+/// @par
+///
+/// Tile state includes non-structural data such as polygon flags, area ids, etc.
+/// @note The state data is only valid until the tile reference changes.
+/// @see #getTileStateSize, #restoreTileState
+dtStatus dtNavMesh::storeTileState(const dtMeshTile* tile, unsigned char* data, const int maxDataSize) const
+{
+	// Make sure there is enough space to store the state.
+	const int sizeReq = getTileStateSize(tile);
+	if (maxDataSize < sizeReq)
+		return DT_FAILURE | DT_BUFFER_TOO_SMALL;
+		
+	dtTileState* tileState = (dtTileState*)data; data += dtAlign4(sizeof(dtTileState));
+	dtPolyState* polyStates = (dtPolyState*)data; data += dtAlign4(sizeof(dtPolyState) * tile->header->polyCount);
+	
+	// Store tile state.
+	tileState->magic = DT_NAVMESH_STATE_MAGIC;
+	tileState->version = DT_NAVMESH_STATE_VERSION;
+	tileState->ref = getTileRef(tile);
+	
+	// Store per poly state.
+	for (int i = 0; i < tile->header->polyCount; ++i)
+	{
+		const dtPoly* p = &tile->polys[i];
+		dtPolyState* s = &polyStates[i];
+		s->flags = p->flags;
+		s->area = p->getArea();
+	}
+	
+	return DT_SUCCESS;
+}
+
+/// @par
+///
+/// Tile state includes non-structural data such as polygon flags, area ids, etc.
+/// @note This function does not impact the tile's #dtTileRef and #dtPolyRef's.
+/// @see #storeTileState
+dtStatus dtNavMesh::restoreTileState(dtMeshTile* tile, const unsigned char* data, const int maxDataSize)
+{
+	// Make sure there is enough space to store the state.
+	const int sizeReq = getTileStateSize(tile);
+	if (maxDataSize < sizeReq)
+		return DT_FAILURE | DT_INVALID_PARAM;
+	
+	const dtTileState* tileState = (const dtTileState*)data; data += dtAlign4(sizeof(dtTileState));
+	const dtPolyState* polyStates = (const dtPolyState*)data; data += dtAlign4(sizeof(dtPolyState) * tile->header->polyCount);
+	
+	// Check that the restore is possible.
+	if (tileState->magic != DT_NAVMESH_STATE_MAGIC)
+		return DT_FAILURE | DT_WRONG_MAGIC;
+	if (tileState->version != DT_NAVMESH_STATE_VERSION)
+		return DT_FAILURE | DT_WRONG_VERSION;
+	if (tileState->ref != getTileRef(tile))
+		return DT_FAILURE | DT_INVALID_PARAM;
+	
+	// Restore per poly state.
+	for (int i = 0; i < tile->header->polyCount; ++i)
+	{
+		dtPoly* p = &tile->polys[i];
+		const dtPolyState* s = &polyStates[i];
+		p->flags = s->flags;
+		p->setArea(s->area);
+	}
+	
+	return DT_SUCCESS;
+}
+
+/// @par
+///
+/// Off-mesh connections are stored in the navigation mesh as special 2-vertex 
+/// polygons with a single edge. At least one of the vertices is expected to be 
+/// inside a normal polygon. So an off-mesh connection is "entered" from a 
+/// normal polygon at one of its endpoints. This is the polygon identified by 
+/// the prevRef parameter.
+dtStatus dtNavMesh::getOffMeshConnectionPolyEndPoints(dtPolyRef prevRef, dtPolyRef polyRef, float* startPos, float* endPos) const
+{
+	unsigned int salt, it, ip;
+
+	if (!polyRef)
+		return DT_FAILURE;
+	
+	// Get current polygon
+	decodePolyId(polyRef, salt, it, ip);
+	if (it >= (unsigned int)m_maxTiles) return DT_FAILURE | DT_INVALID_PARAM;
+	if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE | DT_INVALID_PARAM;
+	const dtMeshTile* tile = &m_tiles[it];
+	if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE | DT_INVALID_PARAM;
+	const dtPoly* poly = &tile->polys[ip];
+
+	// Make sure that the current poly is indeed off-mesh link.
+	if (poly->getType() != DT_POLYTYPE_OFFMESH_CONNECTION)
+		return DT_FAILURE;
+
+	// Figure out which way to hand out the vertices.
+	int idx0 = 0, idx1 = 1;
+	
+	// Find link that points to first vertex.
+	for (unsigned int i = poly->firstLink; i != DT_NULL_LINK; i = tile->links[i].next)
+	{
+		if (tile->links[i].edge == 0)
+		{
+			if (tile->links[i].ref != prevRef)
+			{
+				idx0 = 1;
+				idx1 = 0;
+			}
+			break;
+		}
+	}
+	
+	dtVcopy(startPos, &tile->verts[poly->verts[idx0]*3]);
+	dtVcopy(endPos, &tile->verts[poly->verts[idx1]*3]);
+
+	return DT_SUCCESS;
+}
+
+
+const dtOffMeshConnection* dtNavMesh::getOffMeshConnectionByRef(dtPolyRef ref) const
+{
+	unsigned int salt, it, ip;
+	
+	if (!ref)
+		return 0;
+	
+	// Get current polygon
+	decodePolyId(ref, salt, it, ip);
+	if (it >= (unsigned int)m_maxTiles) return 0;
+	if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return 0;
+	const dtMeshTile* tile = &m_tiles[it];
+	if (ip >= (unsigned int)tile->header->polyCount) return 0;
+	const dtPoly* poly = &tile->polys[ip];
+	
+	// Make sure that the current poly is indeed off-mesh link.
+	if (poly->getType() != DT_POLYTYPE_OFFMESH_CONNECTION)
+		return 0;
+
+	const unsigned int idx =  ip - tile->header->offMeshBase;
+	dtAssert(idx < (unsigned int)tile->header->offMeshConCount);
+	return &tile->offMeshCons[idx];
+}
+
+
+dtStatus dtNavMesh::setPolyFlags(dtPolyRef ref, unsigned short flags)
+{
+	if (!ref) return DT_FAILURE;
+	unsigned int salt, it, ip;
+	decodePolyId(ref, salt, it, ip);
+	if (it >= (unsigned int)m_maxTiles) return DT_FAILURE | DT_INVALID_PARAM;
+	if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE | DT_INVALID_PARAM;
+	dtMeshTile* tile = &m_tiles[it];
+	if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE | DT_INVALID_PARAM;
+	dtPoly* poly = &tile->polys[ip];
+	
+	// Change flags.
+	poly->flags = flags;
+	
+	return DT_SUCCESS;
+}
+
+dtStatus dtNavMesh::getPolyFlags(dtPolyRef ref, unsigned short* resultFlags) const
+{
+	if (!ref) return DT_FAILURE;
+	unsigned int salt, it, ip;
+	decodePolyId(ref, salt, it, ip);
+	if (it >= (unsigned int)m_maxTiles) return DT_FAILURE | DT_INVALID_PARAM;
+	if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE | DT_INVALID_PARAM;
+	const dtMeshTile* tile = &m_tiles[it];
+	if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE | DT_INVALID_PARAM;
+	const dtPoly* poly = &tile->polys[ip];
+
+	*resultFlags = poly->flags;
+	
+	return DT_SUCCESS;
+}
+
+dtStatus dtNavMesh::setPolyArea(dtPolyRef ref, unsigned char area)
+{
+	if (!ref) return DT_FAILURE;
+	unsigned int salt, it, ip;
+	decodePolyId(ref, salt, it, ip);
+	if (it >= (unsigned int)m_maxTiles) return DT_FAILURE | DT_INVALID_PARAM;
+	if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE | DT_INVALID_PARAM;
+	dtMeshTile* tile = &m_tiles[it];
+	if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE | DT_INVALID_PARAM;
+	dtPoly* poly = &tile->polys[ip];
+	
+	poly->setArea(area);
+	
+	return DT_SUCCESS;
+}
+
+dtStatus dtNavMesh::getPolyArea(dtPolyRef ref, unsigned char* resultArea) const
+{
+	if (!ref) return DT_FAILURE;
+	unsigned int salt, it, ip;
+	decodePolyId(ref, salt, it, ip);
+	if (it >= (unsigned int)m_maxTiles) return DT_FAILURE | DT_INVALID_PARAM;
+	if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE | DT_INVALID_PARAM;
+	const dtMeshTile* tile = &m_tiles[it];
+	if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE | DT_INVALID_PARAM;
+	const dtPoly* poly = &tile->polys[ip];
+	
+	*resultArea = poly->getArea();
+	
+	return DT_SUCCESS;
+}
+

ThirdParty/Detour/Source/DetourNavMeshBuilder.cpp

@@ -0,0 +1,775 @@
+//
+// Copyright (c) 2009-2010 Mikko Mononen [email protected]
+//
+// 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.
+//
+
+#include <math.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <float.h>
+#include "DetourNavMesh.h"
+#include "DetourCommon.h"
+#include "DetourNavMeshBuilder.h"
+#include "DetourAlloc.h"
+#include "DetourAssert.h"
+
+static unsigned short MESH_NULL_IDX = 0xffff;
+
+
+struct BVItem
+{
+	unsigned short bmin[3];
+	unsigned short bmax[3];
+	int i;
+};
+
+static int compareItemX(const void* va, const void* vb)
+{
+	const BVItem* a = (const BVItem*)va;
+	const BVItem* b = (const BVItem*)vb;
+	if (a->bmin[0] < b->bmin[0])
+		return -1;
+	if (a->bmin[0] > b->bmin[0])
+		return 1;
+	return 0;
+}
+
+static int compareItemY(const void* va, const void* vb)
+{
+	const BVItem* a = (const BVItem*)va;
+	const BVItem* b = (const BVItem*)vb;
+	if (a->bmin[1] < b->bmin[1])
+		return -1;
+	if (a->bmin[1] > b->bmin[1])
+		return 1;
+	return 0;
+}
+
+static int compareItemZ(const void* va, const void* vb)
+{
+	const BVItem* a = (const BVItem*)va;
+	const BVItem* b = (const BVItem*)vb;
+	if (a->bmin[2] < b->bmin[2])
+		return -1;
+	if (a->bmin[2] > b->bmin[2])
+		return 1;
+	return 0;
+}
+
+static void calcExtends(BVItem* items, const int /*nitems*/, const int imin, const int imax,
+						unsigned short* bmin, unsigned short* bmax)
+{
+	bmin[0] = items[imin].bmin[0];
+	bmin[1] = items[imin].bmin[1];
+	bmin[2] = items[imin].bmin[2];
+	
+	bmax[0] = items[imin].bmax[0];
+	bmax[1] = items[imin].bmax[1];
+	bmax[2] = items[imin].bmax[2];
+	
+	for (int i = imin+1; i < imax; ++i)
+	{
+		const BVItem& it = items[i];
+		if (it.bmin[0] < bmin[0]) bmin[0] = it.bmin[0];
+		if (it.bmin[1] < bmin[1]) bmin[1] = it.bmin[1];
+		if (it.bmin[2] < bmin[2]) bmin[2] = it.bmin[2];
+		
+		if (it.bmax[0] > bmax[0]) bmax[0] = it.bmax[0];
+		if (it.bmax[1] > bmax[1]) bmax[1] = it.bmax[1];
+		if (it.bmax[2] > bmax[2]) bmax[2] = it.bmax[2];
+	}
+}
+
+inline int longestAxis(unsigned short x, unsigned short y, unsigned short z)
+{
+	int	axis = 0;
+	unsigned short maxVal = x;
+	if (y > maxVal)
+	{
+		axis = 1;
+		maxVal = y;
+	}
+	if (z > maxVal)
+	{
+		axis = 2;
+		maxVal = z;
+	}
+	return axis;
+}
+
+static void subdivide(BVItem* items, int nitems, int imin, int imax, int& curNode, dtBVNode* nodes)
+{
+	int inum = imax - imin;
+	int icur = curNode;
+	
+	dtBVNode& node = nodes[curNode++];
+	
+	if (inum == 1)
+	{
+		// Leaf
+		node.bmin[0] = items[imin].bmin[0];
+		node.bmin[1] = items[imin].bmin[1];
+		node.bmin[2] = items[imin].bmin[2];
+		
+		node.bmax[0] = items[imin].bmax[0];
+		node.bmax[1] = items[imin].bmax[1];
+		node.bmax[2] = items[imin].bmax[2];
+		
+		node.i = items[imin].i;
+	}
+	else
+	{
+		// Split
+		calcExtends(items, nitems, imin, imax, node.bmin, node.bmax);
+		
+		int	axis = longestAxis(node.bmax[0] - node.bmin[0],
+							   node.bmax[1] - node.bmin[1],
+							   node.bmax[2] - node.bmin[2]);
+		
+		if (axis == 0)
+		{
+			// Sort along x-axis
+			qsort(items+imin, inum, sizeof(BVItem), compareItemX);
+		}
+		else if (axis == 1)
+		{
+			// Sort along y-axis
+			qsort(items+imin, inum, sizeof(BVItem), compareItemY);
+		}
+		else
+		{
+			// Sort along z-axis
+			qsort(items+imin, inum, sizeof(BVItem), compareItemZ);
+		}
+		
+		int isplit = imin+inum/2;
+		
+		// Left
+		subdivide(items, nitems, imin, isplit, curNode, nodes);
+		// Right
+		subdivide(items, nitems, isplit, imax, curNode, nodes);
+		
+		int iescape = curNode - icur;
+		// Negative index means escape.
+		node.i = -iescape;
+	}
+}
+
+static int createBVTree(const unsigned short* verts, const int /*nverts*/,
+						const unsigned short* polys, const int npolys, const int nvp,
+						const float cs, const float ch,
+						const int /*nnodes*/, dtBVNode* nodes)
+{
+	// Build tree
+	BVItem* items = (BVItem*)dtAlloc(sizeof(BVItem)*npolys, DT_ALLOC_TEMP);
+	for (int i = 0; i < npolys; i++)
+	{
+		BVItem& it = items[i];
+		it.i = i;
+		// Calc polygon bounds.
+		const unsigned short* p = &polys[i*nvp*2];
+		it.bmin[0] = it.bmax[0] = verts[p[0]*3+0];
+		it.bmin[1] = it.bmax[1] = verts[p[0]*3+1];
+		it.bmin[2] = it.bmax[2] = verts[p[0]*3+2];
+		
+		for (int j = 1; j < nvp; ++j)
+		{
+			if (p[j] == MESH_NULL_IDX) break;
+			unsigned short x = verts[p[j]*3+0];
+			unsigned short y = verts[p[j]*3+1];
+			unsigned short z = verts[p[j]*3+2];
+			
+			if (x < it.bmin[0]) it.bmin[0] = x;
+			if (y < it.bmin[1]) it.bmin[1] = y;
+			if (z < it.bmin[2]) it.bmin[2] = z;
+			
+			if (x > it.bmax[0]) it.bmax[0] = x;
+			if (y > it.bmax[1]) it.bmax[1] = y;
+			if (z > it.bmax[2]) it.bmax[2] = z;
+		}
+		// Remap y
+		it.bmin[1] = (unsigned short)floorf((float)it.bmin[1]*ch/cs);
+		it.bmax[1] = (unsigned short)ceilf((float)it.bmax[1]*ch/cs);
+	}
+	
+	int curNode = 0;
+	subdivide(items, npolys, 0, npolys, curNode, nodes);
+	
+	dtFree(items);
+	
+	return curNode;
+}
+
+static unsigned char classifyOffMeshPoint(const float* pt, const float* bmin, const float* bmax)
+{
+	static const unsigned char XP = 1<<0;
+	static const unsigned char ZP = 1<<1;
+	static const unsigned char XM = 1<<2;
+	static const unsigned char ZM = 1<<3;	
+
+	unsigned char outcode = 0; 
+	outcode |= (pt[0] >= bmax[0]) ? XP : 0;
+	outcode |= (pt[2] >= bmax[2]) ? ZP : 0;
+	outcode |= (pt[0] < bmin[0])  ? XM : 0;
+	outcode |= (pt[2] < bmin[2])  ? ZM : 0;
+
+	switch (outcode)
+	{
+	case XP: return 0;
+	case XP|ZP: return 1;
+	case ZP: return 2;
+	case XM|ZP: return 3;
+	case XM: return 4;
+	case XM|ZM: return 5;
+	case ZM: return 6;
+	case XP|ZM: return 7;
+	};
+
+	return 0xff;	
+}
+
+// TODO: Better error handling.
+
+/// @par
+/// 
+/// The output data array is allocated using the detour allocator (dtAlloc()).  The method
+/// used to free the memory will be determined by how the tile is added to the navigation
+/// mesh.
+///
+/// @see dtNavMesh, dtNavMesh::addTile()
+bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData, int* outDataSize)
+{
+	if (params->nvp > DT_VERTS_PER_POLYGON)
+		return false;
+	if (params->vertCount >= 0xffff)
+		return false;
+	if (!params->vertCount || !params->verts)
+		return false;
+	if (!params->polyCount || !params->polys)
+		return false;
+
+	const int nvp = params->nvp;
+	
+	// Classify off-mesh connection points. We store only the connections
+	// whose start point is inside the tile.
+	unsigned char* offMeshConClass = 0;
+	int storedOffMeshConCount = 0;
+	int offMeshConLinkCount = 0;
+	
+	if (params->offMeshConCount > 0)
+	{
+		offMeshConClass = (unsigned char*)dtAlloc(sizeof(unsigned char)*params->offMeshConCount*2, DT_ALLOC_TEMP);
+		if (!offMeshConClass)
+			return false;
+
+		// Find tight heigh bounds, used for culling out off-mesh start locations.
+		float hmin = FLT_MAX;
+		float hmax = -FLT_MAX;
+		
+		if (params->detailVerts && params->detailVertsCount)
+		{
+			for (int i = 0; i < params->detailVertsCount; ++i)
+			{
+				const float h = params->detailVerts[i*3+1];
+				hmin = dtMin(hmin,h);
+				hmax = dtMax(hmax,h);
+			}
+		}
+		else
+		{
+			for (int i = 0; i < params->vertCount; ++i)
+			{
+				const unsigned short* iv = &params->verts[i*3];
+				const float h = params->bmin[1] + iv[1] * params->ch;
+				hmin = dtMin(hmin,h);
+				hmax = dtMax(hmax,h);
+			}
+		}
+		hmin -= params->walkableClimb;
+		hmax += params->walkableClimb;
+		float bmin[3], bmax[3];
+		dtVcopy(bmin, params->bmin);
+		dtVcopy(bmax, params->bmax);
+		bmin[1] = hmin;
+		bmax[1] = hmax;
+
+		for (int i = 0; i < params->offMeshConCount; ++i)
+		{
+			const float* p0 = &params->offMeshConVerts[(i*2+0)*3];
+			const float* p1 = &params->offMeshConVerts[(i*2+1)*3];
+			offMeshConClass[i*2+0] = classifyOffMeshPoint(p0, bmin, bmax);
+			offMeshConClass[i*2+1] = classifyOffMeshPoint(p1, bmin, bmax);
+
+			// Zero out off-mesh start positions which are not even potentially touching the mesh.
+			if (offMeshConClass[i*2+0] == 0xff)
+			{
+				if (p0[1] < bmin[1] || p0[1] > bmax[1])
+					offMeshConClass[i*2+0] = 0;
+			}
+
+			// Cound how many links should be allocated for off-mesh connections.
+			if (offMeshConClass[i*2+0] == 0xff)
+				offMeshConLinkCount++;
+			if (offMeshConClass[i*2+1] == 0xff)
+				offMeshConLinkCount++;
+
+			if (offMeshConClass[i*2+0] == 0xff)
+				storedOffMeshConCount++;
+		}
+	}
+	
+	// Off-mesh connectionss are stored as polygons, adjust values.
+	const int totPolyCount = params->polyCount + storedOffMeshConCount;
+	const int totVertCount = params->vertCount + storedOffMeshConCount*2;
+	
+	// Find portal edges which are at tile borders.
+	int edgeCount = 0;
+	int portalCount = 0;
+	for (int i = 0; i < params->polyCount; ++i)
+	{
+		const unsigned short* p = &params->polys[i*2*nvp];
+		for (int j = 0; j < nvp; ++j)
+		{
+			if (p[j] == MESH_NULL_IDX) break;
+			edgeCount++;
+			
+			if (p[nvp+j] & 0x8000)
+			{
+				unsigned short dir = p[nvp+j] & 0xf;
+				if (dir != 0xf)
+					portalCount++;
+			}
+		}
+	}
+
+	const int maxLinkCount = edgeCount + portalCount*2 + offMeshConLinkCount*2;
+	
+	// Find unique detail vertices.
+	int uniqueDetailVertCount = 0;
+	int detailTriCount = 0;
+	if (params->detailMeshes)
+	{
+		// Has detail mesh, count unique detail vertex count and use input detail tri count.
+		detailTriCount = params->detailTriCount;
+		for (int i = 0; i < params->polyCount; ++i)
+		{
+			const unsigned short* p = &params->polys[i*nvp*2];
+			int ndv = params->detailMeshes[i*4+1];
+			int nv = 0;
+			for (int j = 0; j < nvp; ++j)
+			{
+				if (p[j] == MESH_NULL_IDX) break;
+				nv++;
+			}
+			ndv -= nv;
+			uniqueDetailVertCount += ndv;
+		}
+	}
+	else
+	{
+		// No input detail mesh, build detail mesh from nav polys.
+		uniqueDetailVertCount = 0; // No extra detail verts.
+		detailTriCount = 0;
+		for (int i = 0; i < params->polyCount; ++i)
+		{
+			const unsigned short* p = &params->polys[i*nvp*2];
+			int nv = 0;
+			for (int j = 0; j < nvp; ++j)
+			{
+				if (p[j] == MESH_NULL_IDX) break;
+				nv++;
+			}
+			detailTriCount += nv-2;
+		}
+	}
+	
+	// Calculate data size
+	const int headerSize = dtAlign4(sizeof(dtMeshHeader));
+	const int vertsSize = dtAlign4(sizeof(float)*3*totVertCount);
+	const int polysSize = dtAlign4(sizeof(dtPoly)*totPolyCount);
+	const int linksSize = dtAlign4(sizeof(dtLink)*maxLinkCount);
+	const int detailMeshesSize = dtAlign4(sizeof(dtPolyDetail)*params->polyCount);
+	const int detailVertsSize = dtAlign4(sizeof(float)*3*uniqueDetailVertCount);
+	const int detailTrisSize = dtAlign4(sizeof(unsigned char)*4*detailTriCount);
+	const int bvTreeSize = params->buildBvTree ? dtAlign4(sizeof(dtBVNode)*params->polyCount*2) : 0;
+	const int offMeshConsSize = dtAlign4(sizeof(dtOffMeshConnection)*storedOffMeshConCount);
+	
+	const int dataSize = headerSize + vertsSize + polysSize + linksSize +
+						 detailMeshesSize + detailVertsSize + detailTrisSize +
+						 bvTreeSize + offMeshConsSize;
+						 
+	unsigned char* data = (unsigned char*)dtAlloc(sizeof(unsigned char)*dataSize, DT_ALLOC_PERM);
+	if (!data)
+	{
+		dtFree(offMeshConClass);
+		return false;
+	}
+	memset(data, 0, dataSize);
+	
+	unsigned char* d = data;
+	dtMeshHeader* header = (dtMeshHeader*)d; d += headerSize;
+	float* navVerts = (float*)d; d += vertsSize;
+	dtPoly* navPolys = (dtPoly*)d; d += polysSize;
+	d += linksSize;
+	dtPolyDetail* navDMeshes = (dtPolyDetail*)d; d += detailMeshesSize;
+	float* navDVerts = (float*)d; d += detailVertsSize;
+	unsigned char* navDTris = (unsigned char*)d; d += detailTrisSize;
+	dtBVNode* navBvtree = (dtBVNode*)d; d += bvTreeSize;
+	dtOffMeshConnection* offMeshCons = (dtOffMeshConnection*)d; d += offMeshConsSize;
+	
+	
+	// Store header
+	header->magic = DT_NAVMESH_MAGIC;
+	header->version = DT_NAVMESH_VERSION;
+	header->x = params->tileX;
+	header->y = params->tileY;
+	header->layer = params->tileLayer;
+	header->userId = params->userId;
+	header->polyCount = totPolyCount;
+	header->vertCount = totVertCount;
+	header->maxLinkCount = maxLinkCount;
+	dtVcopy(header->bmin, params->bmin);
+	dtVcopy(header->bmax, params->bmax);
+	header->detailMeshCount = params->polyCount;
+	header->detailVertCount = uniqueDetailVertCount;
+	header->detailTriCount = detailTriCount;
+	header->bvQuantFactor = 1.0f / params->cs;
+	header->offMeshBase = params->polyCount;
+	header->walkableHeight = params->walkableHeight;
+	header->walkableRadius = params->walkableRadius;
+	header->walkableClimb = params->walkableClimb;
+	header->offMeshConCount = storedOffMeshConCount;
+	header->bvNodeCount = params->buildBvTree ? params->polyCount*2 : 0;
+	
+	const int offMeshVertsBase = params->vertCount;
+	const int offMeshPolyBase = params->polyCount;
+	
+	// Store vertices
+	// Mesh vertices
+	for (int i = 0; i < params->vertCount; ++i)
+	{
+		const unsigned short* iv = &params->verts[i*3];
+		float* v = &navVerts[i*3];
+		v[0] = params->bmin[0] + iv[0] * params->cs;
+		v[1] = params->bmin[1] + iv[1] * params->ch;
+		v[2] = params->bmin[2] + iv[2] * params->cs;
+	}
+	// Off-mesh link vertices.
+	int n = 0;
+	for (int i = 0; i < params->offMeshConCount; ++i)
+	{
+		// Only store connections which start from this tile.
+		if (offMeshConClass[i*2+0] == 0xff)
+		{
+			const float* linkv = &params->offMeshConVerts[i*2*3];
+			float* v = &navVerts[(offMeshVertsBase + n*2)*3];
+			dtVcopy(&v[0], &linkv[0]);
+			dtVcopy(&v[3], &linkv[3]);
+			n++;
+		}
+	}
+	
+	// Store polygons
+	// Mesh polys
+	const unsigned short* src = params->polys;
+	for (int i = 0; i < params->polyCount; ++i)
+	{
+		dtPoly* p = &navPolys[i];
+		p->vertCount = 0;
+		p->flags = params->polyFlags[i];
+		p->setArea(params->polyAreas[i]);
+		p->setType(DT_POLYTYPE_GROUND);
+		for (int j = 0; j < nvp; ++j)
+		{
+			if (src[j] == MESH_NULL_IDX) break;
+			p->verts[j] = src[j];
+			if (src[nvp+j] & 0x8000)
+			{
+				// Border or portal edge.
+				unsigned short dir = src[nvp+j] & 0xf;
+				if (dir == 0xf) // Border
+					p->neis[j] = 0;
+				else if (dir == 0) // Portal x-
+					p->neis[j] = DT_EXT_LINK | 4;
+				else if (dir == 1) // Portal z+
+					p->neis[j] = DT_EXT_LINK | 2;
+				else if (dir == 2) // Portal x+
+					p->neis[j] = DT_EXT_LINK | 0;
+				else if (dir == 3) // Portal z-
+					p->neis[j] = DT_EXT_LINK | 6;
+			}
+			else
+			{
+				// Normal connection
+				p->neis[j] = src[nvp+j]+1;
+			}
+			
+			p->vertCount++;
+		}
+		src += nvp*2;
+	}
+	// Off-mesh connection vertices.
+	n = 0;
+	for (int i = 0; i < params->offMeshConCount; ++i)
+	{
+		// Only store connections which start from this tile.
+		if (offMeshConClass[i*2+0] == 0xff)
+		{
+			dtPoly* p = &navPolys[offMeshPolyBase+n];
+			p->vertCount = 2;
+			p->verts[0] = (unsigned short)(offMeshVertsBase + n*2+0);
+			p->verts[1] = (unsigned short)(offMeshVertsBase + n*2+1);
+			p->flags = params->offMeshConFlags[i];
+			p->setArea(params->offMeshConAreas[i]);
+			p->setType(DT_POLYTYPE_OFFMESH_CONNECTION);
+			n++;
+		}
+	}
+
+	// Store detail meshes and vertices.
+	// The nav polygon vertices are stored as the first vertices on each mesh.
+	// We compress the mesh data by skipping them and using the navmesh coordinates.
+	if (params->detailMeshes)
+	{
+		unsigned short vbase = 0;
+		for (int i = 0; i < params->polyCount; ++i)
+		{
+			dtPolyDetail& dtl = navDMeshes[i];
+			const int vb = (int)params->detailMeshes[i*4+0];
+			const int ndv = (int)params->detailMeshes[i*4+1];
+			const int nv = navPolys[i].vertCount;
+			dtl.vertBase = (unsigned int)vbase;
+			dtl.vertCount = (unsigned char)(ndv-nv);
+			dtl.triBase = (unsigned int)params->detailMeshes[i*4+2];
+			dtl.triCount = (unsigned char)params->detailMeshes[i*4+3];
+			// Copy vertices except the first 'nv' verts which are equal to nav poly verts.
+			if (ndv-nv)
+			{
+				memcpy(&navDVerts[vbase*3], &params->detailVerts[(vb+nv)*3], sizeof(float)*3*(ndv-nv));
+				vbase += (unsigned short)(ndv-nv);
+			}
+		}
+		// Store triangles.
+		memcpy(navDTris, params->detailTris, sizeof(unsigned char)*4*params->detailTriCount);
+	}
+	else
+	{
+		// Create dummy detail mesh by triangulating polys.
+		int tbase = 0;
+		for (int i = 0; i < params->polyCount; ++i)
+		{
+			dtPolyDetail& dtl = navDMeshes[i];
+			const int nv = navPolys[i].vertCount;
+			dtl.vertBase = 0;
+			dtl.vertCount = 0;
+			dtl.triBase = (unsigned int)tbase;
+			dtl.triCount = (unsigned char)(nv-2);
+			// Triangulate polygon (local indices).
+			for (int j = 2; j < nv; ++j)
+			{
+				unsigned char* t = &navDTris[tbase*4];
+				t[0] = 0;
+				t[1] = (unsigned char)(j-1);
+				t[2] = (unsigned char)j;
+				// Bit for each edge that belongs to poly boundary.
+				t[3] = (1<<2);
+				if (j == 2) t[3] |= (1<<0);
+				if (j == nv-1) t[3] |= (1<<4);
+				tbase++;
+			}
+		}
+	}
+
+	// Store and create BVtree.
+	// TODO: take detail mesh into account! use byte per bbox extent?
+	if (params->buildBvTree)
+	{
+		createBVTree(params->verts, params->vertCount, params->polys, params->polyCount,
+					 nvp, params->cs, params->ch, params->polyCount*2, navBvtree);
+	}
+	
+	// Store Off-Mesh connections.
+	n = 0;
+	for (int i = 0; i < params->offMeshConCount; ++i)
+	{
+		// Only store connections which start from this tile.
+		if (offMeshConClass[i*2+0] == 0xff)
+		{
+			dtOffMeshConnection* con = &offMeshCons[n];
+			con->poly = (unsigned short)(offMeshPolyBase + n);
+			// Copy connection end-points.
+			const float* endPts = &params->offMeshConVerts[i*2*3];
+			dtVcopy(&con->pos[0], &endPts[0]);
+			dtVcopy(&con->pos[3], &endPts[3]);
+			con->rad = params->offMeshConRad[i];
+			con->flags = params->offMeshConDir[i] ? DT_OFFMESH_CON_BIDIR : 0;
+			con->side = offMeshConClass[i*2+1];
+			if (params->offMeshConUserID)
+				con->userId = params->offMeshConUserID[i];
+			n++;
+		}
+	}
+		
+	dtFree(offMeshConClass);
+	
+	*outData = data;
+	*outDataSize = dataSize;
+	
+	return true;
+}
+
+bool dtNavMeshHeaderSwapEndian(unsigned char* data, const int /*dataSize*/)
+{
+	dtMeshHeader* header = (dtMeshHeader*)data;
+	
+	int swappedMagic = DT_NAVMESH_MAGIC;
+	int swappedVersion = DT_NAVMESH_VERSION;
+	dtSwapEndian(&swappedMagic);
+	dtSwapEndian(&swappedVersion);
+	
+	if ((header->magic != DT_NAVMESH_MAGIC || header->version != DT_NAVMESH_VERSION) &&
+		(header->magic != swappedMagic || header->version != swappedVersion))
+	{
+		return false;
+	}
+		
+	dtSwapEndian(&header->magic);
+	dtSwapEndian(&header->version);
+	dtSwapEndian(&header->x);
+	dtSwapEndian(&header->y);
+	dtSwapEndian(&header->layer);
+	dtSwapEndian(&header->userId);
+	dtSwapEndian(&header->polyCount);
+	dtSwapEndian(&header->vertCount);
+	dtSwapEndian(&header->maxLinkCount);
+	dtSwapEndian(&header->detailMeshCount);
+	dtSwapEndian(&header->detailVertCount);
+	dtSwapEndian(&header->detailTriCount);
+	dtSwapEndian(&header->bvNodeCount);
+	dtSwapEndian(&header->offMeshConCount);
+	dtSwapEndian(&header->offMeshBase);
+	dtSwapEndian(&header->walkableHeight);
+	dtSwapEndian(&header->walkableRadius);
+	dtSwapEndian(&header->walkableClimb);
+	dtSwapEndian(&header->bmin[0]);
+	dtSwapEndian(&header->bmin[1]);
+	dtSwapEndian(&header->bmin[2]);
+	dtSwapEndian(&header->bmax[0]);
+	dtSwapEndian(&header->bmax[1]);
+	dtSwapEndian(&header->bmax[2]);
+	dtSwapEndian(&header->bvQuantFactor);
+
+	// Freelist index and pointers are updated when tile is added, no need to swap.
+
+	return true;
+}
+
+/// @par
+///
+/// @warning This function assumes that the header is in the correct endianess already. 
+/// Call #dtNavMeshHeaderSwapEndian() first on the data if the data is expected to be in wrong endianess 
+/// to start with. Call #dtNavMeshHeaderSwapEndian() after the data has been swapped if converting from 
+/// native to foreign endianess.
+bool dtNavMeshDataSwapEndian(unsigned char* data, const int /*dataSize*/)
+{
+	// Make sure the data is in right format.
+	dtMeshHeader* header = (dtMeshHeader*)data;
+	if (header->magic != DT_NAVMESH_MAGIC)
+		return false;
+	if (header->version != DT_NAVMESH_VERSION)
+		return false;
+	
+	// Patch header pointers.
+	const int headerSize = dtAlign4(sizeof(dtMeshHeader));
+	const int vertsSize = dtAlign4(sizeof(float)*3*header->vertCount);
+	const int polysSize = dtAlign4(sizeof(dtPoly)*header->polyCount);
+	const int linksSize = dtAlign4(sizeof(dtLink)*(header->maxLinkCount));
+	const int detailMeshesSize = dtAlign4(sizeof(dtPolyDetail)*header->detailMeshCount);
+	const int detailVertsSize = dtAlign4(sizeof(float)*3*header->detailVertCount);
+	const int detailTrisSize = dtAlign4(sizeof(unsigned char)*4*header->detailTriCount);
+	const int bvtreeSize = dtAlign4(sizeof(dtBVNode)*header->bvNodeCount);
+	const int offMeshLinksSize = dtAlign4(sizeof(dtOffMeshConnection)*header->offMeshConCount);
+	
+	unsigned char* d = data + headerSize;
+	float* verts = (float*)d; d += vertsSize;
+	dtPoly* polys = (dtPoly*)d; d += polysSize;
+	/*dtLink* links = (dtLink*)d;*/ d += linksSize;
+	dtPolyDetail* detailMeshes = (dtPolyDetail*)d; d += detailMeshesSize;
+	float* detailVerts = (float*)d; d += detailVertsSize;
+	/*unsigned char* detailTris = (unsigned char*)d;*/ d += detailTrisSize;
+	dtBVNode* bvTree = (dtBVNode*)d; d += bvtreeSize;
+	dtOffMeshConnection* offMeshCons = (dtOffMeshConnection*)d; d += offMeshLinksSize;
+	
+	// Vertices
+	for (int i = 0; i < header->vertCount*3; ++i)
+	{
+		dtSwapEndian(&verts[i]);
+	}
+
+	// Polys
+	for (int i = 0; i < header->polyCount; ++i)
+	{
+		dtPoly* p = &polys[i];
+		// poly->firstLink is update when tile is added, no need to swap.
+		for (int j = 0; j < DT_VERTS_PER_POLYGON; ++j)
+		{
+			dtSwapEndian(&p->verts[j]);
+			dtSwapEndian(&p->neis[j]);
+		}
+		dtSwapEndian(&p->flags);
+	}
+
+	// Links are rebuild when tile is added, no need to swap.
+
+	// Detail meshes
+	for (int i = 0; i < header->detailMeshCount; ++i)
+	{
+		dtPolyDetail* pd = &detailMeshes[i];
+		dtSwapEndian(&pd->vertBase);
+		dtSwapEndian(&pd->triBase);
+	}
+	
+	// Detail verts
+	for (int i = 0; i < header->detailVertCount*3; ++i)
+	{
+		dtSwapEndian(&detailVerts[i]);
+	}
+
+	// BV-tree
+	for (int i = 0; i < header->bvNodeCount; ++i)
+	{
+		dtBVNode* node = &bvTree[i];
+		for (int j = 0; j < 3; ++j)
+		{
+			dtSwapEndian(&node->bmin[j]);
+			dtSwapEndian(&node->bmax[j]);
+		}
+		dtSwapEndian(&node->i);
+	}
+
+	// Off-mesh Connections.
+	for (int i = 0; i < header->offMeshConCount; ++i)
+	{
+		dtOffMeshConnection* con = &offMeshCons[i];
+		for (int j = 0; j < 6; ++j)
+			dtSwapEndian(&con->pos[j]);
+		dtSwapEndian(&con->rad);
+		dtSwapEndian(&con->poly);
+	}
+	
+	return true;
+}

ThirdParty/Detour/Source/DetourNavMeshQuery.cpp

@@ -0,0 +1,3374 @@
+//
+// Copyright (c) 2009-2010 Mikko Mononen [email protected]
+//
+// 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.
+//
+
+#include <math.h>
+#include <float.h>
+#include <string.h>
+#include "DetourNavMeshQuery.h"
+#include "DetourNavMesh.h"
+#include "DetourNode.h"
+#include "DetourCommon.h"
+#include "DetourAlloc.h"
+#include "DetourAssert.h"
+#include <new>
+
+/// @class dtQueryFilter
+///
+/// <b>The Default Implementation</b>
+/// 
+/// At construction: All area costs default to 1.0.  All flags are included
+/// and none are excluded.
+/// 
+/// If a polygon has both an include and an exclude flag, it will be excluded.
+/// 
+/// The way filtering works, a navigation mesh polygon must have at least one flag 
+/// set to ever be considered by a query. So a polygon with no flags will never
+/// be considered.
+///
+/// Setting the include flags to 0 will result in all polygons being excluded.
+///
+/// <b>Custom Implementations</b>
+/// 
+/// DT_VIRTUAL_QUERYFILTER must be defined in order to extend this class.
+/// 
+/// Implement a custom query filter by overriding the virtual passFilter() 
+/// and getCost() functions. If this is done, both functions should be as 
+/// fast as possible. Use cached local copies of data rather than accessing 
+/// your own objects where possible.
+/// 
+/// Custom implementations do not need to adhere to the flags or cost logic 
+/// used by the default implementation.  
+/// 
+/// In order for A* searches to work properly, the cost should be proportional to
+/// the travel distance. Implementing a cost modifier less than 1.0 is likely 
+/// to lead to problems during pathfinding.
+///
+/// @see dtNavMeshQuery
+
+dtQueryFilter::dtQueryFilter() :
+	m_includeFlags(0xffff),
+	m_excludeFlags(0)
+{
+	for (int i = 0; i < DT_MAX_AREAS; ++i)
+		m_areaCost[i] = 1.0f;
+}
+
+#ifdef DT_VIRTUAL_QUERYFILTER
+bool dtQueryFilter::passFilter(const dtPolyRef /*ref*/,
+							   const dtMeshTile* /*tile*/,
+							   const dtPoly* poly) const
+{
+	return (poly->flags & m_includeFlags) != 0 && (poly->flags & m_excludeFlags) == 0;
+}
+
+float dtQueryFilter::getCost(const float* pa, const float* pb,
+							 const dtPolyRef /*prevRef*/, const dtMeshTile* /*prevTile*/, const dtPoly* /*prevPoly*/,
+							 const dtPolyRef /*curRef*/, const dtMeshTile* /*curTile*/, const dtPoly* curPoly,
+							 const dtPolyRef /*nextRef*/, const dtMeshTile* /*nextTile*/, const dtPoly* /*nextPoly*/) const
+{
+	return dtVdist(pa, pb) * m_areaCost[curPoly->getArea()];
+}
+#else
+inline bool dtQueryFilter::passFilter(const dtPolyRef /*ref*/,
+									  const dtMeshTile* /*tile*/,
+									  const dtPoly* poly) const
+{
+	return (poly->flags & m_includeFlags) != 0 && (poly->flags & m_excludeFlags) == 0;
+}
+
+inline float dtQueryFilter::getCost(const float* pa, const float* pb,
+									const dtPolyRef /*prevRef*/, const dtMeshTile* /*prevTile*/, const dtPoly* /*prevPoly*/,
+									const dtPolyRef /*curRef*/, const dtMeshTile* /*curTile*/, const dtPoly* curPoly,
+									const dtPolyRef /*nextRef*/, const dtMeshTile* /*nextTile*/, const dtPoly* /*nextPoly*/) const
+{
+	return dtVdist(pa, pb) * m_areaCost[curPoly->getArea()];
+}
+#endif	
+	
+static const float H_SCALE = 0.999f; // Search heuristic scale.
+
+
+dtNavMeshQuery* dtAllocNavMeshQuery()
+{
+	void* mem = dtAlloc(sizeof(dtNavMeshQuery), DT_ALLOC_PERM);
+	if (!mem) return 0;
+	return new(mem) dtNavMeshQuery;
+}
+
+void dtFreeNavMeshQuery(dtNavMeshQuery* navmesh)
+{
+	if (!navmesh) return;
+	navmesh->~dtNavMeshQuery();
+	dtFree(navmesh);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////
+
+/// @class dtNavMeshQuery
+///
+/// For methods that support undersized buffers, if the buffer is too small 
+/// to hold the entire result set the return status of the method will include 
+/// the #DT_BUFFER_TOO_SMALL flag.
+///
+/// Constant member functions can be used by multiple clients without side
+/// effects. (E.g. No change to the closed list. No impact on an in-progress
+/// sliced path query. Etc.)
+/// 
+/// Walls and portals: A @e wall is a polygon segment that is 
+/// considered impassable. A @e portal is a passable segment between polygons.
+/// A portal may be treated as a wall based on the dtQueryFilter used for a query.
+///
+/// @see dtNavMesh, dtQueryFilter, #dtAllocNavMeshQuery(), #dtAllocNavMeshQuery()
+
+dtNavMeshQuery::dtNavMeshQuery() :
+	m_nav(0),
+	m_tinyNodePool(0),
+	m_nodePool(0),
+	m_openList(0)
+{
+	memset(&m_query, 0, sizeof(dtQueryData));
+}
+
+dtNavMeshQuery::~dtNavMeshQuery()
+{
+	if (m_tinyNodePool)
+		m_tinyNodePool->~dtNodePool();
+	if (m_nodePool)
+		m_nodePool->~dtNodePool();
+	if (m_openList)
+		m_openList->~dtNodeQueue();
+	dtFree(m_tinyNodePool);
+	dtFree(m_nodePool);
+	dtFree(m_openList);
+}
+
+/// @par 
+///
+/// Must be the first function called after construction, before other
+/// functions are used.
+///
+/// This function can be used multiple times.
+dtStatus dtNavMeshQuery::init(const dtNavMesh* nav, const int maxNodes)
+{
+	m_nav = nav;
+	
+	if (!m_nodePool || m_nodePool->getMaxNodes() < maxNodes)
+	{
+		if (m_nodePool)
+		{
+			m_nodePool->~dtNodePool();
+			dtFree(m_nodePool);
+			m_nodePool = 0;
+		}
+		m_nodePool = new (dtAlloc(sizeof(dtNodePool), DT_ALLOC_PERM)) dtNodePool(maxNodes, dtNextPow2(maxNodes/4));
+		if (!m_nodePool)
+			return DT_FAILURE | DT_OUT_OF_MEMORY;
+	}
+	else
+	{
+		m_nodePool->clear();
+	}
+	
+	if (!m_tinyNodePool)
+	{
+		m_tinyNodePool = new (dtAlloc(sizeof(dtNodePool), DT_ALLOC_PERM)) dtNodePool(64, 32);
+		if (!m_tinyNodePool)
+			return DT_FAILURE | DT_OUT_OF_MEMORY;
+	}
+	else
+	{
+		m_tinyNodePool->clear();
+	}
+	
+	// TODO: check the open list size too.
+	if (!m_openList || m_openList->getCapacity() < maxNodes)
+	{
+		if (m_openList)
+		{
+			m_openList->~dtNodeQueue();
+			dtFree(m_openList);
+			m_openList = 0;
+		}
+		m_openList = new (dtAlloc(sizeof(dtNodeQueue), DT_ALLOC_PERM)) dtNodeQueue(maxNodes);
+		if (!m_openList)
+			return DT_FAILURE | DT_OUT_OF_MEMORY;
+	}
+	else
+	{
+		m_openList->clear();
+	}
+	
+	return DT_SUCCESS;
+}
+
+dtStatus dtNavMeshQuery::findRandomPoint(const dtQueryFilter* filter, float (*frand)(),
+										 dtPolyRef* randomRef, float* randomPt) const
+{
+	dtAssert(m_nav);
+	
+	// Randomly pick one tile. Assume that all tiles cover roughly the same area.
+	const dtMeshTile* tile = 0;
+	float tsum = 0.0f;
+	for (int i = 0; i < m_nav->getMaxTiles(); i++)
+	{
+		const dtMeshTile* t = m_nav->getTile(i);
+		if (!t || !t->header) continue;
+		
+		// Choose random tile using reservoi sampling.
+		const float area = 1.0f; // Could be tile area too.
+		tsum += area;
+		const float u = frand();
+		if (u*tsum <= area)
+			tile = t;
+	}
+	if (!tile)
+		return DT_FAILURE;
+
+	// Randomly pick one polygon weighted by polygon area.
+	const dtPoly* poly = 0;
+	dtPolyRef polyRef = 0;
+	const dtPolyRef base = m_nav->getPolyRefBase(tile);
+
+	float areaSum = 0.0f;
+	for (int i = 0; i < tile->header->polyCount; ++i)
+	{
+		const dtPoly* p = &tile->polys[i];
+		// Do not return off-mesh connection polygons.
+		if (p->getType() != DT_POLYTYPE_GROUND)
+			continue;
+		// Must pass filter
+		const dtPolyRef ref = base | (dtPolyRef)i;
+		if (!filter->passFilter(ref, tile, p))
+			continue;
+
+		// Calc area of the polygon.
+		float polyArea = 0.0f;
+		for (int j = 2; j < p->vertCount; ++j)
+		{
+			const float* va = &tile->verts[p->verts[0]*3];
+			const float* vb = &tile->verts[p->verts[j-1]*3];
+			const float* vc = &tile->verts[p->verts[j]*3];
+			polyArea += dtTriArea2D(va,vb,vc);
+		}
+
+		// Choose random polygon weighted by area, using reservoi sampling.
+		areaSum += polyArea;
+		const float u = frand();
+		if (u*areaSum <= polyArea)
+		{
+			poly = p;
+			polyRef = ref;
+		}
+	}
+	
+	if (!poly)
+		return DT_FAILURE;
+
+	// Randomly pick point on polygon.
+	const float* v = &tile->verts[poly->verts[0]*3];
+	float verts[3*DT_VERTS_PER_POLYGON];
+	float areas[DT_VERTS_PER_POLYGON];
+	dtVcopy(&verts[0*3],v);
+	for (int j = 1; j < poly->vertCount; ++j)
+	{
+		v = &tile->verts[poly->verts[j]*3];
+		dtVcopy(&verts[j*3],v);
+	}
+	
+	const float s = frand();
+	const float t = frand();
+	
+	float pt[3];
+	dtRandomPointInConvexPoly(verts, poly->vertCount, areas, s, t, pt);
+	
+	float h = 0.0f;
+	dtStatus status = getPolyHeight(polyRef, pt, &h);
+	if (dtStatusFailed(status))
+		return status;
+	pt[1] = h;
+	
+	dtVcopy(randomPt, pt);
+	*randomRef = polyRef;
+
+	return DT_SUCCESS;
+}
+
+dtStatus dtNavMeshQuery::findRandomPointAroundCircle(dtPolyRef startRef, const float* centerPos, const float radius,
+													 const dtQueryFilter* filter, float (*frand)(),
+													 dtPolyRef* randomRef, float* randomPt) const
+{
+	dtAssert(m_nav);
+	dtAssert(m_nodePool);
+	dtAssert(m_openList);
+	
+	// Validate input
+	if (!startRef || !m_nav->isValidPolyRef(startRef))
+		return DT_FAILURE | DT_INVALID_PARAM;
+	
+	const dtMeshTile* startTile = 0;
+	const dtPoly* startPoly = 0;
+	m_nav->getTileAndPolyByRefUnsafe(startRef, &startTile, &startPoly);
+	if (!filter->passFilter(startRef, startTile, startPoly))
+		return DT_FAILURE | DT_INVALID_PARAM;
+	
+	m_nodePool->clear();
+	m_openList->clear();
+	
+	dtNode* startNode = m_nodePool->getNode(startRef);
+	dtVcopy(startNode->pos, centerPos);
+	startNode->pidx = 0;
+	startNode->cost = 0;
+	startNode->total = 0;
+	startNode->id = startRef;
+	startNode->flags = DT_NODE_OPEN;
+	m_openList->push(startNode);
+	
+	dtStatus status = DT_SUCCESS;
+	
+	const float radiusSqr = dtSqr(radius);
+	float areaSum = 0.0f;
+
+	const dtMeshTile* randomTile = 0;
+	const dtPoly* randomPoly = 0;
+	dtPolyRef randomPolyRef = 0;
+
+	while (!m_openList->empty())
+	{
+		dtNode* bestNode = m_openList->pop();
+		bestNode->flags &= ~DT_NODE_OPEN;
+		bestNode->flags |= DT_NODE_CLOSED;
+		
+		// Get poly and tile.
+		// The API input has been cheked already, skip checking internal data.
+		const dtPolyRef bestRef = bestNode->id;
+		const dtMeshTile* bestTile = 0;
+		const dtPoly* bestPoly = 0;
+		m_nav->getTileAndPolyByRefUnsafe(bestRef, &bestTile, &bestPoly);
+
+		// Place random locations on on ground.
+		if (bestPoly->getType() == DT_POLYTYPE_GROUND)
+		{
+			// Calc area of the polygon.
+			float polyArea = 0.0f;
+			for (int j = 2; j < bestPoly->vertCount; ++j)
+			{
+				const float* va = &bestTile->verts[bestPoly->verts[0]*3];
+				const float* vb = &bestTile->verts[bestPoly->verts[j-1]*3];
+				const float* vc = &bestTile->verts[bestPoly->verts[j]*3];
+				polyArea += dtTriArea2D(va,vb,vc);
+			}
+			// Choose random polygon weighted by area, using reservoi sampling.
+			areaSum += polyArea;
+			const float u = frand();
+			if (u*areaSum <= polyArea)
+			{
+				randomTile = bestTile;
+				randomPoly = bestPoly;
+				randomPolyRef = bestRef;
+			}
+		}
+		
+		
+		// Get parent poly and tile.
+		dtPolyRef parentRef = 0;
+		const dtMeshTile* parentTile = 0;
+		const dtPoly* parentPoly = 0;
+		if (bestNode->pidx)
+			parentRef = m_nodePool->getNodeAtIdx(bestNode->pidx)->id;
+		if (parentRef)
+			m_nav->getTileAndPolyByRefUnsafe(parentRef, &parentTile, &parentPoly);
+		
+		for (unsigned int i = bestPoly->firstLink; i != DT_NULL_LINK; i = bestTile->links[i].next)
+		{
+			const dtLink* link = &bestTile->links[i];
+			dtPolyRef neighbourRef = link->ref;
+			// Skip invalid neighbours and do not follow back to parent.
+			if (!neighbourRef || neighbourRef == parentRef)
+				continue;
+			
+			// Expand to neighbour
+			const dtMeshTile* neighbourTile = 0;
+			const dtPoly* neighbourPoly = 0;
+			m_nav->getTileAndPolyByRefUnsafe(neighbourRef, &neighbourTile, &neighbourPoly);
+			
+			// Do not advance if the polygon is excluded by the filter.
+			if (!filter->passFilter(neighbourRef, neighbourTile, neighbourPoly))
+				continue;
+			
+			// Find edge and calc distance to the edge.
+			float va[3], vb[3];
+			if (!getPortalPoints(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly, neighbourTile, va, vb))
+				continue;
+			
+			// If the circle is not touching the next polygon, skip it.
+			float tseg;
+			float distSqr = dtDistancePtSegSqr2D(centerPos, va, vb, tseg);
+			if (distSqr > radiusSqr)
+				continue;
+			
+			dtNode* neighbourNode = m_nodePool->getNode(neighbourRef);
+			if (!neighbourNode)
+			{
+				status |= DT_OUT_OF_NODES;
+				continue;
+			}
+			
+			if (neighbourNode->flags & DT_NODE_CLOSED)
+				continue;
+			
+			// Cost
+			if (neighbourNode->flags == 0)
+				dtVlerp(neighbourNode->pos, va, vb, 0.5f);
+			
+			const float total = bestNode->total + dtVdist(bestNode->pos, neighbourNode->pos);
+			
+			// The node is already in open list and the new result is worse, skip.
+			if ((neighbourNode->flags & DT_NODE_OPEN) && total >= neighbourNode->total)
+				continue;
+			
+			neighbourNode->id = neighbourRef;
+			neighbourNode->flags = (neighbourNode->flags & ~DT_NODE_CLOSED);
+			neighbourNode->pidx = m_nodePool->getNodeIdx(bestNode);
+			neighbourNode->total = total;
+			
+			if (neighbourNode->flags & DT_NODE_OPEN)
+			{
+				m_openList->modify(neighbourNode);
+			}
+			else
+			{
+				neighbourNode->flags = DT_NODE_OPEN;
+				m_openList->push(neighbourNode);
+			}
+		}
+	}
+	
+	if (!randomPoly)
+		return DT_FAILURE;
+	
+	// Randomly pick point on polygon.
+	const float* v = &randomTile->verts[randomPoly->verts[0]*3];
+	float verts[3*DT_VERTS_PER_POLYGON];
+	float areas[DT_VERTS_PER_POLYGON];
+	dtVcopy(&verts[0*3],v);
+	for (int j = 1; j < randomPoly->vertCount; ++j)
+	{
+		v = &randomTile->verts[randomPoly->verts[j]*3];
+		dtVcopy(&verts[j*3],v);
+	}
+	
+	const float s = frand();
+	const float t = frand();
+	
+	float pt[3];
+	dtRandomPointInConvexPoly(verts, randomPoly->vertCount, areas, s, t, pt);
+	
+	float h = 0.0f;
+	dtStatus stat = getPolyHeight(randomPolyRef, pt, &h);
+	if (dtStatusFailed(status))
+		return stat;
+	pt[1] = h;
+	
+	dtVcopy(randomPt, pt);
+	*randomRef = randomPolyRef;
+	
+	return DT_SUCCESS;
+}
+
+
+//////////////////////////////////////////////////////////////////////////////////////////
+
+/// @par
+///
+/// Uses the detail polygons to find the surface height. (Most accurate.)
+///
+/// @p pos does not have to be within the bounds of the polygon or navigation mesh.
+///
+/// See closestPointOnPolyBoundary() for a limited but faster option.
+///
+dtStatus dtNavMeshQuery::closestPointOnPoly(dtPolyRef ref, const float* pos, float* closest) const
+{
+	dtAssert(m_nav);
+	const dtMeshTile* tile = 0;
+	const dtPoly* poly = 0;
+	if (dtStatusFailed(m_nav->getTileAndPolyByRef(ref, &tile, &poly)))
+		return DT_FAILURE | DT_INVALID_PARAM;
+	if (!tile)
+		return DT_FAILURE | DT_INVALID_PARAM;
+	
+	closestPointOnPolyInTile(tile, poly, pos, closest);
+	
+	return DT_SUCCESS;
+}
+
+void dtNavMeshQuery::closestPointOnPolyInTile(const dtMeshTile* tile, const dtPoly* poly,
+											  const float* pos, float* closest) const
+{
+	// Off-mesh connections don't have detail polygons.
+	if (poly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION)
+	{
+		const float* v0 = &tile->verts[poly->verts[0]*3];
+		const float* v1 = &tile->verts[poly->verts[1]*3];
+		const float d0 = dtVdist(pos, v0);
+		const float d1 = dtVdist(pos, v1);
+		const float u = d0 / (d0+d1);
+		dtVlerp(closest, v0, v1, u);
+		return;
+	}
+
+	const unsigned int ip = (unsigned int)(poly - tile->polys);
+	const dtPolyDetail* pd = &tile->detailMeshes[ip];
+
+	// Clamp point to be inside the polygon.
+	float verts[DT_VERTS_PER_POLYGON*3];	
+	float edged[DT_VERTS_PER_POLYGON];
+	float edget[DT_VERTS_PER_POLYGON];
+	const int nv = poly->vertCount;
+	for (int i = 0; i < nv; ++i)
+		dtVcopy(&verts[i*3], &tile->verts[poly->verts[i]*3]);
+	
+	dtVcopy(closest, pos);
+	if (!dtDistancePtPolyEdgesSqr(pos, verts, nv, edged, edget))
+	{
+		// Point is outside the polygon, dtClamp to nearest edge.
+		float dmin = FLT_MAX;
+		int imin = -1;
+		for (int i = 0; i < nv; ++i)
+		{
+			if (edged[i] < dmin)
+			{
+				dmin = edged[i];
+				imin = i;
+			}
+		}
+		const float* va = &verts[imin*3];
+		const float* vb = &verts[((imin+1)%nv)*3];
+		dtVlerp(closest, va, vb, edget[imin]);
+	}
+
+	// Find height at the location.
+	for (int j = 0; j < pd->triCount; ++j)
+	{
+		const unsigned char* t = &tile->detailTris[(pd->triBase+j)*4];
+		const float* v[3];
+		for (int k = 0; k < 3; ++k)
+		{
+			if (t[k] < poly->vertCount)
+				v[k] = &tile->verts[poly->verts[t[k]]*3];
+			else
+				v[k] = &tile->detailVerts[(pd->vertBase+(t[k]-poly->vertCount))*3];
+		}
+		float h;
+		if (dtClosestHeightPointTriangle(pos, v[0], v[1], v[2], h))
+		{
+			closest[1] = h;
+			break;
+		}
+	}
+
+/*	float closestDistSqr = FLT_MAX;
+	for (int j = 0; j < pd->triCount; ++j)
+	{
+		const unsigned char* t = &tile->detailTris[(pd->triBase+j)*4];
+		const float* v[3];
+		for (int k = 0; k < 3; ++k)
+		{
+			if (t[k] < poly->vertCount)
+				v[k] = &tile->verts[poly->verts[t[k]]*3];
+			else
+				v[k] = &tile->detailVerts[(pd->vertBase+(t[k]-poly->vertCount))*3];
+		}
+
+		float pt[3];
+		dtClosestPtPointTriangle(pt, pos, v[0], v[1], v[2]);
+		float d = dtVdistSqr(pos, pt);
+		
+		if (d < closestDistSqr)
+		{
+			dtVcopy(closest, pt);
+			closestDistSqr = d;
+		}
+	}*/
+}
+
+/// @par
+///
+/// Much faster than closestPointOnPoly().
+///
+/// If the provided position lies within the polygon's xz-bounds (above or below), 
+/// then @p pos and @p closest will be equal.
+///
+/// The height of @p closest will be the polygon boundary.  The height detail is not used.
+/// 
+/// @p pos does not have to be within the bounds of the polybon or the navigation mesh.
+/// 
+dtStatus dtNavMeshQuery::closestPointOnPolyBoundary(dtPolyRef ref, const float* pos, float* closest) const
+{
+	dtAssert(m_nav);
+	
+	const dtMeshTile* tile = 0;
+	const dtPoly* poly = 0;
+	if (dtStatusFailed(m_nav->getTileAndPolyByRef(ref, &tile, &poly)))
+		return DT_FAILURE | DT_INVALID_PARAM;
+	
+	// Collect vertices.
+	float verts[DT_VERTS_PER_POLYGON*3];	
+	float edged[DT_VERTS_PER_POLYGON];
+	float edget[DT_VERTS_PER_POLYGON];
+	int nv = 0;
+	for (int i = 0; i < (int)poly->vertCount; ++i)
+	{
+		dtVcopy(&verts[nv*3], &tile->verts[poly->verts[i]*3]);
+		nv++;
+	}		
+	
+	bool inside = dtDistancePtPolyEdgesSqr(pos, verts, nv, edged, edget);
+	if (inside)
+	{
+		// Point is inside the polygon, return the point.
+		dtVcopy(closest, pos);
+	}
+	else
+	{
+		// Point is outside the polygon, dtClamp to nearest edge.
+		float dmin = FLT_MAX;
+		int imin = -1;
+		for (int i = 0; i < nv; ++i)
+		{
+			if (edged[i] < dmin)
+			{
+				dmin = edged[i];
+				imin = i;
+			}
+		}
+		const float* va = &verts[imin*3];
+		const float* vb = &verts[((imin+1)%nv)*3];
+		dtVlerp(closest, va, vb, edget[imin]);
+	}
+	
+	return DT_SUCCESS;
+}
+
+/// @par
+///
+/// Will return #DT_FAILURE if the provided position is outside the xz-bounds 
+/// of the polygon.
+/// 
+dtStatus dtNavMeshQuery::getPolyHeight(dtPolyRef ref, const float* pos, float* height) const
+{
+	dtAssert(m_nav);
+
+	const dtMeshTile* tile = 0;
+	const dtPoly* poly = 0;
+	if (dtStatusFailed(m_nav->getTileAndPolyByRef(ref, &tile, &poly)))
+		return DT_FAILURE | DT_INVALID_PARAM;
+	
+	if (poly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION)
+	{
+		const float* v0 = &tile->verts[poly->verts[0]*3];
+		const float* v1 = &tile->verts[poly->verts[1]*3];
+		const float d0 = dtVdist(pos, v0);
+		const float d1 = dtVdist(pos, v1);
+		const float u = d0 / (d0+d1);
+		if (height)
+			*height = v0[1] + (v1[1] - v0[1]) * u;
+		return DT_SUCCESS;
+	}
+	else
+	{
+		const unsigned int ip = (unsigned int)(poly - tile->polys);
+		const dtPolyDetail* pd = &tile->detailMeshes[ip];
+		for (int j = 0; j < pd->triCount; ++j)
+		{
+			const unsigned char* t = &tile->detailTris[(pd->triBase+j)*4];
+			const float* v[3];
+			for (int k = 0; k < 3; ++k)
+			{
+				if (t[k] < poly->vertCount)
+					v[k] = &tile->verts[poly->verts[t[k]]*3];
+				else
+					v[k] = &tile->detailVerts[(pd->vertBase+(t[k]-poly->vertCount))*3];
+			}
+			float h;
+			if (dtClosestHeightPointTriangle(pos, v[0], v[1], v[2], h))
+			{
+				if (height)
+					*height = h;
+				return DT_SUCCESS;
+			}
+		}
+	}
+	
+	return DT_FAILURE | DT_INVALID_PARAM;
+}
+
+/// @par 
+///
+/// @note If the search box does not intersect any polygons the search will 
+/// return #DT_SUCCESS, but @p nearestRef will be zero. So if in doubt, check 
+/// @p nearestRef before using @p nearestPt.
+///
+/// @warning This function is not suitable for large area searches.  If the search
+/// extents overlaps more than 128 polygons it may return an invalid result.
+///
+dtStatus dtNavMeshQuery::findNearestPoly(const float* center, const float* extents,
+										 const dtQueryFilter* filter,
+										 dtPolyRef* nearestRef, float* nearestPt) const
+{
+	dtAssert(m_nav);
+
+	*nearestRef = 0;
+	
+	// Get nearby polygons from proximity grid.
+	dtPolyRef polys[128];
+	int polyCount = 0;
+	if (dtStatusFailed(queryPolygons(center, extents, filter, polys, &polyCount, 128)))
+		return DT_FAILURE | DT_INVALID_PARAM;
+	
+	// Find nearest polygon amongst the nearby polygons.
+	dtPolyRef nearest = 0;
+	float nearestDistanceSqr = FLT_MAX;
+	for (int i = 0; i < polyCount; ++i)
+	{
+		dtPolyRef ref = polys[i];
+		float closestPtPoly[3];
+		closestPointOnPoly(ref, center, closestPtPoly);
+		float d = dtVdistSqr(center, closestPtPoly);
+		if (d < nearestDistanceSqr)
+		{
+			if (nearestPt)
+				dtVcopy(nearestPt, closestPtPoly);
+			nearestDistanceSqr = d;
+			nearest = ref;
+		}
+	}
+	
+	if (nearestRef)
+		*nearestRef = nearest;
+	
+	return DT_SUCCESS;
+}
+
+dtPolyRef dtNavMeshQuery::findNearestPolyInTile(const dtMeshTile* tile, const float* center, const float* extents,
+												const dtQueryFilter* filter, float* nearestPt) const
+{
+	dtAssert(m_nav);
+	
+	float bmin[3], bmax[3];
+	dtVsub(bmin, center, extents);
+	dtVadd(bmax, center, extents);
+	
+	// Get nearby polygons from proximity grid.
+	dtPolyRef polys[128];
+	int polyCount = queryPolygonsInTile(tile, bmin, bmax, filter, polys, 128);
+	
+	// Find nearest polygon amongst the nearby polygons.
+	dtPolyRef nearest = 0;
+	float nearestDistanceSqr = FLT_MAX;
+	for (int i = 0; i < polyCount; ++i)
+	{
+		dtPolyRef ref = polys[i];
+		const dtPoly* poly = &tile->polys[m_nav->decodePolyIdPoly(ref)];
+		float closestPtPoly[3];
+		closestPointOnPolyInTile(tile, poly, center, closestPtPoly);
+			
+		float d = dtVdistSqr(center, closestPtPoly);
+		if (d < nearestDistanceSqr)
+		{
+			if (nearestPt)
+				dtVcopy(nearestPt, closestPtPoly);
+			nearestDistanceSqr = d;
+			nearest = ref;
+		}
+	}
+	
+	return nearest;
+}
+
+int dtNavMeshQuery::queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, const float* qmax,
+										const dtQueryFilter* filter,
+										dtPolyRef* polys, const int maxPolys) const
+{
+	dtAssert(m_nav);
+
+	if (tile->bvTree)
+	{
+		const dtBVNode* node = &tile->bvTree[0];
+		const dtBVNode* end = &tile->bvTree[tile->header->bvNodeCount];
+		const float* tbmin = tile->header->bmin;
+		const float* tbmax = tile->header->bmax;
+		const float qfac = tile->header->bvQuantFactor;
+		
+		// Calculate quantized box
+		unsigned short bmin[3], bmax[3];
+		// dtClamp query box to world box.
+		float minx = dtClamp(qmin[0], tbmin[0], tbmax[0]) - tbmin[0];
+		float miny = dtClamp(qmin[1], tbmin[1], tbmax[1]) - tbmin[1];
+		float minz = dtClamp(qmin[2], tbmin[2], tbmax[2]) - tbmin[2];
+		float maxx = dtClamp(qmax[0], tbmin[0], tbmax[0]) - tbmin[0];
+		float maxy = dtClamp(qmax[1], tbmin[1], tbmax[1]) - tbmin[1];
+		float maxz = dtClamp(qmax[2], tbmin[2], tbmax[2]) - tbmin[2];
+		// Quantize
+		bmin[0] = (unsigned short)(qfac * minx) & 0xfffe;
+		bmin[1] = (unsigned short)(qfac * miny) & 0xfffe;
+		bmin[2] = (unsigned short)(qfac * minz) & 0xfffe;
+		bmax[0] = (unsigned short)(qfac * maxx + 1) | 1;
+		bmax[1] = (unsigned short)(qfac * maxy + 1) | 1;
+		bmax[2] = (unsigned short)(qfac * maxz + 1) | 1;
+		
+		// Traverse tree
+		const dtPolyRef base = m_nav->getPolyRefBase(tile);
+		int n = 0;
+		while (node < end)
+		{
+			const bool overlap = dtOverlapQuantBounds(bmin, bmax, node->bmin, node->bmax);
+			const bool isLeafNode = node->i >= 0;
+			
+			if (isLeafNode && overlap)
+			{
+				dtPolyRef ref = base | (dtPolyRef)node->i;
+				if (filter->passFilter(ref, tile, &tile->polys[node->i]))
+				{
+					if (n < maxPolys)
+						polys[n++] = ref;
+				}
+			}
+			
+			if (overlap || isLeafNode)
+				node++;
+			else
+			{
+				const int escapeIndex = -node->i;
+				node += escapeIndex;
+			}
+		}
+		
+		return n;
+	}
+	else
+	{
+		float bmin[3], bmax[3];
+		int n = 0;
+		const dtPolyRef base = m_nav->getPolyRefBase(tile);
+		for (int i = 0; i < tile->header->polyCount; ++i)
+		{
+			const dtPoly* p = &tile->polys[i];
+			// Do not return off-mesh connection polygons.
+			if (p->getType() == DT_POLYTYPE_OFFMESH_CONNECTION)
+				continue;
+			// Must pass filter
+			const dtPolyRef ref = base | (dtPolyRef)i;
+			if (!filter->passFilter(ref, tile, p))
+				continue;
+			// Calc polygon bounds.
+			const float* v = &tile->verts[p->verts[0]*3];
+			dtVcopy(bmin, v);
+			dtVcopy(bmax, v);
+			for (int j = 1; j < p->vertCount; ++j)
+			{
+				v = &tile->verts[p->verts[j]*3];
+				dtVmin(bmin, v);
+				dtVmax(bmax, v);
+			}
+			if (dtOverlapBounds(qmin,qmax, bmin,bmax))
+			{
+				if (n < maxPolys)
+					polys[n++] = ref;
+			}
+		}
+		return n;
+	}
+}
+
+/// @par 
+///
+/// If no polygons are found, the function will return #DT_SUCCESS with a
+/// @p polyCount of zero.
+///
+/// If @p polys is too small to hold the entire result set, then the array will 
+/// be filled to capacity. The method of choosing which polygons from the 
+/// full set are included in the partial result set is undefined.
+///
+dtStatus dtNavMeshQuery::queryPolygons(const float* center, const float* extents,
+									   const dtQueryFilter* filter,
+									   dtPolyRef* polys, int* polyCount, const int maxPolys) const
+{
+	dtAssert(m_nav);
+	
+	float bmin[3], bmax[3];
+	dtVsub(bmin, center, extents);
+	dtVadd(bmax, center, extents);
+	
+	// Find tiles the query touches.
+	int minx, miny, maxx, maxy;
+	m_nav->calcTileLoc(bmin, &minx, &miny);
+	m_nav->calcTileLoc(bmax, &maxx, &maxy);
+
+	static const int MAX_NEIS = 32;
+	const dtMeshTile* neis[MAX_NEIS];
+	
+	int n = 0;
+	for (int y = miny; y <= maxy; ++y)
+	{
+		for (int x = minx; x <= maxx; ++x)
+		{
+			const int nneis = m_nav->getTilesAt(x,y,neis,MAX_NEIS);
+			for (int j = 0; j < nneis; ++j)
+			{
+				n += queryPolygonsInTile(neis[j], bmin, bmax, filter, polys+n, maxPolys-n);
+				if (n >= maxPolys)
+				{
+					*polyCount = n;
+					return DT_SUCCESS | DT_BUFFER_TOO_SMALL;
+				}
+			}
+		}
+	}
+	*polyCount = n;
+	
+	return DT_SUCCESS;
+}
+
+/// @par
+///
+/// If the end polygon cannot be reached through the navigation graph,
+/// the last polygon in the path will be the nearest the end polygon.
+///
+/// If the path array is to small to hold the full result, it will be filled as 
+/// far as possible from the start polygon toward the end polygon.
+///
+/// The start and end positions are used to calculate traversal costs. 
+/// (The y-values impact the result.)
+///
+dtStatus dtNavMeshQuery::findPath(dtPolyRef startRef, dtPolyRef endRef,
+								  const float* startPos, const float* endPos,
+								  const dtQueryFilter* filter,
+								  dtPolyRef* path, int* pathCount, const int maxPath) const
+{
+	dtAssert(m_nav);
+	dtAssert(m_nodePool);
+	dtAssert(m_openList);
+	
+	*pathCount = 0;
+	
+	if (!startRef || !endRef)
+		return DT_FAILURE | DT_INVALID_PARAM;
+	
+	if (!maxPath)
+		return DT_FAILURE | DT_INVALID_PARAM;
+	
+	// Validate input
+	if (!m_nav->isValidPolyRef(startRef) || !m_nav->isValidPolyRef(endRef))
+		return DT_FAILURE | DT_INVALID_PARAM;
+	
+	if (startRef == endRef)
+	{
+		path[0] = startRef;
+		*pathCount = 1;
+		return DT_SUCCESS;
+	}
+	
+	m_nodePool->clear();
+	m_openList->clear();
+	
+	dtNode* startNode = m_nodePool->getNode(startRef);
+	dtVcopy(startNode->pos, startPos);
+	startNode->pidx = 0;
+	startNode->cost = 0;
+	startNode->total = dtVdist(startPos, endPos) * H_SCALE;
+	startNode->id = startRef;
+	startNode->flags = DT_NODE_OPEN;
+	m_openList->push(startNode);
+	
+	dtNode* lastBestNode = startNode;
+	float lastBestNodeCost = startNode->total;
+	
+	dtStatus status = DT_SUCCESS;
+	
+	while (!m_openList->empty())
+	{
+		// Remove node from open list and put it in closed list.
+		dtNode* bestNode = m_openList->pop();
+		bestNode->flags &= ~DT_NODE_OPEN;
+		bestNode->flags |= DT_NODE_CLOSED;
+		
+		// Reached the goal, stop searching.
+		if (bestNode->id == endRef)
+		{
+			lastBestNode = bestNode;
+			break;
+		}
+		
+		// Get current poly and tile.
+		// The API input has been cheked already, skip checking internal data.
+		const dtPolyRef bestRef = bestNode->id;
+		const dtMeshTile* bestTile = 0;
+		const dtPoly* bestPoly = 0;
+		m_nav->getTileAndPolyByRefUnsafe(bestRef, &bestTile, &bestPoly);
+		
+		// Get parent poly and tile.
+		dtPolyRef parentRef = 0;
+		const dtMeshTile* parentTile = 0;
+		const dtPoly* parentPoly = 0;
+		if (bestNode->pidx)
+			parentRef = m_nodePool->getNodeAtIdx(bestNode->pidx)->id;
+		if (parentRef)
+			m_nav->getTileAndPolyByRefUnsafe(parentRef, &parentTile, &parentPoly);
+		
+		for (unsigned int i = bestPoly->firstLink; i != DT_NULL_LINK; i = bestTile->links[i].next)
+		{
+			dtPolyRef neighbourRef = bestTile->links[i].ref;
+			
+			// Skip invalid ids and do not expand back to where we came from.
+			if (!neighbourRef || neighbourRef == parentRef)
+				continue;
+			
+			// Get neighbour poly and tile.
+			// The API input has been cheked already, skip checking internal data.
+			const dtMeshTile* neighbourTile = 0;
+			const dtPoly* neighbourPoly = 0;
+			m_nav->getTileAndPolyByRefUnsafe(neighbourRef, &neighbourTile, &neighbourPoly);			
+			
+			if (!filter->passFilter(neighbourRef, neighbourTile, neighbourPoly))
+				continue;
+
+			dtNode* neighbourNode = m_nodePool->getNode(neighbourRef);
+			if (!neighbourNode)
+			{
+				status |= DT_OUT_OF_NODES;
+				continue;
+			}
+			
+			// If the node is visited the first time, calculate node position.
+			if (neighbourNode->flags == 0)
+			{
+				getEdgeMidPoint(bestRef, bestPoly, bestTile,
+								neighbourRef, neighbourPoly, neighbourTile,
+								neighbourNode->pos);
+			}
+
+			// Calculate cost and heuristic.
+			float cost = 0;
+			float heuristic = 0;
+			
+			// Special case for last node.
+			if (neighbourRef == endRef)
+			{
+				// Cost
+				const float curCost = filter->getCost(bestNode->pos, neighbourNode->pos,
+													  parentRef, parentTile, parentPoly,
+													  bestRef, bestTile, bestPoly,
+													  neighbourRef, neighbourTile, neighbourPoly);
+				const float endCost = filter->getCost(neighbourNode->pos, endPos,
+													  bestRef, bestTile, bestPoly,
+													  neighbourRef, neighbourTile, neighbourPoly,
+													  0, 0, 0);
+				
+				cost = bestNode->cost + curCost + endCost;
+				heuristic = 0;
+			}
+			else
+			{
+				// Cost
+				const float curCost = filter->getCost(bestNode->pos, neighbourNode->pos,
+													  parentRef, parentTile, parentPoly,
+													  bestRef, bestTile, bestPoly,
+													  neighbourRef, neighbourTile, neighbourPoly);
+				cost = bestNode->cost + curCost;
+				heuristic = dtVdist(neighbourNode->pos, endPos)*H_SCALE;
+			}
+
+			const float total = cost + heuristic;
+			
+			// The node is already in open list and the new result is worse, skip.
+			if ((neighbourNode->flags & DT_NODE_OPEN) && total >= neighbourNode->total)
+				continue;
+			// The node is already visited and process, and the new result is worse, skip.
+			if ((neighbourNode->flags & DT_NODE_CLOSED) && total >= neighbourNode->total)
+				continue;
+			
+			// Add or update the node.
+			neighbourNode->pidx = m_nodePool->getNodeIdx(bestNode);
+			neighbourNode->id = neighbourRef;
+			neighbourNode->flags = (neighbourNode->flags & ~DT_NODE_CLOSED);
+			neighbourNode->cost = cost;
+			neighbourNode->total = total;
+			
+			if (neighbourNode->flags & DT_NODE_OPEN)
+			{
+				// Already in open, update node location.
+				m_openList->modify(neighbourNode);
+			}
+			else
+			{
+				// Put the node in open list.
+				neighbourNode->flags |= DT_NODE_OPEN;
+				m_openList->push(neighbourNode);
+			}
+			
+			// Update nearest node to target so far.
+			if (heuristic < lastBestNodeCost)
+			{
+				lastBestNodeCost = heuristic;
+				lastBestNode = neighbourNode;
+			}
+		}
+	}
+	
+	if (lastBestNode->id != endRef)
+		status |= DT_PARTIAL_RESULT;
+	
+	// Reverse the path.
+	dtNode* prev = 0;
+	dtNode* node = lastBestNode;
+	do
+	{
+		dtNode* next = m_nodePool->getNodeAtIdx(node->pidx);
+		node->pidx = m_nodePool->getNodeIdx(prev);
+		prev = node;
+		node = next;
+	}
+	while (node);
+	
+	// Store path
+	node = prev;
+	int n = 0;
+	do
+	{
+		path[n++] = node->id;
+		if (n >= maxPath)
+		{
+			status |= DT_BUFFER_TOO_SMALL;
+			break;
+		}
+		node = m_nodePool->getNodeAtIdx(node->pidx);
+	}
+	while (node);
+	
+	*pathCount = n;
+	
+	return status;
+}
+
+/// @par
+///
+/// @warning Calling any non-slice methods before calling finalizeSlicedFindPath() 
+/// or finalizeSlicedFindPathPartial() may result in corrupted data!
+///
+/// The @p filter pointer is stored and used for the duration of the sliced
+/// path query.
+///
+dtStatus dtNavMeshQuery::initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef,
+											const float* startPos, const float* endPos,
+											const dtQueryFilter* filter)
+{
+	dtAssert(m_nav);
+	dtAssert(m_nodePool);
+	dtAssert(m_openList);
+
+	// Init path state.
+	memset(&m_query, 0, sizeof(dtQueryData));
+	m_query.status = DT_FAILURE;
+	m_query.startRef = startRef;
+	m_query.endRef = endRef;
+	dtVcopy(m_query.startPos, startPos);
+	dtVcopy(m_query.endPos, endPos);
+	m_query.filter = filter;
+	
+	if (!startRef || !endRef)
+		return DT_FAILURE | DT_INVALID_PARAM;
+	
+	// Validate input
+	if (!m_nav->isValidPolyRef(startRef) || !m_nav->isValidPolyRef(endRef))
+		return DT_FAILURE | DT_INVALID_PARAM;
+
+	if (startRef == endRef)
+	{
+		m_query.status = DT_SUCCESS;
+		return DT_SUCCESS;
+	}
+	
+	m_nodePool->clear();
+	m_openList->clear();
+	
+	dtNode* startNode = m_nodePool->getNode(startRef);
+	dtVcopy(startNode->pos, startPos);
+	startNode->pidx = 0;
+	startNode->cost = 0;
+	startNode->total = dtVdist(startPos, endPos) * H_SCALE;
+	startNode->id = startRef;
+	startNode->flags = DT_NODE_OPEN;
+	m_openList->push(startNode);
+	
+	m_query.status = DT_IN_PROGRESS;
+	m_query.lastBestNode = startNode;
+	m_query.lastBestNodeCost = startNode->total;
+	
+	return m_query.status;
+}
+	
+dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter, int* doneIters)
+{
+	if (!dtStatusInProgress(m_query.status))
+		return m_query.status;
+
+	// Make sure the request is still valid.
+	if (!m_nav->isValidPolyRef(m_query.startRef) || !m_nav->isValidPolyRef(m_query.endRef))
+	{
+		m_query.status = DT_FAILURE;
+		return DT_FAILURE;
+	}
+		
+	int iter = 0;
+	while (iter < maxIter && !m_openList->empty())
+	{
+		iter++;
+		
+		// Remove node from open list and put it in closed list.
+		dtNode* bestNode = m_openList->pop();
+		bestNode->flags &= ~DT_NODE_OPEN;
+		bestNode->flags |= DT_NODE_CLOSED;
+		
+		// Reached the goal, stop searching.
+		if (bestNode->id == m_query.endRef)
+		{
+			m_query.lastBestNode = bestNode;
+			const dtStatus details = m_query.status & DT_STATUS_DETAIL_MASK;
+			m_query.status = DT_SUCCESS | details;
+			if (doneIters)
+				*doneIters = iter;
+			return m_query.status;
+		}
+		
+		// Get current poly and tile.
+		// The API input has been cheked already, skip checking internal data.
+		const dtPolyRef bestRef = bestNode->id;
+		const dtMeshTile* bestTile = 0;
+		const dtPoly* bestPoly = 0;
+		if (dtStatusFailed(m_nav->getTileAndPolyByRef(bestRef, &bestTile, &bestPoly)))
+		{
+			// The polygon has disappeared during the sliced query, fail.
+			m_query.status = DT_FAILURE;
+			if (doneIters)
+				*doneIters = iter;
+			return m_query.status;
+		}
+		
+		// Get parent poly and tile.
+		dtPolyRef parentRef = 0;
+		const dtMeshTile* parentTile = 0;
+		const dtPoly* parentPoly = 0;
+		if (bestNode->pidx)
+			parentRef = m_nodePool->getNodeAtIdx(bestNode->pidx)->id;
+		if (parentRef)
+		{
+			if (dtStatusFailed(m_nav->getTileAndPolyByRef(parentRef, &parentTile, &parentPoly)))
+			{
+				// The polygon has disappeared during the sliced query, fail.
+				m_query.status = DT_FAILURE;
+				if (doneIters)
+					*doneIters = iter;
+				return m_query.status;
+			}
+		}
+		
+		for (unsigned int i = bestPoly->firstLink; i != DT_NULL_LINK; i = bestTile->links[i].next)
+		{
+			dtPolyRef neighbourRef = bestTile->links[i].ref;
+			
+			// Skip invalid ids and do not expand back to where we came from.
+			if (!neighbourRef || neighbourRef == parentRef)
+				continue;
+			
+			// Get neighbour poly and tile.
+			// The API input has been cheked already, skip checking internal data.
+			const dtMeshTile* neighbourTile = 0;
+			const dtPoly* neighbourPoly = 0;
+			m_nav->getTileAndPolyByRefUnsafe(neighbourRef, &neighbourTile, &neighbourPoly);			
+			
+			if (!m_query.filter->passFilter(neighbourRef, neighbourTile, neighbourPoly))
+				continue;
+			
+			dtNode* neighbourNode = m_nodePool->getNode(neighbourRef);
+			if (!neighbourNode)
+			{
+				m_query.status |= DT_OUT_OF_NODES;
+				continue;
+			}
+			
+			// If the node is visited the first time, calculate node position.
+			if (neighbourNode->flags == 0)
+			{
+				getEdgeMidPoint(bestRef, bestPoly, bestTile,
+								neighbourRef, neighbourPoly, neighbourTile,
+								neighbourNode->pos);
+			}
+			
+			// Calculate cost and heuristic.
+			float cost = 0;
+			float heuristic = 0;
+			
+			// Special case for last node.
+			if (neighbourRef == m_query.endRef)
+			{
+				// Cost
+				const float curCost = m_query.filter->getCost(bestNode->pos, neighbourNode->pos,
+															  parentRef, parentTile, parentPoly,
+															  bestRef, bestTile, bestPoly,
+															  neighbourRef, neighbourTile, neighbourPoly);
+				const float endCost = m_query.filter->getCost(neighbourNode->pos, m_query.endPos,
+															  bestRef, bestTile, bestPoly,
+															  neighbourRef, neighbourTile, neighbourPoly,
+															  0, 0, 0);
+				
+				cost = bestNode->cost + curCost + endCost;
+				heuristic = 0;
+			}
+			else
+			{
+				// Cost
+				const float curCost = m_query.filter->getCost(bestNode->pos, neighbourNode->pos,
+															  parentRef, parentTile, parentPoly,
+															  bestRef, bestTile, bestPoly,
+															  neighbourRef, neighbourTile, neighbourPoly);
+				cost = bestNode->cost + curCost;
+				heuristic = dtVdist(neighbourNode->pos, m_query.endPos)*H_SCALE;
+			}
+			
+			const float total = cost + heuristic;
+			
+			// The node is already in open list and the new result is worse, skip.
+			if ((neighbourNode->flags & DT_NODE_OPEN) && total >= neighbourNode->total)
+				continue;
+			// The node is already visited and process, and the new result is worse, skip.
+			if ((neighbourNode->flags & DT_NODE_CLOSED) && total >= neighbourNode->total)
+				continue;
+			
+			// Add or update the node.
+			neighbourNode->pidx = m_nodePool->getNodeIdx(bestNode);
+			neighbourNode->id = neighbourRef;
+			neighbourNode->flags = (neighbourNode->flags & ~DT_NODE_CLOSED);
+			neighbourNode->cost = cost;
+			neighbourNode->total = total;
+			
+			if (neighbourNode->flags & DT_NODE_OPEN)
+			{
+				// Already in open, update node location.
+				m_openList->modify(neighbourNode);
+			}
+			else
+			{
+				// Put the node in open list.
+				neighbourNode->flags |= DT_NODE_OPEN;
+				m_openList->push(neighbourNode);
+			}
+			
+			// Update nearest node to target so far.
+			if (heuristic < m_query.lastBestNodeCost)
+			{
+				m_query.lastBestNodeCost = heuristic;
+				m_query.lastBestNode = neighbourNode;
+			}
+		}
+	}
+	
+	// Exhausted all nodes, but could not find path.
+	if (m_openList->empty())
+	{
+		const dtStatus details = m_query.status & DT_STATUS_DETAIL_MASK;
+		m_query.status = DT_SUCCESS | details;
+	}
+
+	if (doneIters)
+		*doneIters = iter;
+
+	return m_query.status;
+}
+
+dtStatus dtNavMeshQuery::finalizeSlicedFindPath(dtPolyRef* path, int* pathCount, const int maxPath)
+{
+	*pathCount = 0;
+	
+	if (dtStatusFailed(m_query.status))
+	{
+		// Reset query.
+		memset(&m_query, 0, sizeof(dtQueryData));
+		return DT_FAILURE;
+	}
+
+	int n = 0;
+
+	if (m_query.startRef == m_query.endRef)
+	{
+		// Special case: the search starts and ends at same poly.
+		path[n++] = m_query.startRef;
+	}
+	else
+	{
+		// Reverse the path.
+		dtAssert(m_query.lastBestNode);
+		
+		if (m_query.lastBestNode->id != m_query.endRef)
+			m_query.status |= DT_PARTIAL_RESULT;
+		
+		dtNode* prev = 0;
+		dtNode* node = m_query.lastBestNode;
+		do
+		{
+			dtNode* next = m_nodePool->getNodeAtIdx(node->pidx);
+			node->pidx = m_nodePool->getNodeIdx(prev);
+			prev = node;
+			node = next;
+		}
+		while (node);
+		
+		// Store path
+		node = prev;
+		do
+		{
+			path[n++] = node->id;
+			if (n >= maxPath)
+			{
+				m_query.status |= DT_BUFFER_TOO_SMALL;
+				break;
+			}
+			node = m_nodePool->getNodeAtIdx(node->pidx);
+		}
+		while (node);
+	}
+	
+	const dtStatus details = m_query.status & DT_STATUS_DETAIL_MASK;
+
+	// Reset query.
+	memset(&m_query, 0, sizeof(dtQueryData));
+	
+	*pathCount = n;
+	
+	return DT_SUCCESS | details;
+}
+
+dtStatus dtNavMeshQuery::finalizeSlicedFindPathPartial(const dtPolyRef* existing, const int existingSize,
+													   dtPolyRef* path, int* pathCount, const int maxPath)
+{
+	*pathCount = 0;
+	
+	if (existingSize == 0)
+	{
+		return DT_FAILURE;
+	}
+	
+	if (dtStatusFailed(m_query.status))
+	{
+		// Reset query.
+		memset(&m_query, 0, sizeof(dtQueryData));
+		return DT_FAILURE;
+	}
+	
+	int n = 0;
+	
+	if (m_query.startRef == m_query.endRef)
+	{
+		// Special case: the search starts and ends at same poly.
+		path[n++] = m_query.startRef;
+	}
+	else
+	{
+		// Find furthest existing node that was visited.
+		dtNode* prev = 0;
+		dtNode* node = 0;
+		for (int i = existingSize-1; i >= 0; --i)
+		{
+			node = m_nodePool->findNode(existing[i]);
+			if (node)
+				break;
+		}
+		
+		if (!node)
+		{
+			m_query.status |= DT_PARTIAL_RESULT;
+			dtAssert(m_query.lastBestNode);
+			node = m_query.lastBestNode;
+		}
+		
+		// Reverse the path.
+		do
+		{
+			dtNode* next = m_nodePool->getNodeAtIdx(node->pidx);
+			node->pidx = m_nodePool->getNodeIdx(prev);
+			prev = node;
+			node = next;
+		}
+		while (node);
+		
+		// Store path
+		node = prev;
+		do
+		{
+			path[n++] = node->id;
+			if (n >= maxPath)
+			{
+				m_query.status |= DT_BUFFER_TOO_SMALL;
+				break;
+			}
+			node = m_nodePool->getNodeAtIdx(node->pidx);
+		}
+		while (node);
+	}
+	
+	const dtStatus details = m_query.status & DT_STATUS_DETAIL_MASK;
+
+	// Reset query.
+	memset(&m_query, 0, sizeof(dtQueryData));
+	
+	*pathCount = n;
+	
+	return DT_SUCCESS | details;
+}
+
+
+dtStatus dtNavMeshQuery::appendVertex(const float* pos, const unsigned char flags, const dtPolyRef ref,
+									  float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs,
+									  int* straightPathCount, const int maxStraightPath) const
+{
+	if ((*straightPathCount) > 0 && dtVequal(&straightPath[((*straightPathCount)-1)*3], pos))
+	{
+		// The vertices are equal, update flags and poly.
+		if (straightPathFlags)
+			straightPathFlags[(*straightPathCount)-1] = flags;
+		if (straightPathRefs)
+			straightPathRefs[(*straightPathCount)-1] = ref;
+	}
+	else
+	{
+		// Append new vertex.
+		dtVcopy(&straightPath[(*straightPathCount)*3], pos);
+		if (straightPathFlags)
+			straightPathFlags[(*straightPathCount)] = flags;
+		if (straightPathRefs)
+			straightPathRefs[(*straightPathCount)] = ref;
+		(*straightPathCount)++;
+		// If reached end of path or there is no space to append more vertices, return.
+		if (flags == DT_STRAIGHTPATH_END || (*straightPathCount) >= maxStraightPath)
+		{
+			return DT_SUCCESS | (((*straightPathCount) >= maxStraightPath) ? DT_BUFFER_TOO_SMALL : 0);
+		}
+	}
+	return DT_IN_PROGRESS;
+}
+
+dtStatus dtNavMeshQuery::appendPortals(const int startIdx, const int endIdx, const float* endPos, const dtPolyRef* path,
+									  float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs,
+									  int* straightPathCount, const int maxStraightPath, const int options) const
+{
+	const float* startPos = &straightPath[(*straightPathCount-1)*3];
+	// Append or update last vertex
+	dtStatus stat = 0;
+	for (int i = startIdx; i < endIdx; i++)
+	{
+		// Calculate portal
+		const dtPolyRef from = path[i];
+		const dtMeshTile* fromTile = 0;
+		const dtPoly* fromPoly = 0;
+		if (dtStatusFailed(m_nav->getTileAndPolyByRef(from, &fromTile, &fromPoly)))
+			return DT_FAILURE | DT_INVALID_PARAM;
+		
+		const dtPolyRef to = path[i+1];
+		const dtMeshTile* toTile = 0;
+		const dtPoly* toPoly = 0;
+		if (dtStatusFailed(m_nav->getTileAndPolyByRef(to, &toTile, &toPoly)))
+			return DT_FAILURE | DT_INVALID_PARAM;
+		
+		float left[3], right[3];
+		if (dtStatusFailed(getPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, left, right)))
+			break;
+	
+		if (options & DT_STRAIGHTPATH_AREA_CROSSINGS)
+		{
+			// Skip intersection if only area crossings are requested.
+			if (fromPoly->getArea() == toPoly->getArea())
+				continue;
+		}
+		
+		// Append intersection
+		float s,t;
+		if (dtIntersectSegSeg2D(startPos, endPos, left, right, s, t))
+		{
+			float pt[3];
+			dtVlerp(pt, left,right, t);
+
+			stat = appendVertex(pt, 0, path[i+1],
+								straightPath, straightPathFlags, straightPathRefs,
+								straightPathCount, maxStraightPath);
+			if (stat != DT_IN_PROGRESS)
+				return stat;
+		}
+	}
+	return DT_IN_PROGRESS;
+}
+
+/// @par
+/// 
+/// This method peforms what is often called 'string pulling'.
+///
+/// The start position is clamped to the first polygon in the path, and the 
+/// end position is clamped to the last. So the start and end positions should 
+/// normally be within or very near the first and last polygons respectively.
+///
+/// The returned polygon references represent the reference id of the polygon 
+/// that is entered at the associated path position. The reference id associated 
+/// with the end point will always be zero.  This allows, for example, matching 
+/// off-mesh link points to their representative polygons.
+///
+/// If the provided result buffers are too small for the entire result set, 
+/// they will be filled as far as possible from the start toward the end 
+/// position.
+///
+dtStatus dtNavMeshQuery::findStraightPath(const float* startPos, const float* endPos,
+										  const dtPolyRef* path, const int pathSize,
+										  float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs,
+										  int* straightPathCount, const int maxStraightPath, const int options) const
+{
+	dtAssert(m_nav);
+	
+	*straightPathCount = 0;
+	
+	if (!maxStraightPath)
+		return DT_FAILURE | DT_INVALID_PARAM;
+	
+	if (!path[0])
+		return DT_FAILURE | DT_INVALID_PARAM;
+	
+	dtStatus stat = 0;
+	
+	// TODO: Should this be callers responsibility?
+	float closestStartPos[3];
+	if (dtStatusFailed(closestPointOnPolyBoundary(path[0], startPos, closestStartPos)))
+		return DT_FAILURE | DT_INVALID_PARAM;
+
+	float closestEndPos[3];
+	if (dtStatusFailed(closestPointOnPolyBoundary(path[pathSize-1], endPos, closestEndPos)))
+		return DT_FAILURE | DT_INVALID_PARAM;
+	
+	// Add start point.
+	stat = appendVertex(closestStartPos, DT_STRAIGHTPATH_START, path[0],
+						straightPath, straightPathFlags, straightPathRefs,
+						straightPathCount, maxStraightPath);
+	if (stat != DT_IN_PROGRESS)
+		return stat;
+	
+	if (pathSize > 1)
+	{
+		float portalApex[3], portalLeft[3], portalRight[3];
+		dtVcopy(portalApex, closestStartPos);
+		dtVcopy(portalLeft, portalApex);
+		dtVcopy(portalRight, portalApex);
+		int apexIndex = 0;
+		int leftIndex = 0;
+		int rightIndex = 0;
+		
+		unsigned char leftPolyType = 0;
+		unsigned char rightPolyType = 0;
+		
+		dtPolyRef leftPolyRef = path[0];
+		dtPolyRef rightPolyRef = path[0];
+		
+		for (int i = 0; i < pathSize; ++i)
+		{
+			float left[3], right[3];
+			unsigned char fromType, toType;
+			
+			if (i+1 < pathSize)
+			{
+				// Next portal.
+				if (dtStatusFailed(getPortalPoints(path[i], path[i+1], left, right, fromType, toType)))
+				{
+					// Failed to get portal points, in practice this means that path[i+1] is invalid polygon.
+					// Clamp the end point to path[i], and return the path so far.
+					
+					if (dtStatusFailed(closestPointOnPolyBoundary(path[i], endPos, closestEndPos)))
+					{
+						// This should only happen when the first polygon is invalid.
+						return DT_FAILURE | DT_INVALID_PARAM;
+					}
+
+					// Apeend portals along the current straight path segment.
+					if (options & (DT_STRAIGHTPATH_AREA_CROSSINGS | DT_STRAIGHTPATH_ALL_CROSSINGS))
+					{
+						stat = appendPortals(apexIndex, i, closestEndPos, path,
+											 straightPath, straightPathFlags, straightPathRefs,
+											 straightPathCount, maxStraightPath, options);
+					}
+
+					stat = appendVertex(closestEndPos, 0, path[i],
+										straightPath, straightPathFlags, straightPathRefs,
+										straightPathCount, maxStraightPath);
+					
+					return DT_SUCCESS | DT_PARTIAL_RESULT | ((*straightPathCount >= maxStraightPath) ? DT_BUFFER_TOO_SMALL : 0);
+				}
+				
+				// If starting really close the portal, advance.
+				if (i == 0)
+				{
+					float t;
+					if (dtDistancePtSegSqr2D(portalApex, left, right, t) < dtSqr(0.001f))
+						continue;
+				}
+			}
+			else
+			{
+				// End of the path.
+				dtVcopy(left, closestEndPos);
+				dtVcopy(right, closestEndPos);
+				
+				fromType = toType = DT_POLYTYPE_GROUND;
+			}
+			
+			// Right vertex.
+			if (dtTriArea2D(portalApex, portalRight, right) <= 0.0f)
+			{
+				if (dtVequal(portalApex, portalRight) || dtTriArea2D(portalApex, portalLeft, right) > 0.0f)
+				{
+					dtVcopy(portalRight, right);
+					rightPolyRef = (i+1 < pathSize) ? path[i+1] : 0;
+					rightPolyType = toType;
+					rightIndex = i;
+				}
+				else
+				{
+					// Append portals along the current straight path segment.
+					if (options & (DT_STRAIGHTPATH_AREA_CROSSINGS | DT_STRAIGHTPATH_ALL_CROSSINGS))
+					{
+						stat = appendPortals(apexIndex, leftIndex, portalLeft, path,
+											 straightPath, straightPathFlags, straightPathRefs,
+											 straightPathCount, maxStraightPath, options);
+						if (stat != DT_IN_PROGRESS)
+							return stat;					
+					}
+				
+					dtVcopy(portalApex, portalLeft);
+					apexIndex = leftIndex;
+					
+					unsigned char flags = 0;
+					if (!leftPolyRef)
+						flags = DT_STRAIGHTPATH_END;
+					else if (leftPolyType == DT_POLYTYPE_OFFMESH_CONNECTION)
+						flags = DT_STRAIGHTPATH_OFFMESH_CONNECTION;
+					dtPolyRef ref = leftPolyRef;
+					
+					// Append or update vertex
+					stat = appendVertex(portalApex, flags, ref,
+										straightPath, straightPathFlags, straightPathRefs,
+										straightPathCount, maxStraightPath);
+					if (stat != DT_IN_PROGRESS)
+						return stat;
+					
+					dtVcopy(portalLeft, portalApex);
+					dtVcopy(portalRight, portalApex);
+					leftIndex = apexIndex;
+					rightIndex = apexIndex;
+					
+					// Restart
+					i = apexIndex;
+					
+					continue;
+				}
+			}
+			
+			// Left vertex.
+			if (dtTriArea2D(portalApex, portalLeft, left) >= 0.0f)
+			{
+				if (dtVequal(portalApex, portalLeft) || dtTriArea2D(portalApex, portalRight, left) < 0.0f)
+				{
+					dtVcopy(portalLeft, left);
+					leftPolyRef = (i+1 < pathSize) ? path[i+1] : 0;
+					leftPolyType = toType;
+					leftIndex = i;
+				}
+				else
+				{
+					// Append portals along the current straight path segment.
+					if (options & (DT_STRAIGHTPATH_AREA_CROSSINGS | DT_STRAIGHTPATH_ALL_CROSSINGS))
+					{
+						stat = appendPortals(apexIndex, rightIndex, portalRight, path,
+											 straightPath, straightPathFlags, straightPathRefs,
+											 straightPathCount, maxStraightPath, options);
+						if (stat != DT_IN_PROGRESS)
+							return stat;
+					}
+
+					dtVcopy(portalApex, portalRight);
+					apexIndex = rightIndex;
+					
+					unsigned char flags = 0;
+					if (!rightPolyRef)
+						flags = DT_STRAIGHTPATH_END;
+					else if (rightPolyType == DT_POLYTYPE_OFFMESH_CONNECTION)
+						flags = DT_STRAIGHTPATH_OFFMESH_CONNECTION;
+					dtPolyRef ref = rightPolyRef;
+
+					// Append or update vertex
+					stat = appendVertex(portalApex, flags, ref,
+										straightPath, straightPathFlags, straightPathRefs,
+										straightPathCount, maxStraightPath);
+					if (stat != DT_IN_PROGRESS)
+						return stat;
+					
+					dtVcopy(portalLeft, portalApex);
+					dtVcopy(portalRight, portalApex);
+					leftIndex = apexIndex;
+					rightIndex = apexIndex;
+					
+					// Restart
+					i = apexIndex;
+					
+					continue;
+				}
+			}
+		}
+
+		// Append portals along the current straight path segment.
+		if (options & (DT_STRAIGHTPATH_AREA_CROSSINGS | DT_STRAIGHTPATH_ALL_CROSSINGS))
+		{
+			stat = appendPortals(apexIndex, pathSize-1, closestEndPos, path,
+								 straightPath, straightPathFlags, straightPathRefs,
+								 straightPathCount, maxStraightPath, options);
+			if (stat != DT_IN_PROGRESS)
+				return stat;
+		}
+	}
+
+	stat = appendVertex(closestEndPos, DT_STRAIGHTPATH_END, 0,
+						straightPath, straightPathFlags, straightPathRefs,
+						straightPathCount, maxStraightPath);
+	
+	return DT_SUCCESS | ((*straightPathCount >= maxStraightPath) ? DT_BUFFER_TOO_SMALL : 0);
+}
+
+/// @par
+///
+/// This method is optimized for small delta movement and a small number of 
+/// polygons. If used for too great a distance, the result set will form an 
+/// incomplete path.
+///
+/// @p resultPos will equal the @p endPos if the end is reached. 
+/// Otherwise the closest reachable position will be returned.
+/// 
+/// @p resultPos is not projected onto the surface of the navigation 
+/// mesh. Use #getPolyHeight if this is needed.
+///
+/// This method treats the end position in the same manner as 
+/// the #raycast method. (As a 2D point.) See that method's documentation 
+/// for details.
+/// 
+/// If the @p visited array is too small to hold the entire result set, it will 
+/// be filled as far as possible from the start position toward the end 
+/// position.
+///
+dtStatus dtNavMeshQuery::moveAlongSurface(dtPolyRef startRef, const float* startPos, const float* endPos,
+										  const dtQueryFilter* filter,
+										  float* resultPos, dtPolyRef* visited, int* visitedCount, const int maxVisitedSize) const
+{
+	dtAssert(m_nav);
+	dtAssert(m_tinyNodePool);
+
+	*visitedCount = 0;
+	
+	// Validate input
+	if (!startRef)
+		return DT_FAILURE | DT_INVALID_PARAM;
+	if (!m_nav->isValidPolyRef(startRef))
+		return DT_FAILURE | DT_INVALID_PARAM;
+	
+	dtStatus status = DT_SUCCESS;
+	
+	static const int MAX_STACK = 48;
+	dtNode* stack[MAX_STACK];
+	int nstack = 0;
+	
+	m_tinyNodePool->clear();
+	
+	dtNode* startNode = m_tinyNodePool->getNode(startRef);
+	startNode->pidx = 0;
+	startNode->cost = 0;
+	startNode->total = 0;
+	startNode->id = startRef;
+	startNode->flags = DT_NODE_CLOSED;
+	stack[nstack++] = startNode;
+	
+	float bestPos[3];
+	float bestDist = FLT_MAX;
+	dtNode* bestNode = 0;
+	dtVcopy(bestPos, startPos);
+	
+	// Search constraints
+	float searchPos[3], searchRadSqr;
+	dtVlerp(searchPos, startPos, endPos, 0.5f);
+	searchRadSqr = dtSqr(dtVdist(startPos, endPos)/2.0f + 0.001f);
+	
+	float verts[DT_VERTS_PER_POLYGON*3];
+	
+	while (nstack)
+	{
+		// Pop front.
+		dtNode* curNode = stack[0];
+		for (int i = 0; i < nstack-1; ++i)
+			stack[i] = stack[i+1];
+		nstack--;
+		
+		// Get poly and tile.
+		// The API input has been cheked already, skip checking internal data.
+		const dtPolyRef curRef = curNode->id;
+		const dtMeshTile* curTile = 0;
+		const dtPoly* curPoly = 0;
+		m_nav->getTileAndPolyByRefUnsafe(curRef, &curTile, &curPoly);			
+		
+		// Collect vertices.
+		const int nverts = curPoly->vertCount;
+		for (int i = 0; i < nverts; ++i)
+			dtVcopy(&verts[i*3], &curTile->verts[curPoly->verts[i]*3]);
+		
+		// If target is inside the poly, stop search.
+		if (dtPointInPolygon(endPos, verts, nverts))
+		{
+			bestNode = curNode;
+			dtVcopy(bestPos, endPos);
+			break;
+		}
+		
+		// Find wall edges and find nearest point inside the walls.
+		for (int i = 0, j = (int)curPoly->vertCount-1; i < (int)curPoly->vertCount; j = i++)
+		{
+			// Find links to neighbours.
+			static const int MAX_NEIS = 8;
+			int nneis = 0;
+			dtPolyRef neis[MAX_NEIS];
+			
+			if (curPoly->neis[j] & DT_EXT_LINK)
+			{
+				// Tile border.
+				for (unsigned int k = curPoly->firstLink; k != DT_NULL_LINK; k = curTile->links[k].next)
+				{
+					const dtLink* link = &curTile->links[k];
+					if (link->edge == j)
+					{
+						if (link->ref != 0)
+						{
+							const dtMeshTile* neiTile = 0;
+							const dtPoly* neiPoly = 0;
+							m_nav->getTileAndPolyByRefUnsafe(link->ref, &neiTile, &neiPoly);
+							if (filter->passFilter(link->ref, neiTile, neiPoly))
+							{
+								if (nneis < MAX_NEIS)
+									neis[nneis++] = link->ref;
+							}
+						}
+					}
+				}
+			}
+			else if (curPoly->neis[j])
+			{
+				const unsigned int idx = (unsigned int)(curPoly->neis[j]-1);
+				const dtPolyRef ref = m_nav->getPolyRefBase(curTile) | idx;
+				if (filter->passFilter(ref, curTile, &curTile->polys[idx]))
+				{
+					// Internal edge, encode id.
+					neis[nneis++] = ref;
+				}
+			}
+			
+			if (!nneis)
+			{
+				// Wall edge, calc distance.
+				const float* vj = &verts[j*3];
+				const float* vi = &verts[i*3];
+				float tseg;
+				const float distSqr = dtDistancePtSegSqr2D(endPos, vj, vi, tseg);
+				if (distSqr < bestDist)
+				{
+                    // Update nearest distance.
+					dtVlerp(bestPos, vj,vi, tseg);
+					bestDist = distSqr;
+					bestNode = curNode;
+				}
+			}
+			else
+			{
+				for (int k = 0; k < nneis; ++k)
+				{
+					// Skip if no node can be allocated.
+					dtNode* neighbourNode = m_tinyNodePool->getNode(neis[k]);
+					if (!neighbourNode)
+						continue;
+					// Skip if already visited.
+					if (neighbourNode->flags & DT_NODE_CLOSED)
+						continue;
+					
+					// Skip the link if it is too far from search constraint.
+					// TODO: Maybe should use getPortalPoints(), but this one is way faster.
+					const float* vj = &verts[j*3];
+					const float* vi = &verts[i*3];
+					float tseg;
+					float distSqr = dtDistancePtSegSqr2D(searchPos, vj, vi, tseg);
+					if (distSqr > searchRadSqr)
+						continue;
+					
+					// Mark as the node as visited and push to queue.
+					if (nstack < MAX_STACK)
+					{
+						neighbourNode->pidx = m_tinyNodePool->getNodeIdx(curNode);
+						neighbourNode->flags |= DT_NODE_CLOSED;
+						stack[nstack++] = neighbourNode;
+					}
+				}
+			}
+		}
+	}
+	
+	int n = 0;
+	if (bestNode)
+	{
+		// Reverse the path.
+		dtNode* prev = 0;
+		dtNode* node = bestNode;
+		do
+		{
+			dtNode* next = m_tinyNodePool->getNodeAtIdx(node->pidx);
+			node->pidx = m_tinyNodePool->getNodeIdx(prev);
+			prev = node;
+			node = next;
+		}
+		while (node);
+		
+		// Store result
+		node = prev;
+		do
+		{
+			visited[n++] = node->id;
+			if (n >= maxVisitedSize)
+			{
+				status |= DT_BUFFER_TOO_SMALL;
+				break;
+			}
+			node = m_tinyNodePool->getNodeAtIdx(node->pidx);
+		}
+		while (node);
+	}
+	
+	dtVcopy(resultPos, bestPos);
+	
+	*visitedCount = n;
+	
+	return status;
+}
+
+
+dtStatus dtNavMeshQuery::getPortalPoints(dtPolyRef from, dtPolyRef to, float* left, float* right,
+										 unsigned char& fromType, unsigned char& toType) const
+{
+	dtAssert(m_nav);
+	
+	const dtMeshTile* fromTile = 0;
+	const dtPoly* fromPoly = 0;
+	if (dtStatusFailed(m_nav->getTileAndPolyByRef(from, &fromTile, &fromPoly)))
+		return DT_FAILURE | DT_INVALID_PARAM;
+	fromType = fromPoly->getType();
+
+	const dtMeshTile* toTile = 0;
+	const dtPoly* toPoly = 0;
+	if (dtStatusFailed(m_nav->getTileAndPolyByRef(to, &toTile, &toPoly)))
+		return DT_FAILURE | DT_INVALID_PARAM;
+	toType = toPoly->getType();
+		
+	return getPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, left, right);
+}
+
+// Returns portal points between two polygons.
+dtStatus dtNavMeshQuery::getPortalPoints(dtPolyRef from, const dtPoly* fromPoly, const dtMeshTile* fromTile,
+										 dtPolyRef to, const dtPoly* toPoly, const dtMeshTile* toTile,
+										 float* left, float* right) const
+{
+	// Find the link that points to the 'to' polygon.
+	const dtLink* link = 0;
+	for (unsigned int i = fromPoly->firstLink; i != DT_NULL_LINK; i = fromTile->links[i].next)
+	{
+		if (fromTile->links[i].ref == to)
+		{
+			link = &fromTile->links[i];
+			break;
+		}
+	}
+	if (!link)
+		return DT_FAILURE | DT_INVALID_PARAM;
+	
+	// Handle off-mesh connections.
+	if (fromPoly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION)
+	{
+		// Find link that points to first vertex.
+		for (unsigned int i = fromPoly->firstLink; i != DT_NULL_LINK; i = fromTile->links[i].next)
+		{
+			if (fromTile->links[i].ref == to)
+			{
+				const int v = fromTile->links[i].edge;
+				dtVcopy(left, &fromTile->verts[fromPoly->verts[v]*3]);
+				dtVcopy(right, &fromTile->verts[fromPoly->verts[v]*3]);
+				return DT_SUCCESS;
+			}
+		}
+		return DT_FAILURE | DT_INVALID_PARAM;
+	}
+	
+	if (toPoly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION)
+	{
+		for (unsigned int i = toPoly->firstLink; i != DT_NULL_LINK; i = toTile->links[i].next)
+		{
+			if (toTile->links[i].ref == from)
+			{
+				const int v = toTile->links[i].edge;
+				dtVcopy(left, &toTile->verts[toPoly->verts[v]*3]);
+				dtVcopy(right, &toTile->verts[toPoly->verts[v]*3]);
+				return DT_SUCCESS;
+			}
+		}
+		return DT_FAILURE | DT_INVALID_PARAM;
+	}
+	
+	// Find portal vertices.
+	const int v0 = fromPoly->verts[link->edge];
+	const int v1 = fromPoly->verts[(link->edge+1) % (int)fromPoly->vertCount];
+	dtVcopy(left, &fromTile->verts[v0*3]);
+	dtVcopy(right, &fromTile->verts[v1*3]);
+	
+	// If the link is at tile boundary, dtClamp the vertices to
+	// the link width.
+	if (link->side != 0xff)
+	{
+		// Unpack portal limits.
+		if (link->bmin != 0 || link->bmax != 255)
+		{
+			const float s = 1.0f/255.0f;
+			const float tmin = link->bmin*s;
+			const float tmax = link->bmax*s;
+			dtVlerp(left, &fromTile->verts[v0*3], &fromTile->verts[v1*3], tmin);
+			dtVlerp(right, &fromTile->verts[v0*3], &fromTile->verts[v1*3], tmax);
+		}
+	}
+	
+	return DT_SUCCESS;
+}
+
+// Returns edge mid point between two polygons.
+dtStatus dtNavMeshQuery::getEdgeMidPoint(dtPolyRef from, dtPolyRef to, float* mid) const
+{
+	float left[3], right[3];
+	unsigned char fromType, toType;
+	if (dtStatusFailed(getPortalPoints(from, to, left,right, fromType, toType)))
+		return DT_FAILURE | DT_INVALID_PARAM;
+	mid[0] = (left[0]+right[0])*0.5f;
+	mid[1] = (left[1]+right[1])*0.5f;
+	mid[2] = (left[2]+right[2])*0.5f;
+	return DT_SUCCESS;
+}
+
+dtStatus dtNavMeshQuery::getEdgeMidPoint(dtPolyRef from, const dtPoly* fromPoly, const dtMeshTile* fromTile,
+										 dtPolyRef to, const dtPoly* toPoly, const dtMeshTile* toTile,
+										 float* mid) const
+{
+	float left[3], right[3];
+	if (dtStatusFailed(getPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, left, right)))
+		return DT_FAILURE | DT_INVALID_PARAM;
+	mid[0] = (left[0]+right[0])*0.5f;
+	mid[1] = (left[1]+right[1])*0.5f;
+	mid[2] = (left[2]+right[2])*0.5f;
+	return DT_SUCCESS;
+}
+
+/// @par
+///
+/// This method is meant to be used for quick, short distance checks.
+///
+/// If the path array is too small to hold the result, it will be filled as 
+/// far as possible from the start postion toward the end position.
+///
+/// <b>Using the Hit Parameter (t)</b>
+/// 
+/// If the hit parameter is a very high value (FLT_MAX), then the ray has hit 
+/// the end position. In this case the path represents a valid corridor to the 
+/// end position and the value of @p hitNormal is undefined.
+///
+/// If the hit parameter is zero, then the start position is on the wall that 
+/// was hit and the value of @p hitNormal is undefined.
+///
+/// If 0 < t < 1.0 then the following applies:
+///
+/// @code
+/// distanceToHitBorder = distanceToEndPosition * t
+/// hitPoint = startPos + (endPos - startPos) * t
+/// @endcode
+///
+/// <b>Use Case Restriction</b>
+///
+/// The raycast ignores the y-value of the end position. (2D check.) This 
+/// places significant limits on how it can be used. For example:
+///
+/// Consider a scene where there is a main floor with a second floor balcony 
+/// that hangs over the main floor. So the first floor mesh extends below the 
+/// balcony mesh. The start position is somewhere on the first floor. The end 
+/// position is on the balcony.
+///
+/// The raycast will search toward the end position along the first floor mesh. 
+/// If it reaches the end position's xz-coordinates it will indicate FLT_MAX
+/// (no wall hit), meaning it reached the end position. This is one example of why
+/// this method is meant for short distance checks.
+///
+dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, const float* endPos,
+								 const dtQueryFilter* filter,
+								 float* t, float* hitNormal, dtPolyRef* path, int* pathCount, const int maxPath) const
+{
+	dtAssert(m_nav);
+	
+	*t = 0;
+	if (pathCount)
+		*pathCount = 0;
+	
+	// Validate input
+	if (!startRef || !m_nav->isValidPolyRef(startRef))
+		return DT_FAILURE | DT_INVALID_PARAM;
+	
+	dtPolyRef curRef = startRef;
+	float verts[DT_VERTS_PER_POLYGON*3];	
+	int n = 0;
+	
+	hitNormal[0] = 0;
+	hitNormal[1] = 0;
+	hitNormal[2] = 0;
+	
+	dtStatus status = DT_SUCCESS;
+	
+	while (curRef)
+	{
+		// Cast ray against current polygon.
+		
+		// The API input has been cheked already, skip checking internal data.
+		const dtMeshTile* tile = 0;
+		const dtPoly* poly = 0;
+		m_nav->getTileAndPolyByRefUnsafe(curRef, &tile, &poly);
+		
+		// Collect vertices.
+		int nv = 0;
+		for (int i = 0; i < (int)poly->vertCount; ++i)
+		{
+			dtVcopy(&verts[nv*3], &tile->verts[poly->verts[i]*3]);
+			nv++;
+		}		
+		
+		float tmin, tmax;
+		int segMin, segMax;
+		if (!dtIntersectSegmentPoly2D(startPos, endPos, verts, nv, tmin, tmax, segMin, segMax))
+		{
+			// Could not hit the polygon, keep the old t and report hit.
+			if (pathCount)
+				*pathCount = n;
+			return status;
+		}
+		// Keep track of furthest t so far.
+		if (tmax > *t)
+			*t = tmax;
+		
+		// Store visited polygons.
+		if (n < maxPath)
+			path[n++] = curRef;
+		else
+			status |= DT_BUFFER_TOO_SMALL;
+		
+		// Ray end is completely inside the polygon.
+		if (segMax == -1)
+		{
+			*t = FLT_MAX;
+			if (pathCount)
+				*pathCount = n;
+			return status;
+		}
+		
+		// Follow neighbours.
+		dtPolyRef nextRef = 0;
+		
+		for (unsigned int i = poly->firstLink; i != DT_NULL_LINK; i = tile->links[i].next)
+		{
+			const dtLink* link = &tile->links[i];
+			
+			// Find link which contains this edge.
+			if ((int)link->edge != segMax)
+				continue;
+			
+			// Get pointer to the next polygon.
+			const dtMeshTile* nextTile = 0;
+			const dtPoly* nextPoly = 0;
+			m_nav->getTileAndPolyByRefUnsafe(link->ref, &nextTile, &nextPoly);
+			
+			// Skip off-mesh connections.
+			if (nextPoly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION)
+				continue;
+			
+			// Skip links based on filter.
+			if (!filter->passFilter(link->ref, nextTile, nextPoly))
+				continue;
+			
+			// If the link is internal, just return the ref.
+			if (link->side == 0xff)
+			{
+				nextRef = link->ref;
+				break;
+			}
+			
+			// If the link is at tile boundary,
+			
+			// Check if the link spans the whole edge, and accept.
+			if (link->bmin == 0 && link->bmax == 255)
+			{
+				nextRef = link->ref;
+				break;
+			}
+			
+			// Check for partial edge links.
+			const int v0 = poly->verts[link->edge];
+			const int v1 = poly->verts[(link->edge+1) % poly->vertCount];
+			const float* left = &tile->verts[v0*3];
+			const float* right = &tile->verts[v1*3];
+			
+			// Check that the intersection lies inside the link portal.
+			if (link->side == 0 || link->side == 4)
+			{
+				// Calculate link size.
+				const float s = 1.0f/255.0f;
+				float lmin = left[2] + (right[2] - left[2])*(link->bmin*s);
+				float lmax = left[2] + (right[2] - left[2])*(link->bmax*s);
+				if (lmin > lmax) dtSwap(lmin, lmax);
+				
+				// Find Z intersection.
+				float z = startPos[2] + (endPos[2]-startPos[2])*tmax;
+				if (z >= lmin && z <= lmax)
+				{
+					nextRef = link->ref;
+					break;
+				}
+			}
+			else if (link->side == 2 || link->side == 6)
+			{
+				// Calculate link size.
+				const float s = 1.0f/255.0f;
+				float lmin = left[0] + (right[0] - left[0])*(link->bmin*s);
+				float lmax = left[0] + (right[0] - left[0])*(link->bmax*s);
+				if (lmin > lmax) dtSwap(lmin, lmax);
+				
+				// Find X intersection.
+				float x = startPos[0] + (endPos[0]-startPos[0])*tmax;
+				if (x >= lmin && x <= lmax)
+				{
+					nextRef = link->ref;
+					break;
+				}
+			}
+		}
+		
+		if (!nextRef)
+		{
+			// No neighbour, we hit a wall.
+			
+			// Calculate hit normal.
+			const int a = segMax;
+			const int b = segMax+1 < nv ? segMax+1 : 0;
+			const float* va = &verts[a*3];
+			const float* vb = &verts[b*3];
+			const float dx = vb[0] - va[0];
+			const float dz = vb[2] - va[2];
+			hitNormal[0] = dz;
+			hitNormal[1] = 0;
+			hitNormal[2] = -dx;
+			dtVnormalize(hitNormal);
+			
+			if (pathCount)
+				*pathCount = n;
+			return status;
+		}
+		
+		// No hit, advance to neighbour polygon.
+		curRef = nextRef;
+	}
+	
+	if (pathCount)
+		*pathCount = n;
+	
+	return status;
+}
+
+/// @par
+///
+/// At least one result array must be provided.
+///
+/// The order of the result set is from least to highest cost to reach the polygon.
+///
+/// A common use case for this method is to perform Dijkstra searches. 
+/// Candidate polygons are found by searching the graph beginning at the start polygon.
+///
+/// If a polygon is not found via the graph search, even if it intersects the 
+/// search circle, it will not be included in the result set. For example:
+///
+/// polyA is the start polygon.
+/// polyB shares an edge with polyA. (Is adjacent.)
+/// polyC shares an edge with polyB, but not with polyA
+/// Even if the search circle overlaps polyC, it will not be included in the 
+/// result set unless polyB is also in the set.
+/// 
+/// The value of the center point is used as the start position for cost 
+/// calculations. It is not projected onto the surface of the mesh, so its 
+/// y-value will effect the costs.
+///
+/// Intersection tests occur in 2D. All polygons and the search circle are 
+/// projected onto the xz-plane. So the y-value of the center point does not 
+/// effect intersection tests.
+///
+/// If the result arrays are to small to hold the entire result set, they will be 
+/// filled to capacity.
+/// 
+dtStatus dtNavMeshQuery::findPolysAroundCircle(dtPolyRef startRef, const float* centerPos, const float radius,
+											   const dtQueryFilter* filter,
+											   dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost,
+											   int* resultCount, const int maxResult) const
+{
+	dtAssert(m_nav);
+	dtAssert(m_nodePool);
+	dtAssert(m_openList);
+
+	*resultCount = 0;
+	
+	// Validate input
+	if (!startRef || !m_nav->isValidPolyRef(startRef))
+		return DT_FAILURE | DT_INVALID_PARAM;
+	
+	m_nodePool->clear();
+	m_openList->clear();
+	
+	dtNode* startNode = m_nodePool->getNode(startRef);
+	dtVcopy(startNode->pos, centerPos);
+	startNode->pidx = 0;
+	startNode->cost = 0;
+	startNode->total = 0;
+	startNode->id = startRef;
+	startNode->flags = DT_NODE_OPEN;
+	m_openList->push(startNode);
+	
+	dtStatus status = DT_SUCCESS;
+	
+	int n = 0;
+	if (n < maxResult)
+	{
+		if (resultRef)
+			resultRef[n] = startNode->id;
+		if (resultParent)
+			resultParent[n] = 0;
+		if (resultCost)
+			resultCost[n] = 0;
+		++n;
+	}
+	else
+	{
+		status |= DT_BUFFER_TOO_SMALL;
+	}
+	
+	const float radiusSqr = dtSqr(radius);
+	
+	while (!m_openList->empty())
+	{
+		dtNode* bestNode = m_openList->pop();
+		bestNode->flags &= ~DT_NODE_OPEN;
+		bestNode->flags |= DT_NODE_CLOSED;
+		
+		// Get poly and tile.
+		// The API input has been cheked already, skip checking internal data.
+		const dtPolyRef bestRef = bestNode->id;
+		const dtMeshTile* bestTile = 0;
+		const dtPoly* bestPoly = 0;
+		m_nav->getTileAndPolyByRefUnsafe(bestRef, &bestTile, &bestPoly);
+		
+		// Get parent poly and tile.
+		dtPolyRef parentRef = 0;
+		const dtMeshTile* parentTile = 0;
+		const dtPoly* parentPoly = 0;
+		if (bestNode->pidx)
+			parentRef = m_nodePool->getNodeAtIdx(bestNode->pidx)->id;
+		if (parentRef)
+			m_nav->getTileAndPolyByRefUnsafe(parentRef, &parentTile, &parentPoly);
+		
+		for (unsigned int i = bestPoly->firstLink; i != DT_NULL_LINK; i = bestTile->links[i].next)
+		{
+			const dtLink* link = &bestTile->links[i];
+			dtPolyRef neighbourRef = link->ref;
+			// Skip invalid neighbours and do not follow back to parent.
+			if (!neighbourRef || neighbourRef == parentRef)
+				continue;
+			
+			// Expand to neighbour
+			const dtMeshTile* neighbourTile = 0;
+			const dtPoly* neighbourPoly = 0;
+			m_nav->getTileAndPolyByRefUnsafe(neighbourRef, &neighbourTile, &neighbourPoly);
+		
+			// Do not advance if the polygon is excluded by the filter.
+			if (!filter->passFilter(neighbourRef, neighbourTile, neighbourPoly))
+				continue;
+			
+			// Find edge and calc distance to the edge.
+			float va[3], vb[3];
+			if (!getPortalPoints(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly, neighbourTile, va, vb))
+				continue;
+			
+			// If the circle is not touching the next polygon, skip it.
+			float tseg;
+			float distSqr = dtDistancePtSegSqr2D(centerPos, va, vb, tseg);
+			if (distSqr > radiusSqr)
+				continue;
+			
+			dtNode* neighbourNode = m_nodePool->getNode(neighbourRef);
+			if (!neighbourNode)
+			{
+				status |= DT_OUT_OF_NODES;
+				continue;
+			}
+				
+			if (neighbourNode->flags & DT_NODE_CLOSED)
+				continue;
+			
+			// Cost
+			if (neighbourNode->flags == 0)
+				dtVlerp(neighbourNode->pos, va, vb, 0.5f);
+			
+			const float total = bestNode->total + dtVdist(bestNode->pos, neighbourNode->pos);
+			
+			// The node is already in open list and the new result is worse, skip.
+			if ((neighbourNode->flags & DT_NODE_OPEN) && total >= neighbourNode->total)
+				continue;
+			
+			neighbourNode->id = neighbourRef;
+			neighbourNode->flags = (neighbourNode->flags & ~DT_NODE_CLOSED);
+			neighbourNode->pidx = m_nodePool->getNodeIdx(bestNode);
+			neighbourNode->total = total;
+			
+			if (neighbourNode->flags & DT_NODE_OPEN)
+			{
+				m_openList->modify(neighbourNode);
+			}
+			else
+			{
+				if (n < maxResult)
+				{
+					if (resultRef)
+						resultRef[n] = neighbourNode->id;
+					if (resultParent)
+						resultParent[n] = m_nodePool->getNodeAtIdx(neighbourNode->pidx)->id;
+					if (resultCost)
+						resultCost[n] = neighbourNode->total;
+					++n;
+				}
+				else
+				{
+					status |= DT_BUFFER_TOO_SMALL;
+				}
+				neighbourNode->flags = DT_NODE_OPEN;
+				m_openList->push(neighbourNode);
+			}
+		}
+	}
+	
+	*resultCount = n;
+	
+	return status;
+}
+
+/// @par
+///
+/// The order of the result set is from least to highest cost.
+/// 
+/// At least one result array must be provided.
+///
+/// A common use case for this method is to perform Dijkstra searches. 
+/// Candidate polygons are found by searching the graph beginning at the start 
+/// polygon.
+/// 
+/// The same intersection test restrictions that apply to findPolysAroundCircle()
+/// method apply to this method.
+/// 
+/// The 3D centroid of the search polygon is used as the start position for cost 
+/// calculations.
+/// 
+/// Intersection tests occur in 2D. All polygons are projected onto the 
+/// xz-plane. So the y-values of the vertices do not effect intersection tests.
+/// 
+/// If the result arrays are is too small to hold the entire result set, they will 
+/// be filled to capacity.
+///
+dtStatus dtNavMeshQuery::findPolysAroundShape(dtPolyRef startRef, const float* verts, const int nverts,
+											  const dtQueryFilter* filter,
+											  dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost,
+											  int* resultCount, const int maxResult) const
+{
+	dtAssert(m_nav);
+	dtAssert(m_nodePool);
+	dtAssert(m_openList);
+	
+	*resultCount = 0;
+	
+	// Validate input
+	if (!startRef || !m_nav->isValidPolyRef(startRef))
+		return DT_FAILURE | DT_INVALID_PARAM;
+	
+	m_nodePool->clear();
+	m_openList->clear();
+	
+	float centerPos[3] = {0,0,0};
+	for (int i = 0; i < nverts; ++i)
+		dtVadd(centerPos,centerPos,&verts[i*3]);
+	dtVscale(centerPos,centerPos,1.0f/nverts);
+
+	dtNode* startNode = m_nodePool->getNode(startRef);
+	dtVcopy(startNode->pos, centerPos);
+	startNode->pidx = 0;
+	startNode->cost = 0;
+	startNode->total = 0;
+	startNode->id = startRef;
+	startNode->flags = DT_NODE_OPEN;
+	m_openList->push(startNode);
+	
+	dtStatus status = DT_SUCCESS;
+
+	int n = 0;
+	if (n < maxResult)
+	{
+		if (resultRef)
+			resultRef[n] = startNode->id;
+		if (resultParent)
+			resultParent[n] = 0;
+		if (resultCost)
+			resultCost[n] = 0;
+		++n;
+	}
+	else
+	{
+		status |= DT_BUFFER_TOO_SMALL;
+	}
+	
+	while (!m_openList->empty())
+	{
+		dtNode* bestNode = m_openList->pop();
+		bestNode->flags &= ~DT_NODE_OPEN;
+		bestNode->flags |= DT_NODE_CLOSED;
+		
+		// Get poly and tile.
+		// The API input has been cheked already, skip checking internal data.
+		const dtPolyRef bestRef = bestNode->id;
+		const dtMeshTile* bestTile = 0;
+		const dtPoly* bestPoly = 0;
+		m_nav->getTileAndPolyByRefUnsafe(bestRef, &bestTile, &bestPoly);
+		
+		// Get parent poly and tile.
+		dtPolyRef parentRef = 0;
+		const dtMeshTile* parentTile = 0;
+		const dtPoly* parentPoly = 0;
+		if (bestNode->pidx)
+			parentRef = m_nodePool->getNodeAtIdx(bestNode->pidx)->id;
+		if (parentRef)
+			m_nav->getTileAndPolyByRefUnsafe(parentRef, &parentTile, &parentPoly);
+		
+		for (unsigned int i = bestPoly->firstLink; i != DT_NULL_LINK; i = bestTile->links[i].next)
+		{
+			const dtLink* link = &bestTile->links[i];
+			dtPolyRef neighbourRef = link->ref;
+			// Skip invalid neighbours and do not follow back to parent.
+			if (!neighbourRef || neighbourRef == parentRef)
+				continue;
+			
+			// Expand to neighbour
+			const dtMeshTile* neighbourTile = 0;
+			const dtPoly* neighbourPoly = 0;
+			m_nav->getTileAndPolyByRefUnsafe(neighbourRef, &neighbourTile, &neighbourPoly);
+			
+			// Do not advance if the polygon is excluded by the filter.
+			if (!filter->passFilter(neighbourRef, neighbourTile, neighbourPoly))
+				continue;
+			
+			// Find edge and calc distance to the edge.
+			float va[3], vb[3];
+			if (!getPortalPoints(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly, neighbourTile, va, vb))
+				continue;
+			
+			// If the poly is not touching the edge to the next polygon, skip the connection it.
+			float tmin, tmax;
+			int segMin, segMax;
+			if (!dtIntersectSegmentPoly2D(va, vb, verts, nverts, tmin, tmax, segMin, segMax))
+				continue;
+			if (tmin > 1.0f || tmax < 0.0f)
+				continue;
+			
+			dtNode* neighbourNode = m_nodePool->getNode(neighbourRef);
+			if (!neighbourNode)
+			{
+				status |= DT_OUT_OF_NODES;
+				continue;
+			}
+			
+			if (neighbourNode->flags & DT_NODE_CLOSED)
+				continue;
+			
+			// Cost
+			if (neighbourNode->flags == 0)
+				dtVlerp(neighbourNode->pos, va, vb, 0.5f);
+			
+			const float total = bestNode->total + dtVdist(bestNode->pos, neighbourNode->pos);
+			
+			// The node is already in open list and the new result is worse, skip.
+			if ((neighbourNode->flags & DT_NODE_OPEN) && total >= neighbourNode->total)
+				continue;
+			
+			neighbourNode->id = neighbourRef;
+			neighbourNode->flags = (neighbourNode->flags & ~DT_NODE_CLOSED);
+			neighbourNode->pidx = m_nodePool->getNodeIdx(bestNode);
+			neighbourNode->total = total;
+			
+			if (neighbourNode->flags & DT_NODE_OPEN)
+			{
+				m_openList->modify(neighbourNode);
+			}
+			else
+			{
+				if (n < maxResult)
+				{
+					if (resultRef)
+						resultRef[n] = neighbourNode->id;
+					if (resultParent)
+						resultParent[n] = m_nodePool->getNodeAtIdx(neighbourNode->pidx)->id;
+					if (resultCost)
+						resultCost[n] = neighbourNode->total;
+					++n;
+				}
+				else
+				{
+					status |= DT_BUFFER_TOO_SMALL;
+				}
+				neighbourNode->flags = DT_NODE_OPEN;
+				m_openList->push(neighbourNode);
+			}
+		}
+	}
+	
+	*resultCount = n;
+	
+	return status;
+}
+
+/// @par
+///
+/// This method is optimized for a small search radius and small number of result 
+/// polygons.
+///
+/// Candidate polygons are found by searching the navigation graph beginning at 
+/// the start polygon.
+///
+/// The same intersection test restrictions that apply to the findPolysAroundCircle 
+/// mehtod applies to this method.
+///
+/// The value of the center point is used as the start point for cost calculations. 
+/// It is not projected onto the surface of the mesh, so its y-value will effect 
+/// the costs.
+/// 
+/// Intersection tests occur in 2D. All polygons and the search circle are 
+/// projected onto the xz-plane. So the y-value of the center point does not 
+/// effect intersection tests.
+/// 
+/// If the result arrays are is too small to hold the entire result set, they will 
+/// be filled to capacity.
+/// 
+dtStatus dtNavMeshQuery::findLocalNeighbourhood(dtPolyRef startRef, const float* centerPos, const float radius,
+												const dtQueryFilter* filter,
+												dtPolyRef* resultRef, dtPolyRef* resultParent,
+												int* resultCount, const int maxResult) const
+{
+	dtAssert(m_nav);
+	dtAssert(m_tinyNodePool);
+	
+	*resultCount = 0;
+
+	// Validate input
+	if (!startRef || !m_nav->isValidPolyRef(startRef))
+		return DT_FAILURE | DT_INVALID_PARAM;
+	
+	static const int MAX_STACK = 48;
+	dtNode* stack[MAX_STACK];
+	int nstack = 0;
+	
+	m_tinyNodePool->clear();
+	
+	dtNode* startNode = m_tinyNodePool->getNode(startRef);
+	startNode->pidx = 0;
+	startNode->id = startRef;
+	startNode->flags = DT_NODE_CLOSED;
+	stack[nstack++] = startNode;
+	
+	const float radiusSqr = dtSqr(radius);
+	
+	float pa[DT_VERTS_PER_POLYGON*3];
+	float pb[DT_VERTS_PER_POLYGON*3];
+	
+	dtStatus status = DT_SUCCESS;
+	
+	int n = 0;
+	if (n < maxResult)
+	{
+		resultRef[n] = startNode->id;
+		if (resultParent)
+			resultParent[n] = 0;
+		++n;
+	}
+	else
+	{
+		status |= DT_BUFFER_TOO_SMALL;
+	}
+	
+	while (nstack)
+	{
+		// Pop front.
+		dtNode* curNode = stack[0];
+		for (int i = 0; i < nstack-1; ++i)
+			stack[i] = stack[i+1];
+		nstack--;
+		
+		// Get poly and tile.
+		// The API input has been cheked already, skip checking internal data.
+		const dtPolyRef curRef = curNode->id;
+		const dtMeshTile* curTile = 0;
+		const dtPoly* curPoly = 0;
+		m_nav->getTileAndPolyByRefUnsafe(curRef, &curTile, &curPoly);
+		
+		for (unsigned int i = curPoly->firstLink; i != DT_NULL_LINK; i = curTile->links[i].next)
+		{
+			const dtLink* link = &curTile->links[i];
+			dtPolyRef neighbourRef = link->ref;
+			// Skip invalid neighbours.
+			if (!neighbourRef)
+				continue;
+			
+			// Skip if cannot alloca more nodes.
+			dtNode* neighbourNode = m_tinyNodePool->getNode(neighbourRef);
+			if (!neighbourNode)
+				continue;
+			// Skip visited.
+			if (neighbourNode->flags & DT_NODE_CLOSED)
+				continue;
+			
+			// Expand to neighbour
+			const dtMeshTile* neighbourTile = 0;
+			const dtPoly* neighbourPoly = 0;
+			m_nav->getTileAndPolyByRefUnsafe(neighbourRef, &neighbourTile, &neighbourPoly);
+			
+			// Skip off-mesh connections.
+			if (neighbourPoly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION)
+				continue;
+			
+			// Do not advance if the polygon is excluded by the filter.
+			if (!filter->passFilter(neighbourRef, neighbourTile, neighbourPoly))
+				continue;
+			
+			// Find edge and calc distance to the edge.
+			float va[3], vb[3];
+			if (!getPortalPoints(curRef, curPoly, curTile, neighbourRef, neighbourPoly, neighbourTile, va, vb))
+				continue;
+			
+			// If the circle is not touching the next polygon, skip it.
+			float tseg;
+			float distSqr = dtDistancePtSegSqr2D(centerPos, va, vb, tseg);
+			if (distSqr > radiusSqr)
+				continue;
+			
+			// Mark node visited, this is done before the overlap test so that
+			// we will not visit the poly again if the test fails.
+			neighbourNode->flags |= DT_NODE_CLOSED;
+			neighbourNode->pidx = m_tinyNodePool->getNodeIdx(curNode);
+			
+			// Check that the polygon does not collide with existing polygons.
+			
+			// Collect vertices of the neighbour poly.
+			const int npa = neighbourPoly->vertCount;
+			for (int k = 0; k < npa; ++k)
+				dtVcopy(&pa[k*3], &neighbourTile->verts[neighbourPoly->verts[k]*3]);
+			
+			bool overlap = false;
+			for (int j = 0; j < n; ++j)
+			{
+				dtPolyRef pastRef = resultRef[j];
+				
+				// Connected polys do not overlap.
+				bool connected = false;
+				for (unsigned int k = curPoly->firstLink; k != DT_NULL_LINK; k = curTile->links[k].next)
+				{
+					if (curTile->links[k].ref == pastRef)
+					{
+						connected = true;
+						break;
+					}
+				}
+				if (connected)
+					continue;
+				
+				// Potentially overlapping.
+				const dtMeshTile* pastTile = 0;
+				const dtPoly* pastPoly = 0;
+				m_nav->getTileAndPolyByRefUnsafe(pastRef, &pastTile, &pastPoly);
+				
+				// Get vertices and test overlap
+				const int npb = pastPoly->vertCount;
+				for (int k = 0; k < npb; ++k)
+					dtVcopy(&pb[k*3], &pastTile->verts[pastPoly->verts[k]*3]);
+				
+				if (dtOverlapPolyPoly2D(pa,npa, pb,npb))
+				{
+					overlap = true;
+					break;
+				}
+			}
+			if (overlap)
+				continue;
+			
+			// This poly is fine, store and advance to the poly.
+			if (n < maxResult)
+			{
+				resultRef[n] = neighbourRef;
+				if (resultParent)
+					resultParent[n] = curRef;
+				++n;
+			}
+			else
+			{
+				status |= DT_BUFFER_TOO_SMALL;
+			}
+			
+			if (nstack < MAX_STACK)
+			{
+				stack[nstack++] = neighbourNode;
+			}
+		}
+	}
+	
+	*resultCount = n;
+	
+	return status;
+}
+
+
+struct dtSegInterval
+{
+	dtPolyRef ref;
+	short tmin, tmax;
+};
+
+static void insertInterval(dtSegInterval* ints, int& nints, const int maxInts,
+						   const short tmin, const short tmax, const dtPolyRef ref)
+{
+	if (nints+1 > maxInts) return;
+	// Find insertion point.
+	int idx = 0;
+	while (idx < nints)
+	{
+		if (tmax <= ints[idx].tmin)
+			break;
+		idx++;
+	}
+	// Move current results.
+	if (nints-idx)
+		memmove(ints+idx+1, ints+idx, sizeof(dtSegInterval)*(nints-idx));
+	// Store
+	ints[idx].ref = ref;
+	ints[idx].tmin = tmin;
+	ints[idx].tmax = tmax;
+	nints++;
+}
+
+/// @par
+///
+/// If the @p segmentRefs parameter is provided, then all polygon segments will be returned. 
+/// Otherwise only the wall segments are returned.
+/// 
+/// A segment that is normally a portal will be included in the result set as a 
+/// wall if the @p filter results in the neighbor polygon becoomming impassable.
+/// 
+/// The @p segmentVerts and @p segmentRefs buffers should normally be sized for the 
+/// maximum segments per polygon of the source navigation mesh.
+/// 
+dtStatus dtNavMeshQuery::getPolyWallSegments(dtPolyRef ref, const dtQueryFilter* filter,
+											 float* segmentVerts, dtPolyRef* segmentRefs, int* segmentCount,
+											 const int maxSegments) const
+{
+	dtAssert(m_nav);
+	
+	*segmentCount = 0;
+	
+	const dtMeshTile* tile = 0;
+	const dtPoly* poly = 0;
+	if (dtStatusFailed(m_nav->getTileAndPolyByRef(ref, &tile, &poly)))
+		return DT_FAILURE | DT_INVALID_PARAM;
+	
+	int n = 0;
+	static const int MAX_INTERVAL = 16;
+	dtSegInterval ints[MAX_INTERVAL];
+	int nints;
+	
+	const bool storePortals = segmentRefs != 0;
+	
+	dtStatus status = DT_SUCCESS;
+	
+	for (int i = 0, j = (int)poly->vertCount-1; i < (int)poly->vertCount; j = i++)
+	{
+		// Skip non-solid edges.
+		nints = 0;
+		if (poly->neis[j] & DT_EXT_LINK)
+		{
+			// Tile border.
+			for (unsigned int k = poly->firstLink; k != DT_NULL_LINK; k = tile->links[k].next)
+			{
+				const dtLink* link = &tile->links[k];
+				if (link->edge == j)
+				{
+					if (link->ref != 0)
+					{
+						const dtMeshTile* neiTile = 0;
+						const dtPoly* neiPoly = 0;
+						m_nav->getTileAndPolyByRefUnsafe(link->ref, &neiTile, &neiPoly);
+						if (filter->passFilter(link->ref, neiTile, neiPoly))
+						{
+							insertInterval(ints, nints, MAX_INTERVAL, link->bmin, link->bmax, link->ref);
+						}
+					}
+				}
+			}
+		}
+		else
+		{
+			// Internal edge
+			dtPolyRef neiRef = 0;
+			if (poly->neis[j])
+			{
+				const unsigned int idx = (unsigned int)(poly->neis[j]-1);
+				neiRef = m_nav->getPolyRefBase(tile) | idx;
+				if (!filter->passFilter(neiRef, tile, &tile->polys[idx]))
+					neiRef = 0;
+			}
+
+			// If the edge leads to another polygon and portals are not stored, skip.
+			if (neiRef != 0 && !storePortals)
+				continue;
+			
+			if (n < maxSegments)
+			{
+				const float* vj = &tile->verts[poly->verts[j]*3];
+				const float* vi = &tile->verts[poly->verts[i]*3];
+				float* seg = &segmentVerts[n*6];
+				dtVcopy(seg+0, vj);
+				dtVcopy(seg+3, vi);
+				if (segmentRefs)
+					segmentRefs[n] = neiRef;
+				n++;
+			}
+			else
+			{
+				status |= DT_BUFFER_TOO_SMALL;
+			}
+			
+			continue;
+		}
+		
+		// Add sentinels
+		insertInterval(ints, nints, MAX_INTERVAL, -1, 0, 0);
+		insertInterval(ints, nints, MAX_INTERVAL, 255, 256, 0);
+		
+		// Store segments.
+		const float* vj = &tile->verts[poly->verts[j]*3];
+		const float* vi = &tile->verts[poly->verts[i]*3];
+		for (int k = 1; k < nints; ++k)
+		{
+			// Portal segment.
+			if (storePortals && ints[k].ref)
+			{
+				const float tmin = ints[k].tmin/255.0f; 
+				const float tmax = ints[k].tmax/255.0f; 
+				if (n < maxSegments)
+				{
+					float* seg = &segmentVerts[n*6];
+					dtVlerp(seg+0, vj,vi, tmin);
+					dtVlerp(seg+3, vj,vi, tmax);
+					if (segmentRefs)
+						segmentRefs[n] = ints[k].ref;
+					n++;
+				}
+				else
+				{
+					status |= DT_BUFFER_TOO_SMALL;
+				}
+			}
+
+			// Wall segment.
+			const int imin = ints[k-1].tmax;
+			const int imax = ints[k].tmin;
+			if (imin != imax)
+			{
+				const float tmin = imin/255.0f; 
+				const float tmax = imax/255.0f; 
+				if (n < maxSegments)
+				{
+					float* seg = &segmentVerts[n*6];
+					dtVlerp(seg+0, vj,vi, tmin);
+					dtVlerp(seg+3, vj,vi, tmax);
+					if (segmentRefs)
+						segmentRefs[n] = 0;
+					n++;
+				}
+				else
+				{
+					status |= DT_BUFFER_TOO_SMALL;
+				}
+			}
+		}
+	}
+	
+	*segmentCount = n;
+	
+	return status;
+}
+
+/// @par
+///
+/// @p hitPos is not adjusted using the height detail data.
+///
+/// @p hitDist will equal the search radius if there is no wall within the 
+/// radius. In this case the values of @p hitPos and @p hitNormal are
+/// undefined.
+///
+/// The normal will become unpredicable if @p hitDist is a very small number.
+///
+dtStatus dtNavMeshQuery::findDistanceToWall(dtPolyRef startRef, const float* centerPos, const float maxRadius,
+											const dtQueryFilter* filter,
+											float* hitDist, float* hitPos, float* hitNormal) const
+{
+	dtAssert(m_nav);
+	dtAssert(m_nodePool);
+	dtAssert(m_openList);
+	
+	// Validate input
+	if (!startRef || !m_nav->isValidPolyRef(startRef))
+		return DT_FAILURE | DT_INVALID_PARAM;
+	
+	m_nodePool->clear();
+	m_openList->clear();
+	
+	dtNode* startNode = m_nodePool->getNode(startRef);
+	dtVcopy(startNode->pos, centerPos);
+	startNode->pidx = 0;
+	startNode->cost = 0;
+	startNode->total = 0;
+	startNode->id = startRef;
+	startNode->flags = DT_NODE_OPEN;
+	m_openList->push(startNode);
+	
+	float radiusSqr = dtSqr(maxRadius);
+	
+	dtStatus status = DT_SUCCESS;
+	
+	while (!m_openList->empty())
+	{
+		dtNode* bestNode = m_openList->pop();
+		bestNode->flags &= ~DT_NODE_OPEN;
+		bestNode->flags |= DT_NODE_CLOSED;
+		
+		// Get poly and tile.
+		// The API input has been cheked already, skip checking internal data.
+		const dtPolyRef bestRef = bestNode->id;
+		const dtMeshTile* bestTile = 0;
+		const dtPoly* bestPoly = 0;
+		m_nav->getTileAndPolyByRefUnsafe(bestRef, &bestTile, &bestPoly);
+		
+		// Get parent poly and tile.
+		dtPolyRef parentRef = 0;
+		const dtMeshTile* parentTile = 0;
+		const dtPoly* parentPoly = 0;
+		if (bestNode->pidx)
+			parentRef = m_nodePool->getNodeAtIdx(bestNode->pidx)->id;
+		if (parentRef)
+			m_nav->getTileAndPolyByRefUnsafe(parentRef, &parentTile, &parentPoly);
+		
+		// Hit test walls.
+		for (int i = 0, j = (int)bestPoly->vertCount-1; i < (int)bestPoly->vertCount; j = i++)
+		{
+			// Skip non-solid edges.
+			if (bestPoly->neis[j] & DT_EXT_LINK)
+			{
+				// Tile border.
+				bool solid = true;
+				for (unsigned int k = bestPoly->firstLink; k != DT_NULL_LINK; k = bestTile->links[k].next)
+				{
+					const dtLink* link = &bestTile->links[k];
+					if (link->edge == j)
+					{
+						if (link->ref != 0)
+						{
+							const dtMeshTile* neiTile = 0;
+							const dtPoly* neiPoly = 0;
+							m_nav->getTileAndPolyByRefUnsafe(link->ref, &neiTile, &neiPoly);
+							if (filter->passFilter(link->ref, neiTile, neiPoly))
+								solid = false;
+						}
+						break;
+					}
+				}
+				if (!solid) continue;
+			}
+			else if (bestPoly->neis[j])
+			{
+				// Internal edge
+				const unsigned int idx = (unsigned int)(bestPoly->neis[j]-1);
+				const dtPolyRef ref = m_nav->getPolyRefBase(bestTile) | idx;
+				if (filter->passFilter(ref, bestTile, &bestTile->polys[idx]))
+					continue;
+			}
+			
+			// Calc distance to the edge.
+			const float* vj = &bestTile->verts[bestPoly->verts[j]*3];
+			const float* vi = &bestTile->verts[bestPoly->verts[i]*3];
+			float tseg;
+			float distSqr = dtDistancePtSegSqr2D(centerPos, vj, vi, tseg);
+			
+			// Edge is too far, skip.
+			if (distSqr > radiusSqr)
+				continue;
+			
+			// Hit wall, update radius.
+			radiusSqr = distSqr;
+			// Calculate hit pos.
+			hitPos[0] = vj[0] + (vi[0] - vj[0])*tseg;
+			hitPos[1] = vj[1] + (vi[1] - vj[1])*tseg;
+			hitPos[2] = vj[2] + (vi[2] - vj[2])*tseg;
+		}
+		
+		for (unsigned int i = bestPoly->firstLink; i != DT_NULL_LINK; i = bestTile->links[i].next)
+		{
+			const dtLink* link = &bestTile->links[i];
+			dtPolyRef neighbourRef = link->ref;
+			// Skip invalid neighbours and do not follow back to parent.
+			if (!neighbourRef || neighbourRef == parentRef)
+				continue;
+			
+			// Expand to neighbour.
+			const dtMeshTile* neighbourTile = 0;
+			const dtPoly* neighbourPoly = 0;
+			m_nav->getTileAndPolyByRefUnsafe(neighbourRef, &neighbourTile, &neighbourPoly);
+			
+			// Skip off-mesh connections.
+			if (neighbourPoly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION)
+				continue;
+			
+			// Calc distance to the edge.
+			const float* va = &bestTile->verts[bestPoly->verts[link->edge]*3];
+			const float* vb = &bestTile->verts[bestPoly->verts[(link->edge+1) % bestPoly->vertCount]*3];
+			float tseg;
+			float distSqr = dtDistancePtSegSqr2D(centerPos, va, vb, tseg);
+			
+			// If the circle is not touching the next polygon, skip it.
+			if (distSqr > radiusSqr)
+				continue;
+			
+			if (!filter->passFilter(neighbourRef, neighbourTile, neighbourPoly))
+				continue;
+
+			dtNode* neighbourNode = m_nodePool->getNode(neighbourRef);
+			if (!neighbourNode)
+			{
+				status |= DT_OUT_OF_NODES;
+				continue;
+			}
+			
+			if (neighbourNode->flags & DT_NODE_CLOSED)
+				continue;
+			
+			// Cost
+			if (neighbourNode->flags == 0)
+			{
+				getEdgeMidPoint(bestRef, bestPoly, bestTile,
+								neighbourRef, neighbourPoly, neighbourTile, neighbourNode->pos);
+			}
+			
+			const float total = bestNode->total + dtVdist(bestNode->pos, neighbourNode->pos);
+			
+			// The node is already in open list and the new result is worse, skip.
+			if ((neighbourNode->flags & DT_NODE_OPEN) && total >= neighbourNode->total)
+				continue;
+			
+			neighbourNode->id = neighbourRef;
+			neighbourNode->flags = (neighbourNode->flags & ~DT_NODE_CLOSED);
+			neighbourNode->pidx = m_nodePool->getNodeIdx(bestNode);
+			neighbourNode->total = total;
+				
+			if (neighbourNode->flags & DT_NODE_OPEN)
+			{
+				m_openList->modify(neighbourNode);
+			}
+			else
+			{
+				neighbourNode->flags |= DT_NODE_OPEN;
+				m_openList->push(neighbourNode);
+			}
+		}
+	}
+	
+	// Calc hit normal.
+	dtVsub(hitNormal, centerPos, hitPos);
+	dtVnormalize(hitNormal);
+	
+	*hitDist = sqrtf(radiusSqr);
+	
+	return status;
+}
+
+bool dtNavMeshQuery::isValidPolyRef(dtPolyRef ref, const dtQueryFilter* filter) const
+{
+	const dtMeshTile* tile = 0;
+	const dtPoly* poly = 0;
+	dtStatus status = m_nav->getTileAndPolyByRef(ref, &tile, &poly);
+	// If cannot get polygon, assume it does not exists and boundary is invalid.
+	if (dtStatusFailed(status))
+		return false;
+	// If cannot pass filter, assume flags has changed and boundary is invalid.
+	if (!filter->passFilter(ref, tile, poly))
+		return false;
+	return true;
+}
+
+/// @par
+///
+/// The closed list is the list of polygons that were fully evaluated during 
+/// the last navigation graph search. (A* or Dijkstra)
+/// 
+bool dtNavMeshQuery::isInClosedList(dtPolyRef ref) const
+{
+	if (!m_nodePool) return false;
+	const dtNode* node = m_nodePool->findNode(ref);
+	return node && node->flags & DT_NODE_CLOSED;
+}

ThirdParty/Detour/Source/DetourNode.cpp

@@ -0,0 +1,164 @@
+//
+// Copyright (c) 2009-2010 Mikko Mononen [email protected]
+//
+// 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.
+//
+
+#include "DetourNode.h"
+#include "DetourAlloc.h"
+#include "DetourAssert.h"
+#include "DetourCommon.h"
+#include <string.h>
+
+inline unsigned int dtHashRef(dtPolyRef a)
+{
+	a += ~(a<<15);
+	a ^=  (a>>10);
+	a +=  (a<<3);
+	a ^=  (a>>6);
+	a += ~(a<<11);
+	a ^=  (a>>16);
+	return (unsigned int)a;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////
+dtNodePool::dtNodePool(int maxNodes, int hashSize) :
+	m_nodes(0),
+	m_first(0),
+	m_next(0),
+	m_maxNodes(maxNodes),
+	m_hashSize(hashSize),
+	m_nodeCount(0)
+{
+	dtAssert(dtNextPow2(m_hashSize) == (unsigned int)m_hashSize);
+	dtAssert(m_maxNodes > 0);
+
+	m_nodes = (dtNode*)dtAlloc(sizeof(dtNode)*m_maxNodes, DT_ALLOC_PERM);
+	m_next = (dtNodeIndex*)dtAlloc(sizeof(dtNodeIndex)*m_maxNodes, DT_ALLOC_PERM);
+	m_first = (dtNodeIndex*)dtAlloc(sizeof(dtNodeIndex)*hashSize, DT_ALLOC_PERM);
+
+	dtAssert(m_nodes);
+	dtAssert(m_next);
+	dtAssert(m_first);
+
+	memset(m_first, 0xff, sizeof(dtNodeIndex)*m_hashSize);
+	memset(m_next, 0xff, sizeof(dtNodeIndex)*m_maxNodes);
+}
+
+dtNodePool::~dtNodePool()
+{
+	dtFree(m_nodes);
+	dtFree(m_next);
+	dtFree(m_first);
+}
+
+void dtNodePool::clear()
+{
+	memset(m_first, 0xff, sizeof(dtNodeIndex)*m_hashSize);
+	m_nodeCount = 0;
+}
+
+dtNode* dtNodePool::findNode(dtPolyRef id)
+{
+	unsigned int bucket = dtHashRef(id) & (m_hashSize-1);
+	dtNodeIndex i = m_first[bucket];
+	while (i != DT_NULL_IDX)
+	{
+		if (m_nodes[i].id == id)
+			return &m_nodes[i];
+		i = m_next[i];
+	}
+	return 0;
+}
+
+dtNode* dtNodePool::getNode(dtPolyRef id)
+{
+	unsigned int bucket = dtHashRef(id) & (m_hashSize-1);
+	dtNodeIndex i = m_first[bucket];
+	dtNode* node = 0;
+	while (i != DT_NULL_IDX)
+	{
+		if (m_nodes[i].id == id)
+			return &m_nodes[i];
+		i = m_next[i];
+	}
+	
+	if (m_nodeCount >= m_maxNodes)
+		return 0;
+	
+	i = (dtNodeIndex)m_nodeCount;
+	m_nodeCount++;
+	
+	// Init node
+	node = &m_nodes[i];
+	node->pidx = 0;
+	node->cost = 0;
+	node->total = 0;
+	node->id = id;
+	node->flags = 0;
+	
+	m_next[i] = m_first[bucket];
+	m_first[bucket] = i;
+	
+	return node;
+}
+
+
+//////////////////////////////////////////////////////////////////////////////////////////
+dtNodeQueue::dtNodeQueue(int n) :
+	m_heap(0),
+	m_capacity(n),
+	m_size(0)
+{
+	dtAssert(m_capacity > 0);
+	
+	m_heap = (dtNode**)dtAlloc(sizeof(dtNode*)*(m_capacity+1), DT_ALLOC_PERM);
+	dtAssert(m_heap);
+}
+
+dtNodeQueue::~dtNodeQueue()
+{
+	dtFree(m_heap);
+}
+
+void dtNodeQueue::bubbleUp(int i, dtNode* node)
+{
+	int parent = (i-1)/2;
+	// note: (index > 0) means there is a parent
+	while ((i > 0) && (m_heap[parent]->total > node->total))
+	{
+		m_heap[i] = m_heap[parent];
+		i = parent;
+		parent = (i-1)/2;
+	}
+	m_heap[i] = node;
+}
+
+void dtNodeQueue::trickleDown(int i, dtNode* node)
+{
+	int child = (i*2)+1;
+	while (child < m_size)
+	{
+		if (((child+1) < m_size) && 
+			(m_heap[child]->total > m_heap[child+1]->total))
+		{
+			child++;
+		}
+		m_heap[i] = m_heap[child];
+		i = child;
+		child = (i*2)+1;
+	}
+	bubbleUp(i, node);
+}

ThirdParty/Detour/TODO.txt

@@ -0,0 +1,20 @@
+TODO/Roadmap
+
+Summer/Autumn 2009
+
+- Off mesh links (jump links)
+- Area annotations
+- Embed extra data per polygon
+- Height conforming navmesh
+
+
+Autumn/Winter 2009/2010
+
+- Detour path following
+- More dynamic example with tile navmesh
+- Faster small tile process
+
+
+More info at http://digestingduck.blogspot.com/2009/07/recast-and-detour-roadmap.html
+
+-

ThirdParty/Recast/CMakeLists.txt

@@ -0,0 +1,22 @@
+SET(recast_SRCS
+	Source/Recast.cpp
+	Source/RecastArea.cpp
+	Source/RecastAlloc.cpp
+	Source/RecastContour.cpp
+	Source/RecastFilter.cpp
+	Source/RecastLayers.cpp
+	Source/RecastMesh.cpp
+	Source/RecastMeshDetail.cpp
+	Source/RecastRasterization.cpp
+	Source/RecastRegion.cpp
+)
+
+SET(recast_HDRS
+	Include/Recast.h
+	Include/RecastAlloc.h
+	Include/RecastAssert.h
+)
+
+INCLUDE_DIRECTORIES(Include)
+
+ADD_LIBRARY(Recast ${recast_SRCS} ${recast_HDRS})

ThirdParty/Recast/Include/Recast.h

@@ -0,0 +1,1130 @@
+//
+// Copyright (c) 2009-2010 Mikko Mononen [email protected]
+//
+// 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.
+//
+ 
+#ifndef RECAST_H
+#define RECAST_H
+
+/// The value of PI used by Recast.
+static const float RC_PI = 3.14159265f;
+
+/// Recast log categories.
+/// @see rcContext
+enum rcLogCategory
+{
+	RC_LOG_PROGRESS = 1,	///< A progress log entry.
+	RC_LOG_WARNING,			///< A warning log entry.
+	RC_LOG_ERROR,			///< An error log entry.
+};
+
+/// Recast performance timer categories.
+/// @see rcContext
+enum rcTimerLabel
+{
+	/// The user defined total time of the build.
+	RC_TIMER_TOTAL,
+	/// A user defined build time.
+	RC_TIMER_TEMP,
+	/// The time to rasterize the triangles. (See: #rcRasterizeTriangle)
+	RC_TIMER_RASTERIZE_TRIANGLES,
+	/// The time to build the compact heightfield. (See: #rcBuildCompactHeightfield)
+	RC_TIMER_BUILD_COMPACTHEIGHTFIELD,
+	/// The total time to build the contours. (See: #rcBuildContours)
+	RC_TIMER_BUILD_CONTOURS,
+	/// The time to trace the boundaries of the contours. (See: #rcBuildContours)
+	RC_TIMER_BUILD_CONTOURS_TRACE,
+	/// The time to simplify the contours. (See: #rcBuildContours)
+	RC_TIMER_BUILD_CONTOURS_SIMPLIFY,
+	/// The time to filter ledge spans. (See: #rcFilterLedgeSpans)
+	RC_TIMER_FILTER_BORDER,
+	/// The time to filter low height spans. (See: #rcFilterWalkableLowHeightSpans)
+	RC_TIMER_FILTER_WALKABLE,
+	/// The time to apply the median filter. (See: #rcMedianFilterWalkableArea)
+	RC_TIMER_MEDIAN_AREA,
+	/// The time to filter low obstacles. (See: #rcFilterLowHangingWalkableObstacles)
+	RC_TIMER_FILTER_LOW_OBSTACLES,
+	/// The time to build the polygon mesh. (See: #rcBuildPolyMesh)
+	RC_TIMER_BUILD_POLYMESH,
+	/// The time to merge polygon meshes. (See: #rcMergePolyMeshes)
+	RC_TIMER_MERGE_POLYMESH,
+	/// The time to erode the walkable area. (See: #rcErodeWalkableArea)
+	RC_TIMER_ERODE_AREA,
+	/// The time to mark a box area. (See: #rcMarkBoxArea)
+	RC_TIMER_MARK_BOX_AREA,
+	/// The time to mark a cylinder area. (See: #rcMarkCylinderArea)
+	RC_TIMER_MARK_CYLINDER_AREA,
+	/// The time to mark a convex polygon area. (See: #rcMarkConvexPolyArea)
+	RC_TIMER_MARK_CONVEXPOLY_AREA,
+	/// The total time to build the distance field. (See: #rcBuildDistanceField)
+	RC_TIMER_BUILD_DISTANCEFIELD,
+	/// The time to build the distances of the distance field. (See: #rcBuildDistanceField)
+	RC_TIMER_BUILD_DISTANCEFIELD_DIST,
+	/// The time to blur the distance field. (See: #rcBuildDistanceField)
+	RC_TIMER_BUILD_DISTANCEFIELD_BLUR,
+	/// The total time to build the regions. (See: #rcBuildRegions, #rcBuildRegionsMonotone)
+	RC_TIMER_BUILD_REGIONS,
+	/// The total time to apply the watershed algorithm. (See: #rcBuildRegions)
+	RC_TIMER_BUILD_REGIONS_WATERSHED,
+	/// The time to expand regions while applying the watershed algorithm. (See: #rcBuildRegions)
+	RC_TIMER_BUILD_REGIONS_EXPAND,
+	/// The time to flood regions while applying the watershed algorithm. (See: #rcBuildRegions)
+	RC_TIMER_BUILD_REGIONS_FLOOD,
+	/// The time to filter out small regions. (See: #rcBuildRegions, #rcBuildRegionsMonotone)
+	RC_TIMER_BUILD_REGIONS_FILTER,
+	/// The time to build heightfield layers. (See: #rcBuildHeightfieldLayers)
+	RC_TIMER_BUILD_LAYERS, 
+	/// The time to build the polygon mesh detail. (See: #rcBuildPolyMeshDetail)
+	RC_TIMER_BUILD_POLYMESHDETAIL,
+	/// The time to merge polygon mesh details. (See: #rcMergePolyMeshDetails)
+	RC_TIMER_MERGE_POLYMESHDETAIL,
+	/// The maximum number of timers.  (Used for iterating timers.)
+	RC_MAX_TIMERS
+};
+
+/// Provides an interface for optional logging and performance tracking of the Recast 
+/// build process.
+/// @ingroup recast
+class rcContext
+{
+public:
+
+	/// Contructor.
+	///  @param[in]		state	TRUE if the logging and performance timers should be enabled.  [Default: true]
+	inline rcContext(bool state = true) : m_logEnabled(state), m_timerEnabled(state) {}
+	virtual ~rcContext() {}
+
+	/// Enables or disables logging.
+	///  @param[in]		state	TRUE if logging should be enabled.
+	inline void enableLog(bool state) { m_logEnabled = state; }
+
+	/// Clears all log entries.
+	inline void resetLog() { if (m_logEnabled) doResetLog(); }
+
+	/// Logs a message.
+	///  @param[in]		category	The category of the message.
+	///  @param[in]		format		The message.
+	void log(const rcLogCategory category, const char* format, ...);
+
+	/// Enables or disables the performance timers.
+	///  @param[in]		state	TRUE if timers should be enabled.
+	inline void enableTimer(bool state) { m_timerEnabled = state; }
+
+	/// Clears all peformance timers. (Resets all to unused.)
+	inline void resetTimers() { if (m_timerEnabled) doResetTimers(); }
+
+	/// Starts the specified performance timer.
+	///  @param	label	The category of timer.
+	inline void startTimer(const rcTimerLabel label) { if (m_timerEnabled) doStartTimer(label); }
+
+	/// Stops the specified performance timer.
+	///  @param	label	The category of the timer.
+	inline void stopTimer(const rcTimerLabel label) { if (m_timerEnabled) doStopTimer(label); }
+
+	/// Returns the total accumulated time of the specified performance timer.
+	///  @param	label	The category of the timer.
+	///  @return The accumulated time of the timer, or -1 if timers are disabled or the timer has never been started.
+	inline int getAccumulatedTime(const rcTimerLabel label) const { return m_timerEnabled ? doGetAccumulatedTime(label) : -1; }
+
+protected:
+
+	/// Clears all log entries.
+	virtual void doResetLog() {}
+
+	/// Logs a message.
+	///  @param[in]		category	The category of the message.
+	///  @param[in]		msg			The formatted message.
+	///  @param[in]		len			The length of the formatted message.
+	virtual void doLog(const rcLogCategory /*category*/, const char* /*msg*/, const int /*len*/) {}
+
+	/// Clears all timers. (Resets all to unused.)
+	virtual void doResetTimers() {}
+
+	/// Starts the specified performance timer.
+	///  @param[in]		label	The category of timer.
+	virtual void doStartTimer(const rcTimerLabel /*label*/) {}
+
+	/// Stops the specified performance timer.
+	///  @param[in]		label	The category of the timer.
+	virtual void doStopTimer(const rcTimerLabel /*label*/) {}
+
+	/// Returns the total accumulated time of the specified performance timer.
+	///  @param[in]		label	The category of the timer.
+	///  @return The accumulated time of the timer, or -1 if timers are disabled or the timer has never been started.
+	virtual int doGetAccumulatedTime(const rcTimerLabel /*label*/) const { return -1; }
+	
+	/// True if logging is enabled.
+	bool m_logEnabled;
+
+	/// True if the performance timers are enabled.
+	bool m_timerEnabled;
+};
+
+/// Specifies a configuration to use when performing Recast builds.
+/// @ingroup recast
+struct rcConfig
+{
+	/// The width of the field along the x-axis. [Limit: >= 0] [Units: vx]
+	int width;
+
+	/// The height of the field along the z-axis. [Limit: >= 0] [Units: vx]
+	int height;
+	
+	/// The width/height size of tile's on the xz-plane. [Limit: >= 0] [Units: vx]
+	int tileSize;
+	
+	/// The size of the non-navigable border around the heightfield. [Limit: >=0] [Units: vx]
+	int borderSize;
+
+	/// The xz-plane cell size to use for fields. [Limit: > 0] [Units: wu] 
+	float cs;
+
+	/// The y-axis cell size to use for fields. [Limit: > 0] [Units: wu]
+	float ch;
+
+	/// The minimum bounds of the field's AABB. [(x, y, z)] [Units: wu]
+	float bmin[3]; 
+
+	/// The maximum bounds of the field's AABB. [(x, y, z)] [Units: wu]
+	float bmax[3];
+
+	/// The maximum slope that is considered walkable. [Limits: 0 <= value < 90] [Units: Degrees] 
+	float walkableSlopeAngle;
+
+	/// Minimum floor to 'ceiling' height that will still allow the floor area to 
+	/// be considered walkable. [Limit: >= 3] [Units: vx] 
+	int walkableHeight;
+	
+	/// Maximum ledge height that is considered to still be traversable. [Limit: >=0] [Units: vx] 
+	int walkableClimb;
+	
+	/// The distance to erode/shrink the walkable area of the heightfield away from 
+	/// obstructions.  [Limit: >=0] [Units: vx] 
+	int walkableRadius;
+	
+	/// The maximum allowed length for contour edges along the border of the mesh. [Limit: >=0] [Units: vx] 
+	int maxEdgeLen;
+	
+	/// The maximum distance a simplfied contour's border edges should deviate 
+	/// the original raw contour. [Limit: >=0] [Units: wu]
+	float maxSimplificationError;
+	
+	/// The minimum number of cells allowed to form isolated island areas. [Limit: >=0] [Units: vx] 
+	int minRegionArea;
+	
+	/// Any regions with a span count smaller than this value will, if possible, 
+	/// be merged with larger regions. [Limit: >=0] [Units: vx] 
+	int mergeRegionArea;
+	
+	/// The maximum number of vertices allowed for polygons generated during the 
+	/// contour to polygon conversion process. [Limit: >= 3] 
+	int maxVertsPerPoly;
+	
+	/// Sets the sampling distance to use when generating the detail mesh.
+	/// (For height detail only.) [Limits: 0 or >= 0.9] [Units: wu] 
+	float detailSampleDist;
+	
+	/// The maximum distance the detail mesh surface should deviate from heightfield
+	/// data. (For height detail only.) [Limit: >=0] [Units: wu] 
+	float detailSampleMaxError;
+};
+
+/// Defines the number of bits allocated to rcSpan::smin and rcSpan::smax.
+static const int RC_SPAN_HEIGHT_BITS = 13;
+/// Defines the maximum value for rcSpan::smin and rcSpan::smax.
+static const int RC_SPAN_MAX_HEIGHT = (1<<RC_SPAN_HEIGHT_BITS)-1;
+
+/// The number of spans allocated per span spool.
+/// @see rcSpanPool
+static const int RC_SPANS_PER_POOL = 2048;
+
+/// Represents a span in a heightfield.
+/// @see rcHeightfield
+struct rcSpan
+{
+	unsigned int smin : 13;			///< The lower limit of the span. [Limit: < #smax]
+	unsigned int smax : 13;			///< The upper limit of the span. [Limit: <= #RC_SPAN_MAX_HEIGHT]
+	unsigned int area : 6;			///< The area id assigned to the span.
+	rcSpan* next;					///< The next span higher up in column.
+};
+
+/// A memory pool used for quick allocation of spans within a heightfield.
+/// @see rcHeightfield
+struct rcSpanPool
+{
+	rcSpanPool* next;					///< The next span pool.
+	rcSpan items[RC_SPANS_PER_POOL];	///< Array of spans in the pool.
+};
+
+/// A dynamic heightfield representing obstructed space.
+/// @ingroup recast
+struct rcHeightfield
+{
+	int width;			///< The width of the heightfield. (Along the x-axis in cell units.)
+	int height;			///< The height of the heightfield. (Along the z-axis in cell units.)
+	float bmin[3];  	///< The minimum bounds in world space. [(x, y, z)]
+	float bmax[3];		///< The maximum bounds in world space. [(x, y, z)]
+	float cs;			///< The size of each cell. (On the xz-plane.)
+	float ch;			///< The height of each cell. (The minimum increment along the y-axis.)
+	rcSpan** spans;		///< Heightfield of spans (width*height).
+	rcSpanPool* pools;	///< Linked list of span pools.
+	rcSpan* freelist;	///< The next free span.
+};
+
+/// Provides information on the content of a cell column in a compact heightfield. 
+struct rcCompactCell
+{
+	unsigned int index : 24;	///< Index to the first span in the column.
+	unsigned int count : 8;		///< Number of spans in the column.
+};
+
+/// Represents a span of unobstructed space within a compact heightfield.
+struct rcCompactSpan
+{
+	unsigned short y;			///< The lower extent of the span. (Measured from the heightfield's base.)
+	unsigned short reg;			///< The id of the region the span belongs to. (Or zero if not in a region.)
+	unsigned int con : 24;		///< Packed neighbor connection data.
+	unsigned int h : 8;			///< The height of the span.  (Measured from #y.)
+};
+
+/// A compact, static heightfield representing unobstructed space.
+/// @ingroup recast
+struct rcCompactHeightfield
+{
+	int width;					///< The width of the heightfield. (Along the x-axis in cell units.)
+	int height;					///< The height of the heightfield. (Along the z-axis in cell units.)
+	int spanCount;				///< The number of spans in the heightfield.
+	int walkableHeight;			///< The walkable height used during the build of the field.  (See: rcConfig::walkableHeight)
+	int walkableClimb;			///< The walkable climb used during the build of the field. (See: rcConfig::walkableClimb)
+	int borderSize;				///< The AABB border size used during the build of the field. (See: rcConfig::borderSize)
+	unsigned short maxDistance;	///< The maximum distance value of any span within the field. 
+	unsigned short maxRegions;	///< The maximum region id of any span within the field. 
+	float bmin[3];				///< The minimum bounds in world space. [(x, y, z)]
+	float bmax[3];				///< The maximum bounds in world space. [(x, y, z)]
+	float cs;					///< The size of each cell. (On the xz-plane.)
+	float ch;					///< The height of each cell. (The minimum increment along the y-axis.)
+	rcCompactCell* cells;		///< Array of cells. [Size: #width*#height]
+	rcCompactSpan* spans;		///< Array of spans. [Size: #spanCount]
+	unsigned short* dist;		///< Array containing border distance data. [Size: #spanCount]
+	unsigned char* areas;		///< Array containing area id data. [Size: #spanCount]
+};
+
+/// Represents a heightfield layer within a layer set.
+/// @see rcHeightfieldLayerSet
+struct rcHeightfieldLayer
+{
+	float bmin[3];				///< The minimum bounds in world space. [(x, y, z)]
+	float bmax[3];				///< The maximum bounds in world space. [(x, y, z)]
+	float cs;					///< The size of each cell. (On the xz-plane.)
+	float ch;					///< The height of each cell. (The minimum increment along the y-axis.)
+	int width;					///< The width of the heightfield. (Along the x-axis in cell units.)
+	int height;					///< The height of the heightfield. (Along the z-axis in cell units.)
+	int minx;					///< The minimum x-bounds of usable data.
+	int maxx;					///< The maximum x-bounds of usable data.
+	int miny;					///< The minimum y-bounds of usable data. (Along the z-axis.)
+	int maxy;					///< The maximum y-bounds of usable data. (Along the z-axis.)
+	int hmin;					///< The minimum height bounds of usable data. (Along the y-axis.)
+	int hmax;					///< The maximum height bounds of usable data. (Along the y-axis.)
+	unsigned char* heights;		///< The heightfield. [Size: (width - borderSize*2) * (h - borderSize*2)]
+	unsigned char* areas;		///< Area ids. [Size: Same as #heights]
+	unsigned char* cons;		///< Packed neighbor connection information. [Size: Same as #heights]
+};
+
+/// Represents a set of heightfield layers.
+/// @ingroup recast
+/// @see rcAllocHeightfieldLayerSet, rcFreeHeightfieldLayerSet 
+struct rcHeightfieldLayerSet
+{
+	rcHeightfieldLayer* layers;			///< The layers in the set. [Size: #nlayers]
+	int nlayers;						///< The number of layers in the set.
+};
+
+/// Represents a simple, non-overlapping contour in field space.
+struct rcContour
+{
+	int* verts;			///< Simplified contour vertex and connection data. [Size: 4 * #nverts]
+	int nverts;			///< The number of vertices in the simplified contour. 
+	int* rverts;		///< Raw contour vertex and connection data. [Size: 4 * #nrverts]
+	int nrverts;		///< The number of vertices in the raw contour. 
+	unsigned short reg;	///< The region id of the contour.
+	unsigned char area;	///< The area id of the contour.
+};
+
+/// Represents a group of related contours.
+/// @ingroup recast
+struct rcContourSet
+{
+	rcContour* conts;	///< An array of the contours in the set. [Size: #nconts]
+	int nconts;			///< The number of contours in the set.
+	float bmin[3];  	///< The minimum bounds in world space. [(x, y, z)]
+	float bmax[3];		///< The maximum bounds in world space. [(x, y, z)]
+	float cs;			///< The size of each cell. (On the xz-plane.)
+	float ch;			///< The height of each cell. (The minimum increment along the y-axis.)
+	int width;			///< The width of the set. (Along the x-axis in cell units.) 
+	int height;			///< The height of the set. (Along the z-axis in cell units.) 
+	int borderSize;		///< The AABB border size used to generate the source data from which the contours were derived.
+};
+
+/// Represents a polygon mesh suitable for use in building a navigation mesh. 
+/// @ingroup recast
+struct rcPolyMesh
+{
+	unsigned short* verts;	///< The mesh vertices. [Form: (x, y, z) * #nverts]
+	unsigned short* polys;	///< Polygon and neighbor data. [Length: #maxpolys * 2 * #nvp]
+	unsigned short* regs;	///< The region id assigned to each polygon. [Length: #maxpolys]
+	unsigned short* flags;	///< The user defined flags for each polygon. [Length: #maxpolys]
+	unsigned char* areas;	///< The area id assigned to each polygon. [Length: #maxpolys]
+	int nverts;				///< The number of vertices.
+	int npolys;				///< The number of polygons.
+	int maxpolys;			///< The number of allocated polygons.
+	int nvp;				///< The maximum number of vertices per polygon.
+	float bmin[3];			///< The minimum bounds in world space. [(x, y, z)]
+	float bmax[3];			///< The maximum bounds in world space. [(x, y, z)]
+	float cs;				///< The size of each cell. (On the xz-plane.)
+	float ch;				///< The height of each cell. (The minimum increment along the y-axis.)
+	int borderSize;			///< The AABB border size used to generate the source data from which the mesh was derived.
+};
+
+/// Contains triangle meshes that represent detailed height data associated 
+/// with the polygons in its associated polygon mesh object.
+/// @ingroup recast
+struct rcPolyMeshDetail
+{
+	unsigned int* meshes;	///< The sub-mesh data. [Size: 4*#nmeshes] 
+	float* verts;			///< The mesh vertices. [Size: 3*#nverts] 
+	unsigned char* tris;	///< The mesh triangles. [Size: 4*#ntris] 
+	int nmeshes;			///< The number of sub-meshes defined by #meshes.
+	int nverts;				///< The number of vertices in #verts.
+	int ntris;				///< The number of triangles in #tris.
+};
+
+/// @name Allocation Functions
+/// Functions used to allocate and de-allocate Recast objects.
+/// @see rcAllocSetCustom
+/// @{
+
+/// Allocates a heightfield object using the Recast allocator.
+///  @return A heightfield that is ready for initialization, or null on failure.
+///  @ingroup recast
+///  @see rcCreateHeightfield, rcFreeHeightField
+rcHeightfield* rcAllocHeightfield();
+
+/// Frees the specified heightfield object using the Recast allocator.
+///  @param[in]		hf	A heightfield allocated using #rcAllocHeightfield
+///  @ingroup recast
+///  @see rcAllocHeightfield
+void rcFreeHeightField(rcHeightfield* hf);
+
+/// Allocates a compact heightfield object using the Recast allocator.
+///  @return A compact heightfield that is ready for initialization, or null on failure.
+///  @ingroup recast
+///  @see rcBuildCompactHeightfield, rcFreeCompactHeightfield
+rcCompactHeightfield* rcAllocCompactHeightfield();
+
+/// Frees the specified compact heightfield object using the Recast allocator.
+///  @param[in]		chf		A compact heightfield allocated using #rcAllocCompactHeightfield
+///  @ingroup recast
+///  @see rcAllocCompactHeightfield
+void rcFreeCompactHeightfield(rcCompactHeightfield* chf);
+
+/// Allocates a heightfield layer set using the Recast allocator.
+///  @return A heightfield layer set that is ready for initialization, or null on failure.
+///  @ingroup recast
+///  @see rcBuildHeightfieldLayers, rcFreeHeightfieldLayerSet
+rcHeightfieldLayerSet* rcAllocHeightfieldLayerSet();
+
+/// Frees the specified heightfield layer set using the Recast allocator.
+///  @param[in]		lset	A heightfield layer set allocated using #rcAllocHeightfieldLayerSet
+///  @ingroup recast
+///  @see rcAllocHeightfieldLayerSet
+void rcFreeHeightfieldLayerSet(rcHeightfieldLayerSet* lset);
+
+/// Allocates a contour set object using the Recast allocator.
+///  @return A contour set that is ready for initialization, or null on failure.
+///  @ingroup recast
+///  @see rcBuildContours, rcFreeContourSet
+rcContourSet* rcAllocContourSet();
+
+/// Frees the specified contour set using the Recast allocator.
+///  @param[in]		cset	A contour set allocated using #rcAllocContourSet
+///  @ingroup recast
+///  @see rcAllocContourSet
+void rcFreeContourSet(rcContourSet* cset);
+
+/// Allocates a polygon mesh object using the Recast allocator.
+///  @return A polygon mesh that is ready for initialization, or null on failure.
+///  @ingroup recast
+///  @see rcBuildPolyMesh, rcFreePolyMesh
+rcPolyMesh* rcAllocPolyMesh();
+
+/// Frees the specified polygon mesh using the Recast allocator.
+///  @param[in]		pmesh	A polygon mesh allocated using #rcAllocPolyMesh
+///  @ingroup recast
+///  @see rcAllocPolyMesh
+void rcFreePolyMesh(rcPolyMesh* pmesh);
+
+/// Allocates a detail mesh object using the Recast allocator.
+///  @return A detail mesh that is ready for initialization, or null on failure.
+///  @ingroup recast
+///  @see rcBuildPolyMeshDetail, rcFreePolyMeshDetail
+rcPolyMeshDetail* rcAllocPolyMeshDetail();
+
+/// Frees the specified detail mesh using the Recast allocator.
+///  @param[in]		dmesh	A detail mesh allocated using #rcAllocPolyMeshDetail
+///  @ingroup recast
+///  @see rcAllocPolyMeshDetail
+void rcFreePolyMeshDetail(rcPolyMeshDetail* dmesh);
+
+/// @}
+
+/// 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
+static const unsigned short RC_BORDER_REG = 0x8000;
+
+/// 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
+static 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
+static const int RC_AREA_BORDER = 0x20000;
+
+/// Contour build flags.
+/// @see rcBuildContours
+enum rcBuildContoursFlags
+{
+	RC_CONTOUR_TESS_WALL_EDGES = 0x01,	///< Tessellate solid (impassable) edges during contour simplification.
+	RC_CONTOUR_TESS_AREA_EDGES = 0x02,	///< Tessellate edges between areas during contour simplification.
+};
+
+/// 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
+static const int RC_CONTOUR_REG_MASK = 0xffff;
+
+/// An value which indicates an invalid index within a mesh.
+/// @note This does not necessarily indicate an error.
+/// @see rcPolyMesh::polys
+static const unsigned short RC_MESH_NULL_IDX = 0xffff;
+
+/// 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 unwalkable.)
+static const unsigned char 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. 
+static const unsigned char RC_WALKABLE_AREA = 63;
+
+/// The value returned by #rcGetCon if the specified direction is not connected
+/// to another span. (Has no neighbor.)
+static const int RC_NOT_CONNECTED = 0x3f;
+
+/// @name General helper functions
+/// @{
+
+/// Swaps the values of the two parameters.
+///  @param[in,out]	a	Value A
+///  @param[in,out]	b	Value B
+template<class T> inline void rcSwap(T& a, T& b) { T t = a; a = b; b = t; }
+
+/// Returns the minimum of two values.
+///  @param[in]		a	Value A
+///  @param[in]		b	Value B
+///  @return The minimum of the two values.
+template<class T> inline T rcMin(T a, T b) { return a < b ? a : b; }
+
+/// Returns the maximum of two values.
+///  @param[in]		a	Value A
+///  @param[in]		b	Value B
+///  @return The maximum of the two values.
+template<class T> inline T rcMax(T a, T b) { return a > b ? a : b; }
+
+/// Returns the absolute value.
+///  @param[in]		a	The value.
+///  @return The absolute value of the specified value.
+template<class T> inline T rcAbs(T a) { return a < 0 ? -a : a; }
+
+/// Returns the square of the value.
+///  @param[in]		a	The value.
+///  @return The square of the value.
+template<class T> inline T rcSqr(T a) { return a*a; }
+
+/// Clamps the value to the specified range.
+///  @param[in]		v	The value to clamp.
+///  @param[in]		mn	The minimum permitted return value.
+///  @param[in]		mx	The maximum permitted return value.
+///  @return The value, clamped to the specified range.
+template<class T> inline T rcClamp(T v, T mn, T mx) { return v < mn ? mn : (v > mx ? mx : v); }
+
+/// Returns the square root of the value.
+///  @param[in]		x	The value.
+///  @return The square root of the vlaue.
+float rcSqrt(float x);
+
+/// @}
+/// @name Vector helper functions.
+/// @{
+
+/// Derives the cross product of two vectors. (@p v1 x @p v2)
+///  @param[out]	dest	The cross product. [(x, y, z)]
+///  @param[in]		v1		A Vector [(x, y, z)]
+///  @param[in]		v2		A vector [(x, y, z)]
+inline void rcVcross(float* dest, const float* v1, const float* v2)
+{
+	dest[0] = v1[1]*v2[2] - v1[2]*v2[1];
+	dest[1] = v1[2]*v2[0] - v1[0]*v2[2];
+	dest[2] = v1[0]*v2[1] - v1[1]*v2[0];
+}
+
+/// Derives the dot product of two vectors. (@p v1 . @p v2)
+///  @param[in]		v1	A Vector [(x, y, z)]
+///  @param[in]		v2	A vector [(x, y, z)]
+/// @return The dot product.
+inline float rcVdot(const float* v1, const float* v2)
+{
+	return v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2];
+}
+
+/// Performs a scaled vector addition. (@p v1 + (@p v2 * @p s))
+///  @param[out]	dest	The result vector. [(x, y, z)]
+///  @param[in]		v1		The base vector. [(x, y, z)]
+///  @param[in]		v2		The vector to scale and add to @p v1. [(x, y, z)]
+///  @param[in]		s		The amount to scale @p v2 by before adding to @p v1.
+inline void rcVmad(float* dest, const float* v1, const float* v2, const float s)
+{
+	dest[0] = v1[0]+v2[0]*s;
+	dest[1] = v1[1]+v2[1]*s;
+	dest[2] = v1[2]+v2[2]*s;
+}
+
+/// Performs a vector addition. (@p v1 + @p v2)
+///  @param[out]	dest	The result vector. [(x, y, z)]
+///  @param[in]		v1		The base vector. [(x, y, z)]
+///  @param[in]		v2		The vector to add to @p v1. [(x, y, z)]
+inline void rcVadd(float* dest, const float* v1, const float* v2)
+{
+	dest[0] = v1[0]+v2[0];
+	dest[1] = v1[1]+v2[1];
+	dest[2] = v1[2]+v2[2];
+}
+
+/// Performs a vector subtraction. (@p v1 - @p v2)
+///  @param[out]	dest	The result vector. [(x, y, z)]
+///  @param[in]		v1		The base vector. [(x, y, z)]
+///  @param[in]		v2		The vector to subtract from @p v1. [(x, y, z)]
+inline void rcVsub(float* dest, const float* v1, const float* v2)
+{
+	dest[0] = v1[0]-v2[0];
+	dest[1] = v1[1]-v2[1];
+	dest[2] = v1[2]-v2[2];
+}
+
+/// Selects the minimum value of each element from the specified vectors.
+///  @param[in,out]	mn	A vector.  (Will be updated with the result.) [(x, y, z)]
+///  @param[in]		v	A vector. [(x, y, z)]
+inline void rcVmin(float* mn, const float* v)
+{
+	mn[0] = rcMin(mn[0], v[0]);
+	mn[1] = rcMin(mn[1], v[1]);
+	mn[2] = rcMin(mn[2], v[2]);
+}
+
+/// Selects the maximum value of each element from the specified vectors.
+///  @param[in,out]	mx	A vector.  (Will be updated with the result.) [(x, y, z)]
+///  @param[in]		v	A vector. [(x, y, z)]
+inline void rcVmax(float* mx, const float* v)
+{
+	mx[0] = rcMax(mx[0], v[0]);
+	mx[1] = rcMax(mx[1], v[1]);
+	mx[2] = rcMax(mx[2], v[2]);
+}
+
+/// Performs a vector copy.
+///  @param[out]	dest	The result. [(x, y, z)]
+///  @param[in]		v		The vector to copy. [(x, y, z)]
+inline void rcVcopy(float* dest, const float* v)
+{
+	dest[0] = v[0];
+	dest[1] = v[1];
+	dest[2] = v[2];
+}
+
+/// 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.
+inline float rcVdist(const float* v1, const float* v2)
+{
+	float dx = v2[0] - v1[0];
+	float dy = v2[1] - v1[1];
+	float dz = v2[2] - v1[2];
+	return rcSqrt(dx*dx + dy*dy + dz*dz);
+}
+
+/// Returns the square of the distance between two points.
+///  @param[in]		v1	A point. [(x, y, z)]
+///  @param[in]		v2	A point. [(x, y, z)]
+/// @return The square of the distance between the two points.
+inline float rcVdistSqr(const float* v1, const float* v2)
+{
+	float dx = v2[0] - v1[0];
+	float dy = v2[1] - v1[1];
+	float dz = v2[2] - v1[2];
+	return dx*dx + dy*dy + dz*dz;
+}
+
+/// Normalizes the vector.
+///  @param[in,out]	v	The vector to normalize. [(x, y, z)]
+inline void rcVnormalize(float* v)
+{
+	float d = 1.0f / rcSqrt(rcSqr(v[0]) + rcSqr(v[1]) + rcSqr(v[2]));
+	v[0] *= d;
+	v[1] *= d;
+	v[2] *= d;
+}
+
+/// @}
+/// @name Heightfield Functions
+/// @see rcHeightfield
+/// @{
+
+/// Calculates the bounding box of an array of vertices.
+///  @ingroup recast
+///  @param[in]		verts	An array of vertices. [(x, y, z) * @p nv]
+///  @param[in]		nv		The number of vertices in the @p verts array.
+///  @param[out]	bmin	The minimum bounds of the AABB. [(x, y, z)] [Units: wu]
+///  @param[out]	bmax	The maximum bounds of the AABB. [(x, y, z)] [Units: wu]
+void rcCalcBounds(const float* verts, int nv, float* bmin, float* bmax);
+
+/// Calculates the grid size based on the bounding box and grid cell size.
+///  @ingroup recast
+///  @param[in]		bmin	The minimum bounds of the AABB. [(x, y, z)] [Units: wu]
+///  @param[in]		bmax	The maximum bounds of the AABB. [(x, y, z)] [Units: wu]
+///  @param[in]		cs		The xz-plane cell size. [Limit: > 0] [Units: wu]
+///  @param[out]	w		The width along the x-axis. [Limit: >= 0] [Units: vx]
+///  @param[out]	h		The height along the z-axis. [Limit: >= 0] [Units: vx]
+void rcCalcGridSize(const float* bmin, const float* bmax, float cs, int* w, int* h);
+
+/// Initializes a new heightfield.
+///  @ingroup recast
+///  @param[in,out]	ctx		The build context to use during the operation.
+///  @param[in,out]	hf		The allocated heightfield to initialize.
+///  @param[in]		width	The width of the field along the x-axis. [Limit: >= 0] [Units: vx]
+///  @param[in]		height	The height of the field along the z-axis. [Limit: >= 0] [Units: vx]
+///  @param[in]		bmin	The minimum bounds of the field's AABB. [(x, y, z)] [Units: wu]
+///  @param[in]		bmax	The maximum bounds of the field's AABB. [(x, y, z)] [Units: wu]
+///  @param[in]		cs		The xz-plane cell size to use for the field. [Limit: > 0] [Units: wu]
+///  @param[in]		ch		The y-axis cell size to use for field. [Limit: > 0] [Units: wu]
+bool rcCreateHeightfield(rcContext* ctx, rcHeightfield& hf, int width, int height,
+						 const float* bmin, const float* bmax,
+						 float cs, float ch);
+
+/// Sets the area id of all triangles with a slope below the specified value
+/// to #RC_WALKABLE_AREA.
+///  @ingroup recast
+///  @param[in,out]	ctx					The build context to use during the operation.
+///  @param[in]		walkableSlopeAngle	The maximum slope that is considered walkable.
+///  									[Limits: 0 <= value < 90] [Units: Degrees]
+///  @param[in]		verts				The vertices. [(x, y, z) * @p nv]
+///  @param[in]		nv					The number of vertices.
+///  @param[in]		tris				The triangle vertex indices. [(vertA, vertB, vertC) * @p nt]
+///  @param[in]		nt					The number of triangles.
+///  @param[out]	areas				The triangle area ids. [Length: >= @p nt]
+void rcMarkWalkableTriangles(rcContext* ctx, const float walkableSlopeAngle, const float* verts, int nv,
+							 const int* tris, int nt, unsigned char* areas); 
+
+/// Sets the area id of all triangles with a slope greater than or equal to the specified value to #RC_NULL_AREA.
+///  @ingroup recast
+///  @param[in,out]	ctx					The build context to use during the operation.
+///  @param[in]		walkableSlopeAngle	The maximum slope that is considered walkable.
+///  									[Limits: 0 <= value < 90] [Units: Degrees]
+///  @param[in]		verts				The vertices. [(x, y, z) * @p nv]
+///  @param[in]		nv					The number of vertices.
+///  @param[in]		tris				The triangle vertex indices. [(vertA, vertB, vertC) * @p nt]
+///  @param[in]		nt					The number of triangles.
+///  @param[out]	areas				The triangle area ids. [Length: >= @p nt]
+void rcClearUnwalkableTriangles(rcContext* ctx, const float walkableSlopeAngle, const float* verts, int nv,
+								const int* tris, int nt, unsigned char* areas); 
+
+/// Adds a span to the specified heightfield.
+///  @ingroup recast
+///  @param[in,out]	ctx				The build context to use during the operation.
+///  @param[in,out]	hf				An initialized heightfield.
+///  @param[in]		x				The width index where the span is to be added.
+///  								[Limits: 0 <= value < rcHeightfield::width]
+///  @param[in]		y				The height index where the span is to be added.
+///  								[Limits: 0 <= value < rcHeightfield::height]
+///  @param[in]		smin			The minimum height of the span. [Limit: < @p smax] [Units: vx]
+///  @param[in]		smax			The maximum height of the span. [Limit: <= #RC_SPAN_MAX_HEIGHT] [Units: vx]
+///  @param[in]		area			The area id of the span. [Limit: <= #RC_WALKABLE_AREA)
+///  @param[in]		flagMergeThr	The merge theshold. [Limit: >= 0] [Units: vx]
+void rcAddSpan(rcContext* ctx, rcHeightfield& hf, const int x, const int y,
+			   const unsigned short smin, const unsigned short smax,
+			   const unsigned char area, const int flagMergeThr);
+
+/// Rasterizes a triangle into the specified heightfield.
+///  @ingroup recast
+///  @param[in,out]	ctx				The build context to use during the operation.
+///  @param[in]		v0				Triangle vertex 0 [(x, y, z)]
+///  @param[in]		v1				Triangle vertex 1 [(x, y, z)]
+///  @param[in]		v2				Triangle vertex 2 [(x, y, z)]
+///  @param[in]		area			The area id of the triangle. [Limit: <= #RC_WALKABLE_AREA]
+///  @param[in,out]	solid			An initialized heightfield.
+///  @param[in]		flagMergeThr	The distance where the walkable flag is favored over the non-walkable flag.
+///  								[Limit: >= 0] [Units: vx]
+void rcRasterizeTriangle(rcContext* ctx, const float* v0, const float* v1, const float* v2,
+						 const unsigned char area, rcHeightfield& solid,
+						 const int flagMergeThr = 1);
+
+/// Rasterizes an indexed triangle mesh into the specified heightfield.
+///  @ingroup recast
+///  @param[in,out]	ctx				The build context to use during the operation.
+///  @param[in]		verts			The vertices. [(x, y, z) * @p nv]
+///  @param[in]		nv				The number of vertices.
+///  @param[in]		tris			The triangle indices. [(vertA, vertB, vertC) * @p nt]
+///  @param[in]		areas			The area id's of the triangles. [Limit: <= #RC_WALKABLE_AREA] [Size: @p nt]
+///  @param[in]		nt				The number of triangles.
+///  @param[in,out]	solid			An initialized heightfield.
+///  @param[in]		flagMergeThr	The distance where the walkable flag is favored over the non-walkable flag. 
+///  								[Limit: >= 0] [Units: vx]
+void rcRasterizeTriangles(rcContext* ctx, const float* verts, const int nv,
+						  const int* tris, const unsigned char* areas, const int nt,
+						  rcHeightfield& solid, const int flagMergeThr = 1);
+
+/// Rasterizes an indexed triangle mesh into the specified heightfield.
+///  @ingroup recast
+///  @param[in,out]	ctx			The build context to use during the operation.
+///  @param[in]		verts		The vertices. [(x, y, z) * @p nv]
+///  @param[in]		nv			The number of vertices.
+///  @param[in]		tris		The triangle indices. [(vertA, vertB, vertC) * @p nt]
+///  @param[in]		areas		The area id's of the triangles. [Limit: <= #RC_WALKABLE_AREA] [Size: @p nt]
+///  @param[in]		nt			The number of triangles.
+///  @param[in,out]	solid		An initialized heightfield.
+///  @param[in]		flagMergeThr	The distance where the walkable flag is favored over the non-walkable flag. 
+///  							[Limit: >= 0] [Units: vx]
+void rcRasterizeTriangles(rcContext* ctx, const float* verts, const int nv,
+						  const unsigned short* tris, const unsigned char* areas, const int nt,
+						  rcHeightfield& solid, const int flagMergeThr = 1);
+
+/// Rasterizes triangles into the specified heightfield.
+///  @ingroup recast
+///  @param[in,out]	ctx				The build context to use during the operation.
+///  @param[in]		verts			The triangle vertices. [(ax, ay, az, bx, by, bz, cx, by, cx) * @p nt]
+///  @param[in]		areas			The area id's of the triangles. [Limit: <= #RC_WALKABLE_AREA] [Size: @p nt]
+///  @param[in]		nt				The number of triangles.
+///  @param[in,out]	solid			An initialized heightfield.
+///  @param[in]		flagMergeThr	The distance where the walkable flag is favored over the non-walkable flag. 
+///  								[Limit: >= 0] [Units: vx]
+void rcRasterizeTriangles(rcContext* ctx, const float* verts, const unsigned char* areas, const int nt,
+						  rcHeightfield& solid, const int flagMergeThr = 1);
+
+/// Marks non-walkable spans as walkable if their maximum is within @p walkableClimp of a walkable neihbor. 
+///  @ingroup recast
+///  @param[in,out]	ctx				The build context to use during the operation.
+///  @param[in]		walkableClimb	Maximum ledge height that is considered to still be traversable. 
+///  								[Limit: >=0] [Units: vx]
+///  @param[in,out]	solid			A fully built heightfield.  (All spans have been added.)
+void rcFilterLowHangingWalkableObstacles(rcContext* ctx, const int walkableClimb, rcHeightfield& solid);
+
+/// Marks spans that are ledges as not-walkable. 
+///  @ingroup recast
+///  @param[in,out]	ctx				The build context to use during the operation.
+///  @param[in]		walkableHeight	Minimum floor to 'ceiling' height that will still allow the floor area to 
+///  								be considered walkable. [Limit: >= 3] [Units: vx]
+///  @param[in]		walkableClimb	Maximum ledge height that is considered to still be traversable. 
+///  								[Limit: >=0] [Units: vx]
+///  @param[in,out]	solid			A fully built heightfield.  (All spans have been added.)
+void rcFilterLedgeSpans(rcContext* ctx, const int walkableHeight,
+						const int walkableClimb, rcHeightfield& solid);
+
+/// Marks walkable spans as not walkable if the clearence above the span is less than the specified height. 
+///  @ingroup recast
+///  @param[in,out]	ctx				The build context to use during the operation.
+///  @param[in]		walkableHeight	Minimum floor to 'ceiling' height that will still allow the floor area to 
+///  								be considered walkable. [Limit: >= 3] [Units: vx]
+///  @param[in,out]	solid			A fully built heightfield.  (All spans have been added.)
+void rcFilterWalkableLowHeightSpans(rcContext* ctx, int walkableHeight, rcHeightfield& solid);
+
+/// Returns the number of spans contained in the specified heightfield.
+///  @ingroup recast
+///  @param[in,out]	ctx		The build context to use during the operation.
+///  @param[in]		hf		An initialized heightfield.
+///  @returns The number of spans in the heightfield.
+int rcGetHeightFieldSpanCount(rcContext* ctx, rcHeightfield& hf);
+
+/// @}
+/// @name Compact Heightfield Functions
+/// @see rcCompactHeightfield
+/// @{
+
+/// Builds a compact heightfield representing open space, from a heightfield representing solid space.
+///  @ingroup recast
+///  @param[in,out]	ctx				The build context to use during the operation.
+///  @param[in]		walkableHeight	Minimum floor to 'ceiling' height that will still allow the floor area 
+///  								to be considered walkable. [Limit: >= 3] [Units: vx]
+///  @param[in]		walkableClimb	Maximum ledge height that is considered to still be traversable. 
+///  								[Limit: >=0] [Units: vx]
+///  @param[in]		hf				The heightfield to be compacted.
+///  @param[out]	chf				The resulting compact heightfield. (Must be pre-allocated.)
+///  @returns True if the operation completed successfully.
+bool rcBuildCompactHeightfield(rcContext* ctx, const int walkableHeight, const int walkableClimb,
+							   rcHeightfield& hf, rcCompactHeightfield& chf);
+
+/// Erodes the walkable area within the heightfield by the specified radius. 
+///  @ingroup recast
+///  @param[in,out]	ctx		The build context to use during the operation.
+///  @param[in]		radius	The radius of erosion. [Limits: 0 < value < 255] [Units: vx]
+///  @param[in,out]	chf		The populated compact heightfield to erode.
+///  @returns True if the operation completed successfully.
+bool rcErodeWalkableArea(rcContext* ctx, int radius, rcCompactHeightfield& chf);
+
+/// Applies a median filter to walkable area types (based on area id), removing noise.
+///  @ingroup recast
+///  @param[in,out]	ctx		The build context to use during the operation.
+///  @param[in,out]	chf		A populated compact heightfield.
+///  @returns True if the operation completed successfully.
+bool rcMedianFilterWalkableArea(rcContext* ctx, rcCompactHeightfield& chf);
+
+/// Applies an area id to all spans within the specified bounding box. (AABB) 
+///  @ingroup recast
+///  @param[in,out]	ctx		The build context to use during the operation.
+///  @param[in]		bmin	The minimum of the bounding box. [(x, y, z)]
+///  @param[in]		bmax	The maximum of the bounding box. [(x, y, z)]
+///  @param[in]		areaId	The area id to apply. [Limit: <= #RC_WALKABLE_AREA]
+///  @param[in,out]	chf		A populated compact heightfield.
+void rcMarkBoxArea(rcContext* ctx, const float* bmin, const float* bmax, unsigned char areaId,
+				   rcCompactHeightfield& chf);
+
+/// Applies the area id to the all spans within the specified convex polygon. 
+///  @ingroup recast
+///  @param[in,out]	ctx		The build context to use during the operation.
+///  @param[in]		verts	The vertices of the polygon [Fomr: (x, y, z) * @p nverts]
+///  @param[in]		nverts	The number of vertices in the polygon.
+///  @param[in]		hmin	The height of the base of the polygon.
+///  @param[in]		hmax	The height of the top of the polygon.
+///  @param[in]		areaId	The area id to apply. [Limit: <= #RC_WALKABLE_AREA]
+///  @param[in,out]	chf		A populated compact heightfield.
+void rcMarkConvexPolyArea(rcContext* ctx, const float* verts, const int nverts,
+						  const float hmin, const float hmax, unsigned char areaId,
+						  rcCompactHeightfield& chf);
+
+/// Helper function to offset voncex polygons for rcMarkConvexPolyArea.
+///  @ingroup recast
+///  @param[in]		verts		The vertices of the polygon [Form: (x, y, z) * @p nverts]
+///  @param[in]		nverts		The number of vertices in the polygon.
+///  @param[out]	outVerts	The offset vertices (should hold up to 2 * @p nverts) [Form: (x, y, z) * return value]
+///  @param[in]		maxOutVerts	The max number of vertices that can be stored to @p outVerts.
+///  @returns Number of vertices in the offset polygon or 0 if too few vertices in @p outVerts.
+int rcOffsetPoly(const float* verts, const int nverts, const float offset,
+				 float* outVerts, const int maxOutVerts);
+
+/// Applies the area id to all spans within the specified cylinder.
+///  @ingroup recast
+///  @param[in,out]	ctx		The build context to use during the operation.
+///  @param[in]		pos		The center of the base of the cylinder. [Form: (x, y, z)] 
+///  @param[in]		r		The radius of the cylinder.
+///  @param[in]		h		The height of the cylinder.
+///  @param[in]		areaId	The area id to apply. [Limit: <= #RC_WALKABLE_AREA]
+///  @param[in,out]	chf	A populated compact heightfield.
+void rcMarkCylinderArea(rcContext* ctx, const float* pos,
+						const float r, const float h, unsigned char areaId,
+						rcCompactHeightfield& chf);
+
+/// Builds the distance field for the specified compact heightfield. 
+///  @ingroup recast
+///  @param[in,out]	ctx		The build context to use during the operation.
+///  @param[in,out]	chf		A populated compact heightfield.
+///  @returns True if the operation completed successfully.
+bool rcBuildDistanceField(rcContext* ctx, rcCompactHeightfield& chf);
+
+/// Builds region data for the heightfield using watershed partitioning. 
+///  @ingroup recast
+///  @param[in,out]	ctx				The build context to use during the operation.
+///  @param[in,out]	chf				A populated compact heightfield.
+///  @param[in]		borderSize		The size of the non-navigable border around the heightfield.
+///  								[Limit: >=0] [Units: vx]
+///  @param[in]		minRegionArea	The minimum number of cells allowed to form isolated island areas.
+///  								[Limit: >=0] [Units: vx].
+///  @param[in]		mergeRegionArea		Any regions with a span count smaller than this value will, if possible,
+///  								be merged with larger regions. [Limit: >=0] [Units: vx] 
+///  @returns True if the operation completed successfully.
+bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf,
+					const int borderSize, const int minRegionArea, const int mergeRegionArea);
+
+/// Builds region data for the heightfield using simple monotone partitioning.
+///  @ingroup recast 
+///  @param[in,out]	ctx				The build context to use during the operation.
+///  @param[in,out]	chf				A populated compact heightfield.
+///  @param[in]		borderSize		The size of the non-navigable border around the heightfield.
+///  								[Limit: >=0] [Units: vx]
+///  @param[in]		minRegionArea	The minimum number of cells allowed to form isolated island areas.
+///  								[Limit: >=0] [Units: vx].
+///  @param[in]		mergeRegionArea	Any regions with a span count smaller than this value will, if possible, 
+///  								be merged with larger regions. [Limit: >=0] [Units: vx] 
+///  @returns True if the operation completed successfully.
+bool rcBuildRegionsMonotone(rcContext* ctx, rcCompactHeightfield& chf,
+							const int borderSize, const int minRegionArea, const int mergeRegionArea);
+
+
+/// Sets the neighbor connection data for the specified direction.
+///  @param[in]		s		The span to update.
+///  @param[in]		dir		The direction to set. [Limits: 0 <= value < 4]
+///  @param[in]		i		The index of the neighbor span.
+inline void rcSetCon(rcCompactSpan& s, int dir, int i)
+{
+	const unsigned int shift = (unsigned int)dir*6;
+	unsigned int con = s.con;
+	s.con = (con & ~(0x3f << shift)) | (((unsigned int)i & 0x3f) << shift);
+}
+
+/// Gets neighbor connection data for the specified direction.
+///  @param[in]		s		The span to check.
+///  @param[in]		dir		The direction to check. [Limits: 0 <= value < 4]
+///  @return The neighbor connection data for the specified direction,
+///  	or #RC_NOT_CONNECTED if there is no connection.
+inline int rcGetCon(const rcCompactSpan& s, int dir)
+{
+	const unsigned int shift = (unsigned int)dir*6;
+	return (s.con >> shift) & 0x3f;
+}
+
+/// Gets the standard width (x-axis) offset for the specified direction.
+///  @param[in]		dir		The direction. [Limits: 0 <= value < 4]
+///  @return The width offset to apply to the current cell position to move
+///  	in the direction.
+inline int rcGetDirOffsetX(int dir)
+{
+	const int offset[4] = { -1, 0, 1, 0, };
+	return offset[dir&0x03];
+}
+
+/// Gets the standard height (z-axis) offset for the specified direction.
+///  @param[in]		dir		The direction. [Limits: 0 <= value < 4]
+///  @return The height offset to apply to the current cell position to move
+///  	in the direction.
+inline int rcGetDirOffsetY(int dir)
+{
+	const int offset[4] = { 0, 1, 0, -1 };
+	return offset[dir&0x03];
+}
+
+/// @}
+/// @name Layer, Contour, Polymesh, and Detail Mesh Functions
+/// @see rcHeightfieldLayer, rcContourSet, rcPolyMesh, rcPolyMeshDetail
+/// @{
+
+/// Builds a layer set from the specified compact heightfield.
+///  @ingroup recast
+///  @param[in,out]	ctx			The build context to use during the operation.
+///  @param[in]		chf			A fully built compact heightfield.
+///  @param[in]		borderSize	The size of the non-navigable border around the heightfield. [Limit: >=0] 
+///  							[Units: vx]
+///  @param[in]		walkableHeight	Minimum floor to 'ceiling' height that will still allow the floor area 
+///  							to be considered walkable. [Limit: >= 3] [Units: vx]
+///  @param[out]	lset		The resulting layer set. (Must be pre-allocated.)
+///  @returns True if the operation completed successfully.
+bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf, 
+							  const int borderSize, const int walkableHeight,
+							  rcHeightfieldLayerSet& lset);
+
+/// Builds a contour set from the region outlines in the provided compact heightfield.
+///  @ingroup recast
+///  @param[in,out]	ctx			The build context to use during the operation.
+///  @param[in]		chf			A fully built compact heightfield.
+///  @param[in]		maxError	The maximum distance a simplfied contour's border edges should deviate 
+///  							the original raw contour. [Limit: >=0] [Units: wu]
+///  @param[in]		maxEdgeLen	The maximum allowed length for contour edges along the border of the mesh. 
+///  							[Limit: >=0] [Units: vx]
+///  @param[out]	cset		The resulting contour set. (Must be pre-allocated.)
+///  @param[in]		buildFlags	The build flags. (See: #rcBuildContoursFlags)
+///  @returns True if the operation completed successfully.
+bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf,
+					 const float maxError, const int maxEdgeLen,
+					 rcContourSet& cset, const int flags = RC_CONTOUR_TESS_WALL_EDGES);
+
+/// Builds a polygon mesh from the provided contours.
+///  @ingroup recast
+///  @param[in,out]	ctx		The build context to use during the operation.
+///  @param[in]		cset	A fully built contour set.
+///  @param[in]		nvp		The maximum number of vertices allowed for polygons generated during the 
+///  						contour to polygon conversion process. [Limit: >= 3] 
+///  @param[out]	mesh	The resulting polygon mesh. (Must be re-allocated.)
+///  @returns True if the operation completed successfully.
+bool rcBuildPolyMesh(rcContext* ctx, rcContourSet& cset, const int nvp, rcPolyMesh& mesh);
+
+/// Merges multiple polygon meshes into a single mesh.
+///  @ingroup recast
+///  @param[in,out]	ctx		The build context to use during the operation.
+///  @param[in]		meshes	An array of polygon meshes to merge. [Size: @p nmeshes]
+///  @param[in]		nmeshes	The number of polygon meshes in the meshes array.
+///  @param[in]		mesh	The resulting polygon mesh. (Must be pre-allocated.)
+///  @returns True if the operation completed successfully.
+bool rcMergePolyMeshes(rcContext* ctx, rcPolyMesh** meshes, const int nmeshes, rcPolyMesh& mesh);
+
+/// Builds a detail mesh from the provided polygon mesh.
+///  @ingroup recast
+///  @param[in,out]	ctx				The build context to use during the operation.
+///  @param[in]		mesh			A fully built polygon mesh.
+///  @param[in]		chf				The compact heightfield used to build the polygon mesh.
+///  @param[in]		sampleDist		Sets the distance to use when samping the heightfield. [Limit: >=0] [Units: wu]
+///  @param[in]		sampleMaxError	The maximum distance the detail mesh surface should deviate from 
+///  								heightfield data. [Limit: >=0] [Units: wu]
+///  @param[out]	dmesh			The resulting detail mesh.  (Must be pre-allocated.)
+///  @returns True if the operation completed successfully.
+bool rcBuildPolyMeshDetail(rcContext* ctx, const rcPolyMesh& mesh, const rcCompactHeightfield& chf,
+						   const float sampleDist, const float sampleMaxError,
+						   rcPolyMeshDetail& dmesh);
+
+/// Copies the poly mesh data from src to dst.
+///  @ingroup recast
+///  @param[in,out]	ctx		The build context to use during the operation.
+///  @param[in]		src		The source mesh to copy from.
+///  @param[out]	dst		The resulting detail mesh. (Must be pre-allocated, must be empty mesh.)
+///  @returns True if the operation completed successfully.
+bool rcCopyPolyMesh(rcContext* ctx, const rcPolyMesh& src, rcPolyMesh& dst);
+
+/// Merges multiple detail meshes into a single detail mesh.
+///  @ingroup recast
+///  @param[in,out]	ctx		The build context to use during the operation.
+///  @param[in]		meshes	An array of detail meshes to merge. [Size: @p nmeshes]
+///  @param[in]		nmeshes	The number of detail meshes in the meshes array.
+///  @param[out]	mesh	The resulting detail mesh. (Must be pre-allocated.)
+///  @returns True if the operation completed successfully.
+bool rcMergePolyMeshDetails(rcContext* ctx, rcPolyMeshDetail** meshes, const int nmeshes, rcPolyMeshDetail& mesh);
+
+/// @}
+
+#endif // RECAST_H
+
+///////////////////////////////////////////////////////////////////////////
+
+// Due to the large amount of detail documentation for this file, 
+// the content normally located at the end of the header file has been separated
+// out to a file in /Docs/Extern.

ThirdParty/Recast/Include/RecastAlloc.h

@@ -0,0 +1,124 @@
+//
+// Copyright (c) 2009-2010 Mikko Mononen [email protected]
+//
+// 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.
+//
+
+#ifndef RECASTALLOC_H
+#define RECASTALLOC_H
+
+/// Provides hint values to the memory allocator on how long the
+/// memory is expected to be used.
+enum rcAllocHint
+{
+	RC_ALLOC_PERM,		///< Memory will persist after a function call.
+	RC_ALLOC_TEMP		///< Memory used temporarily within a function.
+};
+
+/// A memory allocation function.
+//  @param[in]		size			The size, in bytes of memory, to allocate.
+//  @param[in]		rcAllocHint	A hint to the allocator on how long the memory is expected to be in use.
+//  @return A pointer to the beginning of the allocated memory block, or null if the allocation failed.
+///  @see rcAllocSetCustom
+typedef void* (rcAllocFunc)(int size, rcAllocHint hint);
+
+/// A memory deallocation function.
+///  @param[in]		ptr		A pointer to a memory block previously allocated using #rcAllocFunc.
+/// @see rcAllocSetCustom
+typedef void (rcFreeFunc)(void* ptr);
+
+/// Sets the base custom allocation functions to be used by Recast.
+///  @param[in]		allocFunc	The memory allocation function to be used by #rcAlloc
+///  @param[in]		freeFunc	The memory de-allocation function to be used by #rcFree
+void rcAllocSetCustom(rcAllocFunc *allocFunc, rcFreeFunc *freeFunc);
+
+/// Allocates a memory block.
+///  @param[in]		size	The size, in bytes of memory, to allocate.
+///  @param[in]		hint	A hint to the allocator on how long the memory is expected to be in use.
+///  @return A pointer to the beginning of the allocated memory block, or null if the allocation failed.
+/// @see rcFree
+void* rcAlloc(int size, rcAllocHint hint);
+
+/// Deallocates a memory block.
+///  @param[in]		ptr		A pointer to a memory block previously allocated using #rcAlloc.
+/// @see rcAlloc
+void rcFree(void* ptr);
+
+
+/// A simple dynamic array of integers.
+class rcIntArray
+{
+	int* m_data;
+	int m_size, m_cap;
+	inline rcIntArray(const rcIntArray&);
+	inline rcIntArray& operator=(const rcIntArray&);
+public:
+
+	/// Constructs an instance with an initial array size of zero.
+	inline rcIntArray() : m_data(0), m_size(0), m_cap(0) {}
+
+	/// Constructs an instance initialized to the specified size.
+	///  @param[in]		n	The initial size of the integer array.
+	inline rcIntArray(int n) : m_data(0), m_size(0), m_cap(0) { resize(n); }
+	inline ~rcIntArray() { rcFree(m_data); }
+
+	/// Specifies the new size of the integer array.
+	///  @param[in]		n	The new size of the integer array.
+	void resize(int n);
+
+	/// Push the specified integer onto the end of the array and increases the size by one.
+	///  @param[in]		item	The new value.
+	inline void push(int item) { resize(m_size+1); m_data[m_size-1] = item; }
+
+	/// Returns the value at the end of the array and reduces the size by one.
+	///  @return The value at the end of the array.
+	inline int pop() { if (m_size > 0) m_size--; return m_data[m_size]; }
+
+	/// The value at the specified array index.
+	/// @warning Does not provide overflow protection.
+	///  @param[in]		i	The index of the value.
+	inline const int& operator[](int i) const { return m_data[i]; }
+
+	/// The value at the specified array index.
+	/// @warning Does not provide overflow protection.
+	///  @param[in]		i	The index of the value.
+	inline int& operator[](int i) { return m_data[i]; }
+
+	/// The current size of the integer array.
+	inline int size() const { return m_size; }
+};
+
+/// A simple helper class used to delete an array when it goes out of scope.
+/// @note This class is rarely if ever used by the end user.
+template<class T> class rcScopedDelete
+{
+	T* ptr;
+	inline T* operator=(T* p);
+public:
+
+	/// Constructs an instance with a null pointer.
+	inline rcScopedDelete() : ptr(0) {}
+
+	/// Constructs an instance with the specified pointer.
+	///  @param[in]		p	An pointer to an allocated array.
+	inline rcScopedDelete(T* p) : ptr(p) {}
+	inline ~rcScopedDelete() { rcFree(ptr); }
+
+	/// The root array pointer.
+	///  @return The root array pointer.
+	inline operator T*() { return ptr; }
+};
+
+#endif

ThirdParty/Recast/Include/RecastAssert.h

@@ -0,0 +1,33 @@
+//
+// Copyright (c) 2009-2010 Mikko Mononen [email protected]
+//
+// 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.
+//
+
+#ifndef RECASTASSERT_H
+#define RECASTASSERT_H
+
+// Note: This header file's only purpose is to include define assert.
+// Feel free to change the file and include your own implementation instead.
+
+#ifdef NDEBUG
+// From http://cnicholson.net/2009/02/stupid-c-tricks-adventures-in-assert/
+#	define rcAssert(x) do { (void)sizeof(x); } while((void)(__LINE__==-1),false)  
+#else
+#	include <assert.h> 
+#	define rcAssert assert
+#endif
+
+#endif // RECASTASSERT_H

ThirdParty/Recast/License.txt

@@ -0,0 +1,18 @@
+Copyright (c) 2009 Mikko Mononen [email protected]
+
+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.
+

ThirdParty/Recast/Readme.txt

@@ -0,0 +1,120 @@
+
+Recast & Detour Version 1.4
+
+
+Recast
+
+Recast is state of the art navigation mesh construction toolset for games.
+
+    * It is automatic, which means that you can throw any level geometry
+      at it and you will get robust mesh out
+    * It is fast which means swift turnaround times for level designers
+    * It is open source so it comes with full source and you can
+      customize it to your hearts content. 
+
+The Recast process starts with constructing a voxel mold from a level geometry 
+and then casting a navigation mesh over it. The process consists of three steps, 
+building the voxel mold, partitioning the mold into simple regions, peeling off 
+the regions as simple polygons.
+
+   1. The voxel mold is build from the input triangle mesh by rasterizing 
+      the triangles into a multi-layer heightfield. Some simple filters are 
+      then applied to the mold to prune out locations where the character 
+      would not be able to move.
+   2. The walkable areas described by the mold are divided into simple 
+      overlayed 2D regions. The resulting regions have only one non-overlapping 
+      contour, which simplifies the final step of the process tremendously.
+   3. The navigation polygons are peeled off from the regions by first tracing 
+      the boundaries and then simplifying them. The resulting polygons are 
+      finally converted to convex polygons which makes them perfect for 
+      pathfinding and spatial reasoning about the level. 
+
+The toolset code is located in the Recast folder and demo application using the Recast
+toolset is located in the RecastDemo folder.
+
+The project files with this distribution can be compiled with Microsoft Visual C++ 2008
+(you can download it for free) and XCode 3.1.
+
+
+Detour
+
+Recast is accompanied with Detour, path-finding and spatial reasoning toolkit. You can use any navigation mesh with Detour, but of course the data generated with Recast fits perfectly.
+
+Detour offers simple static navigation mesh which is suitable for many simple cases, as well as tiled navigation mesh which allows you to plug in and out pieces of the mesh. The tiled mesh allows to create systems where you stream new navigation data in and out as the player progresses the level, or you may regenerate tiles as the world changes. 
+
+
+Latest code available at http://code.google.com/p/recastnavigation/
+
+
+--
+
+Release Notes
+
+----------------
+* Recast 1.4
+  Released August 24th, 2009
+
+- Added detail height mesh generation (RecastDetailMesh.cpp) for single,
+  tiled statmeshes as well as tilemesh.
+- Added feature to contour tracing which detects extra vertices along
+  tile edges which should be removed later.
+- Changed the tiled stat mesh preprocess, so that it first generated
+  polymeshes per tile and finally combines them.
+- Fixed bug in the GUI code where invisible buttons could be pressed.
+
+----------------
+* Recast 1.31
+  Released July 24th, 2009
+
+- Better cost and heuristic functions.
+- Fixed tile navmesh raycast on tile borders.
+
+----------------
+* Recast 1.3
+  Released July 14th, 2009
+
+- Added dtTileNavMesh which allows to dynamically add and remove navmesh pieces at runtime.
+- Renamed stat navmesh types to dtStat* (i.e. dtPoly is now dtStatPoly).
+- Moved common code used by tile and stat navmesh to DetourNode.h/cpp and DetourCommon.h/cpp.
+- Refactores the demo code.
+
+----------------
+* Recast 1.2
+  Released June 17th, 2009
+
+- Added tiled mesh generation. The tiled generation allows to generate navigation for
+  much larger worlds, it removes some of the artifacts that comes from distance fields
+  in open areas, and allows later streaming and dynamic runtime generation
+- Improved and added some debug draw modes
+- API change: The helper function rcBuildNavMesh does not exists anymore,
+  had to change few internal things to cope with the tiled processing,
+  similar API functionality will be added later once the tiled process matures
+- The demo is getting way too complicated, need to split demos
+- Fixed several filtering functions so that the mesh is tighter to the geometry,
+  sometimes there could be up error up to tow voxel units close to walls,
+  now it should be just one.
+
+----------------
+* Recast 1.1
+  Released April 11th, 2009
+
+This is the first release of Detour.
+
+----------------
+* Recast 1.0
+  Released March 29th, 2009
+
+This is the first release of Recast.
+
+The process is not always as robust as I would wish. The watershed phase sometimes swallows tiny islands
+which are close to edges. These droppings are handled in rcBuildContours, but the code is not
+particularly robust either.
+
+Another non-robust case is when portal contours (contours shared between two regions) are always
+assumed to be straight. That can lead to overlapping contours specially when the level has
+large open areas.
+
+
+
+Mikko Mononen
[email protected]

ThirdParty/Recast/Source/Recast.cpp

@@ -0,0 +1,493 @@
+//
+// Copyright (c) 2009-2010 Mikko Mononen [email protected]
+//
+// 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.
+//
+
+#include <float.h>
+#define _USE_MATH_DEFINES
+#include <math.h>
+#include <string.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <stdarg.h>
+#include "Recast.h"
+#include "RecastAlloc.h"
+#include "RecastAssert.h"
+
+float rcSqrt(float x)
+{
+	return sqrtf(x);
+}
+
+/// @class rcContext
+/// @par
+///
+/// This class does not provide logging or timer functionality on its 
+/// own.  Both must be provided by a concrete implementation 
+/// by overriding the protected member functions.  Also, this class does not 
+/// provide an interface for extracting log messages. (Only adding them.) 
+/// So concrete implementations must provide one.
+///
+/// If no logging or timers are required, just pass an instance of this 
+/// class through the Recast build process.
+///
+
+/// @par
+///
+/// Example:
+/// @code
+/// // Where ctx is an instance of rcContext and filepath is a char array.
+/// ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not load '%s'", filepath);
+/// @endcode
+void rcContext::log(const rcLogCategory category, const char* format, ...)
+{
+	if (!m_logEnabled)
+		return;
+	static const int MSG_SIZE = 512;
+	char msg[MSG_SIZE];
+	va_list ap;
+	va_start(ap, format);
+	int len = vsnprintf(msg, MSG_SIZE, format, ap);
+	if (len >= MSG_SIZE)
+	{
+		len = MSG_SIZE-1;
+		msg[MSG_SIZE-1] = '\0';
+	}
+	va_end(ap);
+	doLog(category, msg, len);
+}
+
+rcHeightfield* rcAllocHeightfield()
+{
+	rcHeightfield* hf = (rcHeightfield*)rcAlloc(sizeof(rcHeightfield), RC_ALLOC_PERM);
+	memset(hf, 0, sizeof(rcHeightfield));
+	return hf;
+}
+
+void rcFreeHeightField(rcHeightfield* hf)
+{
+	if (!hf) return;
+	// Delete span array.
+	rcFree(hf->spans);
+	// Delete span pools.
+	while (hf->pools)
+	{
+		rcSpanPool* next = hf->pools->next;
+		rcFree(hf->pools);
+		hf->pools = next;
+	}
+	rcFree(hf);
+}
+
+rcCompactHeightfield* rcAllocCompactHeightfield()
+{
+	rcCompactHeightfield* chf = (rcCompactHeightfield*)rcAlloc(sizeof(rcCompactHeightfield), RC_ALLOC_PERM);
+	memset(chf, 0, sizeof(rcCompactHeightfield));
+	return chf;
+}
+
+void rcFreeCompactHeightfield(rcCompactHeightfield* chf)
+{
+	if (!chf) return;
+	rcFree(chf->cells);
+	rcFree(chf->spans);
+	rcFree(chf->dist);
+	rcFree(chf->areas);
+	rcFree(chf);
+}
+
+
+rcHeightfieldLayerSet* rcAllocHeightfieldLayerSet()
+{
+	rcHeightfieldLayerSet* lset = (rcHeightfieldLayerSet*)rcAlloc(sizeof(rcHeightfieldLayerSet), RC_ALLOC_PERM);
+	memset(lset, 0, sizeof(rcHeightfieldLayerSet));
+	return lset;
+}
+
+void rcFreeHeightfieldLayerSet(rcHeightfieldLayerSet* lset)
+{
+	if (!lset) return;
+	for (int i = 0; i < lset->nlayers; ++i)
+	{
+		rcFree(lset->layers[i].heights);
+		rcFree(lset->layers[i].areas);
+		rcFree(lset->layers[i].cons);
+	}
+	rcFree(lset->layers);
+	rcFree(lset);
+}
+
+
+rcContourSet* rcAllocContourSet()
+{
+	rcContourSet* cset = (rcContourSet*)rcAlloc(sizeof(rcContourSet), RC_ALLOC_PERM);
+	memset(cset, 0, sizeof(rcContourSet));
+	return cset;
+}
+
+void rcFreeContourSet(rcContourSet* cset)
+{
+	if (!cset) return;
+	for (int i = 0; i < cset->nconts; ++i)
+	{
+		rcFree(cset->conts[i].verts);
+		rcFree(cset->conts[i].rverts);
+	}
+	rcFree(cset->conts);
+	rcFree(cset);
+}
+
+rcPolyMesh* rcAllocPolyMesh()
+{
+	rcPolyMesh* pmesh = (rcPolyMesh*)rcAlloc(sizeof(rcPolyMesh), RC_ALLOC_PERM);
+	memset(pmesh, 0, sizeof(rcPolyMesh));
+	return pmesh;
+}
+
+void rcFreePolyMesh(rcPolyMesh* pmesh)
+{
+	if (!pmesh) return;
+	rcFree(pmesh->verts);
+	rcFree(pmesh->polys);
+	rcFree(pmesh->regs);
+	rcFree(pmesh->flags);
+	rcFree(pmesh->areas);
+	rcFree(pmesh);
+}
+
+rcPolyMeshDetail* rcAllocPolyMeshDetail()
+{
+	rcPolyMeshDetail* dmesh = (rcPolyMeshDetail*)rcAlloc(sizeof(rcPolyMeshDetail), RC_ALLOC_PERM);
+	memset(dmesh, 0, sizeof(rcPolyMeshDetail));
+	return dmesh;
+}
+
+void rcFreePolyMeshDetail(rcPolyMeshDetail* dmesh)
+{
+	if (!dmesh) return;
+	rcFree(dmesh->meshes);
+	rcFree(dmesh->verts);
+	rcFree(dmesh->tris);
+	rcFree(dmesh);
+}
+
+void rcCalcBounds(const float* verts, int nv, float* bmin, float* bmax)
+{
+	// Calculate bounding box.
+	rcVcopy(bmin, verts);
+	rcVcopy(bmax, verts);
+	for (int i = 1; i < nv; ++i)
+	{
+		const float* v = &verts[i*3];
+		rcVmin(bmin, v);
+		rcVmax(bmax, v);
+	}
+}
+
+void rcCalcGridSize(const float* bmin, const float* bmax, float cs, int* w, int* h)
+{
+	*w = (int)((bmax[0] - bmin[0])/cs+0.5f);
+	*h = (int)((bmax[2] - bmin[2])/cs+0.5f);
+}
+
+/// @par
+///
+/// See the #rcConfig documentation for more information on the configuration parameters.
+/// 
+/// @see rcAllocHeightfield, rcHeightfield 
+bool rcCreateHeightfield(rcContext* /*ctx*/, rcHeightfield& hf, int width, int height,
+						 const float* bmin, const float* bmax,
+						 float cs, float ch)
+{
+	// TODO: VC complains about unref formal variable, figure out a way to handle this better.
+//	rcAssert(ctx);
+	
+	hf.width = width;
+	hf.height = height;
+	rcVcopy(hf.bmin, bmin);
+	rcVcopy(hf.bmax, bmax);
+	hf.cs = cs;
+	hf.ch = ch;
+	hf.spans = (rcSpan**)rcAlloc(sizeof(rcSpan*)*hf.width*hf.height, RC_ALLOC_PERM);
+	if (!hf.spans)
+		return false;
+	memset(hf.spans, 0, sizeof(rcSpan*)*hf.width*hf.height);
+	return true;
+}
+
+static void calcTriNormal(const float* v0, const float* v1, const float* v2, float* norm)
+{
+	float e0[3], e1[3];
+	rcVsub(e0, v1, v0);
+	rcVsub(e1, v2, v0);
+	rcVcross(norm, e0, e1);
+	rcVnormalize(norm);
+}
+
+/// @par
+///
+/// Only sets the aread id's for the walkable triangles.  Does not alter the
+/// area id's for unwalkable triangles.
+/// 
+/// See the #rcConfig documentation for more information on the configuration parameters.
+/// 
+/// @see rcHeightfield, rcClearUnwalkableTriangles, rcRasterizeTriangles
+void rcMarkWalkableTriangles(rcContext* /*ctx*/, const float walkableSlopeAngle,
+							 const float* verts, int /*nv*/,
+							 const int* tris, int nt,
+							 unsigned char* areas)
+{
+	// TODO: VC complains about unref formal variable, figure out a way to handle this better.
+//	rcAssert(ctx);
+	
+	const float walkableThr = cosf(walkableSlopeAngle/180.0f*RC_PI);
+
+	float norm[3];
+	
+	for (int i = 0; i < nt; ++i)
+	{
+		const int* tri = &tris[i*3];
+		calcTriNormal(&verts[tri[0]*3], &verts[tri[1]*3], &verts[tri[2]*3], norm);
+		// Check if the face is walkable.
+		if (norm[1] > walkableThr)
+			areas[i] = RC_WALKABLE_AREA;
+	}
+}
+
+/// @par
+///
+/// Only sets the aread id's for the unwalkable triangles.  Does not alter the
+/// area id's for walkable triangles.
+/// 
+/// See the #rcConfig documentation for more information on the configuration parameters.
+/// 
+/// @see rcHeightfield, rcClearUnwalkableTriangles, rcRasterizeTriangles
+void rcClearUnwalkableTriangles(rcContext* /*ctx*/, const float walkableSlopeAngle,
+								const float* verts, int /*nv*/,
+								const int* tris, int nt,
+								unsigned char* areas)
+{
+	// TODO: VC complains about unref formal variable, figure out a way to handle this better.
+//	rcAssert(ctx);
+	
+	const float walkableThr = cosf(walkableSlopeAngle/180.0f*RC_PI);
+	
+	float norm[3];
+	
+	for (int i = 0; i < nt; ++i)
+	{
+		const int* tri = &tris[i*3];
+		calcTriNormal(&verts[tri[0]*3], &verts[tri[1]*3], &verts[tri[2]*3], norm);
+		// Check if the face is walkable.
+		if (norm[1] <= walkableThr)
+			areas[i] = RC_NULL_AREA;
+	}
+}
+
+int rcGetHeightFieldSpanCount(rcContext* /*ctx*/, rcHeightfield& hf)
+{
+	// TODO: VC complains about unref formal variable, figure out a way to handle this better.
+//	rcAssert(ctx);
+	
+	const int w = hf.width;
+	const int h = hf.height;
+	int spanCount = 0;
+	for (int y = 0; y < h; ++y)
+	{
+		for (int x = 0; x < w; ++x)
+		{
+			for (rcSpan* s = hf.spans[x + y*w]; s; s = s->next)
+			{
+				if (s->area != RC_NULL_AREA)
+					spanCount++;
+			}
+		}
+	}
+	return spanCount;
+}
+
+/// @par
+///
+/// This is just the beginning of the process of fully building a compact heightfield.
+/// Various filters may be applied applied, then the distance field and regions built.
+/// E.g: #rcBuildDistanceField and #rcBuildRegions
+///
+/// See the #rcConfig documentation for more information on the configuration parameters.
+///
+/// @see rcAllocCompactHeightfield, rcHeightfield, rcCompactHeightfield, rcConfig
+bool rcBuildCompactHeightfield(rcContext* ctx, const int walkableHeight, const int walkableClimb,
+							   rcHeightfield& hf, rcCompactHeightfield& chf)
+{
+	rcAssert(ctx);
+	
+	ctx->startTimer(RC_TIMER_BUILD_COMPACTHEIGHTFIELD);
+	
+	const int w = hf.width;
+	const int h = hf.height;
+	const int spanCount = rcGetHeightFieldSpanCount(ctx, hf);
+
+	// Fill in header.
+	chf.width = w;
+	chf.height = h;
+	chf.spanCount = spanCount;
+	chf.walkableHeight = walkableHeight;
+	chf.walkableClimb = walkableClimb;
+	chf.maxRegions = 0;
+	rcVcopy(chf.bmin, hf.bmin);
+	rcVcopy(chf.bmax, hf.bmax);
+	chf.bmax[1] += walkableHeight*hf.ch;
+	chf.cs = hf.cs;
+	chf.ch = hf.ch;
+	chf.cells = (rcCompactCell*)rcAlloc(sizeof(rcCompactCell)*w*h, RC_ALLOC_PERM);
+	if (!chf.cells)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Out of memory 'chf.cells' (%d)", w*h);
+		return false;
+	}
+	memset(chf.cells, 0, sizeof(rcCompactCell)*w*h);
+	chf.spans = (rcCompactSpan*)rcAlloc(sizeof(rcCompactSpan)*spanCount, RC_ALLOC_PERM);
+	if (!chf.spans)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Out of memory 'chf.spans' (%d)", spanCount);
+		return false;
+	}
+	memset(chf.spans, 0, sizeof(rcCompactSpan)*spanCount);
+	chf.areas = (unsigned char*)rcAlloc(sizeof(unsigned char)*spanCount, RC_ALLOC_PERM);
+	if (!chf.areas)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Out of memory 'chf.areas' (%d)", spanCount);
+		return false;
+	}
+	memset(chf.areas, RC_NULL_AREA, sizeof(unsigned char)*spanCount);
+	
+	const int MAX_HEIGHT = 0xffff;
+	
+	// Fill in cells and spans.
+	int idx = 0;
+	for (int y = 0; y < h; ++y)
+	{
+		for (int x = 0; x < w; ++x)
+		{
+			const rcSpan* s = hf.spans[x + y*w];
+			// If there are no spans at this cell, just leave the data to index=0, count=0.
+			if (!s) continue;
+			rcCompactCell& c = chf.cells[x+y*w];
+			c.index = idx;
+			c.count = 0;
+			while (s)
+			{
+				if (s->area != RC_NULL_AREA)
+				{
+					const int bot = (int)s->smax;
+					const int top = s->next ? (int)s->next->smin : MAX_HEIGHT;
+					chf.spans[idx].y = (unsigned short)rcClamp(bot, 0, 0xffff);
+					chf.spans[idx].h = (unsigned char)rcClamp(top - bot, 0, 0xff);
+					chf.areas[idx] = s->area;
+					idx++;
+					c.count++;
+				}
+				s = s->next;
+			}
+		}
+	}
+
+	// Find neighbour connections.
+	const int MAX_LAYERS = RC_NOT_CONNECTED-1;
+	int tooHighNeighbour = 0;
+	for (int y = 0; y < h; ++y)
+	{
+		for (int x = 0; x < w; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+y*w];
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				rcCompactSpan& s = chf.spans[i];
+				
+				for (int dir = 0; dir < 4; ++dir)
+				{
+					rcSetCon(s, dir, RC_NOT_CONNECTED);
+					const int nx = x + rcGetDirOffsetX(dir);
+					const int ny = y + rcGetDirOffsetY(dir);
+					// First check that the neighbour cell is in bounds.
+					if (nx < 0 || ny < 0 || nx >= w || ny >= h)
+						continue;
+						
+					// Iterate over all neighbour spans and check if any of the is
+					// accessible from current cell.
+					const rcCompactCell& nc = chf.cells[nx+ny*w];
+					for (int k = (int)nc.index, nk = (int)(nc.index+nc.count); k < nk; ++k)
+					{
+						const rcCompactSpan& ns = chf.spans[k];
+						const int bot = rcMax(s.y, ns.y);
+						const int top = rcMin(s.y+s.h, ns.y+ns.h);
+
+						// Check that the gap between the spans is walkable,
+						// and that the climb height between the gaps is not too high.
+						if ((top - bot) >= walkableHeight && rcAbs((int)ns.y - (int)s.y) <= walkableClimb)
+						{
+							// Mark direction as walkable.
+							const int lidx = k - (int)nc.index;
+							if (lidx < 0 || lidx > MAX_LAYERS)
+							{
+								tooHighNeighbour = rcMax(tooHighNeighbour, lidx);
+								continue;
+							}
+							rcSetCon(s, dir, lidx);
+							break;
+						}
+					}
+					
+				}
+			}
+		}
+	}
+	
+	if (tooHighNeighbour > MAX_LAYERS)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Heightfield has too many layers %d (max: %d)",
+				 tooHighNeighbour, MAX_LAYERS);
+	}
+		
+	ctx->stopTimer(RC_TIMER_BUILD_COMPACTHEIGHTFIELD);
+	
+	return true;
+}
+
+/*
+static int getHeightfieldMemoryUsage(const rcHeightfield& hf)
+{
+	int size = 0;
+	size += sizeof(hf);
+	size += hf.width * hf.height * sizeof(rcSpan*);
+	
+	rcSpanPool* pool = hf.pools;
+	while (pool)
+	{
+		size += (sizeof(rcSpanPool) - sizeof(rcSpan)) + sizeof(rcSpan)*RC_SPANS_PER_POOL;
+		pool = pool->next;
+	}
+	return size;
+}
+
+static int getCompactHeightFieldMemoryusage(const rcCompactHeightfield& chf)
+{
+	int size = 0;
+	size += sizeof(rcCompactHeightfield);
+	size += sizeof(rcCompactSpan) * chf.spanCount;
+	size += sizeof(rcCompactCell) * chf.width * chf.height;
+	return size;
+}
+*/

ThirdParty/Recast/Source/RecastAlloc.cpp

@@ -0,0 +1,88 @@
+//
+// Copyright (c) 2009-2010 Mikko Mononen [email protected]
+//
+// 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.
+//
+
+#include <stdlib.h>
+#include <string.h>
+#include "RecastAlloc.h"
+
+static void *rcAllocDefault(int size, rcAllocHint)
+{
+	return malloc(size);
+}
+
+static void rcFreeDefault(void *ptr)
+{
+	free(ptr);
+}
+
+static rcAllocFunc* sRecastAllocFunc = rcAllocDefault;
+static rcFreeFunc* sRecastFreeFunc = rcFreeDefault;
+
+/// @see rcAlloc, rcFree
+void rcAllocSetCustom(rcAllocFunc *allocFunc, rcFreeFunc *freeFunc)
+{
+	sRecastAllocFunc = allocFunc ? allocFunc : rcAllocDefault;
+	sRecastFreeFunc = freeFunc ? freeFunc : rcFreeDefault;
+}
+
+/// @see rcAllocSetCustom
+void* rcAlloc(int size, rcAllocHint hint)
+{
+	return sRecastAllocFunc(size, hint);
+}
+
+/// @par
+///
+/// @warning This function leaves the value of @p ptr unchanged.  So it still
+/// points to the same (now invalid) location, and not to null.
+/// 
+/// @see rcAllocSetCustom
+void rcFree(void* ptr)
+{
+	if (ptr)
+		sRecastFreeFunc(ptr);
+}
+
+/// @class rcIntArray
+///
+/// While it is possible to pre-allocate a specific array size during 
+/// construction or by using the #resize method, certain methods will 
+/// automatically resize the array as needed.
+///
+/// @warning The array memory is not initialized to zero when the size is 
+/// manually set during construction or when using #resize.
+
+/// @par
+///
+/// Using this method ensures the array is at least large enough to hold
+/// the specified number of elements.  This can improve performance by
+/// avoiding auto-resizing during use.
+void rcIntArray::resize(int n)
+{
+	if (n > m_cap)
+	{
+		if (!m_cap) m_cap = n;
+		while (m_cap < n) m_cap *= 2;
+		int* newData = (int*)rcAlloc(m_cap*sizeof(int), RC_ALLOC_TEMP);
+		if (m_size && newData) memcpy(newData, m_data, m_size*sizeof(int));
+		rcFree(m_data);
+		m_data = newData;
+	}
+	m_size = n;
+}
+

ThirdParty/Recast/Source/RecastArea.cpp

@@ -0,0 +1,602 @@
+//
+// Copyright (c) 2009-2010 Mikko Mononen [email protected]
+//
+// 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.
+//
+
+#include <float.h>
+#define _USE_MATH_DEFINES
+#include <math.h>
+#include <string.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include "Recast.h"
+#include "RecastAlloc.h"
+#include "RecastAssert.h"
+
+/// @par 
+/// 
+/// Basically, any spans that are closer to a boundary or obstruction than the specified radius 
+/// are marked as unwalkable.
+///
+/// This method is usually called immediately after the heightfield has been built.
+///
+/// @see rcCompactHeightfield, rcBuildCompactHeightfield, rcConfig::walkableRadius
+bool rcErodeWalkableArea(rcContext* ctx, int radius, rcCompactHeightfield& chf)
+{
+	rcAssert(ctx);
+	
+	const int w = chf.width;
+	const int h = chf.height;
+	
+	ctx->startTimer(RC_TIMER_ERODE_AREA);
+	
+	unsigned char* dist = (unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_TEMP);
+	if (!dist)
+	{
+		ctx->log(RC_LOG_ERROR, "erodeWalkableArea: Out of memory 'dist' (%d).", chf.spanCount);
+		return false;
+	}
+	
+	// Init distance.
+	memset(dist, 0xff, sizeof(unsigned char)*chf.spanCount);
+	
+	// Mark boundary cells.
+	for (int y = 0; y < h; ++y)
+	{
+		for (int x = 0; x < w; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+y*w];
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				if (chf.areas[i] == RC_NULL_AREA)
+				{
+					dist[i] = 0;
+				}
+				else
+				{
+					const rcCompactSpan& s = chf.spans[i];
+					int nc = 0;
+					for (int dir = 0; dir < 4; ++dir)
+					{
+						if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
+						{
+							const int nx = x + rcGetDirOffsetX(dir);
+							const int ny = y + rcGetDirOffsetY(dir);
+							const int nidx = (int)chf.cells[nx+ny*w].index + rcGetCon(s, dir);
+							if (chf.areas[nidx] != RC_NULL_AREA)
+							{
+								nc++;
+							}
+						}
+					}
+					// At least one missing neighbour.
+					if (nc != 4)
+						dist[i] = 0;
+				}
+			}
+		}
+	}
+	
+	unsigned char nd;
+	
+	// Pass 1
+	for (int y = 0; y < h; ++y)
+	{
+		for (int x = 0; x < w; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+y*w];
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				const rcCompactSpan& s = chf.spans[i];
+				
+				if (rcGetCon(s, 0) != RC_NOT_CONNECTED)
+				{
+					// (-1,0)
+					const int ax = x + rcGetDirOffsetX(0);
+					const int ay = y + rcGetDirOffsetY(0);
+					const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 0);
+					const rcCompactSpan& as = chf.spans[ai];
+					nd = (unsigned char)rcMin((int)dist[ai]+2, 255);
+					if (nd < dist[i])
+						dist[i] = nd;
+					
+					// (-1,-1)
+					if (rcGetCon(as, 3) != RC_NOT_CONNECTED)
+					{
+						const int aax = ax + rcGetDirOffsetX(3);
+						const int aay = ay + rcGetDirOffsetY(3);
+						const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 3);
+						nd = (unsigned char)rcMin((int)dist[aai]+3, 255);
+						if (nd < dist[i])
+							dist[i] = nd;
+					}
+				}
+				if (rcGetCon(s, 3) != RC_NOT_CONNECTED)
+				{
+					// (0,-1)
+					const int ax = x + rcGetDirOffsetX(3);
+					const int ay = y + rcGetDirOffsetY(3);
+					const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 3);
+					const rcCompactSpan& as = chf.spans[ai];
+					nd = (unsigned char)rcMin((int)dist[ai]+2, 255);
+					if (nd < dist[i])
+						dist[i] = nd;
+					
+					// (1,-1)
+					if (rcGetCon(as, 2) != RC_NOT_CONNECTED)
+					{
+						const int aax = ax + rcGetDirOffsetX(2);
+						const int aay = ay + rcGetDirOffsetY(2);
+						const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 2);
+						nd = (unsigned char)rcMin((int)dist[aai]+3, 255);
+						if (nd < dist[i])
+							dist[i] = nd;
+					}
+				}
+			}
+		}
+	}
+	
+	// Pass 2
+	for (int y = h-1; y >= 0; --y)
+	{
+		for (int x = w-1; x >= 0; --x)
+		{
+			const rcCompactCell& c = chf.cells[x+y*w];
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				const rcCompactSpan& s = chf.spans[i];
+				
+				if (rcGetCon(s, 2) != RC_NOT_CONNECTED)
+				{
+					// (1,0)
+					const int ax = x + rcGetDirOffsetX(2);
+					const int ay = y + rcGetDirOffsetY(2);
+					const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 2);
+					const rcCompactSpan& as = chf.spans[ai];
+					nd = (unsigned char)rcMin((int)dist[ai]+2, 255);
+					if (nd < dist[i])
+						dist[i] = nd;
+					
+					// (1,1)
+					if (rcGetCon(as, 1) != RC_NOT_CONNECTED)
+					{
+						const int aax = ax + rcGetDirOffsetX(1);
+						const int aay = ay + rcGetDirOffsetY(1);
+						const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 1);
+						nd = (unsigned char)rcMin((int)dist[aai]+3, 255);
+						if (nd < dist[i])
+							dist[i] = nd;
+					}
+				}
+				if (rcGetCon(s, 1) != RC_NOT_CONNECTED)
+				{
+					// (0,1)
+					const int ax = x + rcGetDirOffsetX(1);
+					const int ay = y + rcGetDirOffsetY(1);
+					const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 1);
+					const rcCompactSpan& as = chf.spans[ai];
+					nd = (unsigned char)rcMin((int)dist[ai]+2, 255);
+					if (nd < dist[i])
+						dist[i] = nd;
+					
+					// (-1,1)
+					if (rcGetCon(as, 0) != RC_NOT_CONNECTED)
+					{
+						const int aax = ax + rcGetDirOffsetX(0);
+						const int aay = ay + rcGetDirOffsetY(0);
+						const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 0);
+						nd = (unsigned char)rcMin((int)dist[aai]+3, 255);
+						if (nd < dist[i])
+							dist[i] = nd;
+					}
+				}
+			}
+		}
+	}
+	
+	const unsigned char thr = (unsigned char)(radius*2);
+	for (int i = 0; i < chf.spanCount; ++i)
+		if (dist[i] < thr)
+			chf.areas[i] = RC_NULL_AREA;
+	
+	rcFree(dist);
+	
+	ctx->stopTimer(RC_TIMER_ERODE_AREA);
+	
+	return true;
+}
+
+static void insertSort(unsigned char* a, const int n)
+{
+	int i, j;
+	for (i = 1; i < n; i++)
+	{
+		const unsigned char value = a[i];
+		for (j = i - 1; j >= 0 && a[j] > value; j--)
+			a[j+1] = a[j];
+		a[j+1] = value;
+	}
+}
+
+/// @par
+///
+/// This filter is usually applied after applying area id's using functions
+/// such as #rcMarkBoxArea, #rcMarkConvexPolyArea, and #rcMarkCylinderArea.
+/// 
+/// @see rcCompactHeightfield
+bool rcMedianFilterWalkableArea(rcContext* ctx, rcCompactHeightfield& chf)
+{
+	rcAssert(ctx);
+	
+	const int w = chf.width;
+	const int h = chf.height;
+	
+	ctx->startTimer(RC_TIMER_MEDIAN_AREA);
+	
+	unsigned char* areas = (unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_TEMP);
+	if (!areas)
+	{
+		ctx->log(RC_LOG_ERROR, "medianFilterWalkableArea: Out of memory 'areas' (%d).", chf.spanCount);
+		return false;
+	}
+	
+	// Init distance.
+	memset(areas, 0xff, sizeof(unsigned char)*chf.spanCount);
+	
+	for (int y = 0; y < h; ++y)
+	{
+		for (int x = 0; x < w; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+y*w];
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				const rcCompactSpan& s = chf.spans[i];
+				if (chf.areas[i] == RC_NULL_AREA)
+				{
+					areas[i] = chf.areas[i];
+					continue;
+				}
+				
+				unsigned char nei[9];
+				for (int j = 0; j < 9; ++j)
+					nei[j] = chf.areas[i];
+				
+				for (int dir = 0; dir < 4; ++dir)
+				{
+					if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
+					{
+						const int ax = x + rcGetDirOffsetX(dir);
+						const int ay = y + rcGetDirOffsetY(dir);
+						const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, dir);
+						if (chf.areas[ai] != RC_NULL_AREA)
+							nei[dir*2+0] = chf.areas[ai];
+						
+						const rcCompactSpan& as = chf.spans[ai];
+						const int dir2 = (dir+1) & 0x3;
+						if (rcGetCon(as, dir2) != RC_NOT_CONNECTED)
+						{
+							const int ax2 = ax + rcGetDirOffsetX(dir2);
+							const int ay2 = ay + rcGetDirOffsetY(dir2);
+							const int ai2 = (int)chf.cells[ax2+ay2*w].index + rcGetCon(as, dir2);
+							if (chf.areas[ai2] != RC_NULL_AREA)
+								nei[dir*2+1] = chf.areas[ai2];
+						}
+					}
+				}
+				insertSort(nei, 9);
+				areas[i] = nei[4];
+			}
+		}
+	}
+	
+	memcpy(chf.areas, areas, sizeof(unsigned char)*chf.spanCount);
+	
+	rcFree(areas);
+
+	ctx->stopTimer(RC_TIMER_MEDIAN_AREA);
+	
+	return true;
+}
+
+/// @par
+///
+/// The value of spacial parameters are in world units.
+/// 
+/// @see rcCompactHeightfield, rcMedianFilterWalkableArea
+void rcMarkBoxArea(rcContext* ctx, const float* bmin, const float* bmax, unsigned char areaId,
+				   rcCompactHeightfield& chf)
+{
+	rcAssert(ctx);
+	
+	ctx->startTimer(RC_TIMER_MARK_BOX_AREA);
+
+	int minx = (int)((bmin[0]-chf.bmin[0])/chf.cs);
+	int miny = (int)((bmin[1]-chf.bmin[1])/chf.ch);
+	int minz = (int)((bmin[2]-chf.bmin[2])/chf.cs);
+	int maxx = (int)((bmax[0]-chf.bmin[0])/chf.cs);
+	int maxy = (int)((bmax[1]-chf.bmin[1])/chf.ch);
+	int maxz = (int)((bmax[2]-chf.bmin[2])/chf.cs);
+	
+	if (maxx < 0) return;
+	if (minx >= chf.width) return;
+	if (maxz < 0) return;
+	if (minz >= chf.height) return;
+
+	if (minx < 0) minx = 0;
+	if (maxx >= chf.width) maxx = chf.width-1;
+	if (minz < 0) minz = 0;
+	if (maxz >= chf.height) maxz = chf.height-1;	
+	
+	for (int z = minz; z <= maxz; ++z)
+	{
+		for (int x = minx; x <= maxx; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+z*chf.width];
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				rcCompactSpan& s = chf.spans[i];
+				if ((int)s.y >= miny && (int)s.y <= maxy)
+				{
+					if (chf.areas[i] != RC_NULL_AREA)
+						chf.areas[i] = areaId;
+				}
+			}
+		}
+	}
+
+	ctx->stopTimer(RC_TIMER_MARK_BOX_AREA);
+
+}
+
+
+static int pointInPoly(int nvert, const float* verts, const float* p)
+{
+	int i, j, c = 0;
+	for (i = 0, j = nvert-1; i < nvert; j = i++)
+	{
+		const float* vi = &verts[i*3];
+		const float* vj = &verts[j*3];
+		if (((vi[2] > p[2]) != (vj[2] > p[2])) &&
+			(p[0] < (vj[0]-vi[0]) * (p[2]-vi[2]) / (vj[2]-vi[2]) + vi[0]) )
+			c = !c;
+	}
+	return c;
+}
+
+/// @par
+///
+/// The value of spacial parameters are in world units.
+/// 
+/// The y-values of the polygon vertices are ignored. So the polygon is effectively 
+/// projected onto the xz-plane at @p hmin, then extruded to @p hmax.
+/// 
+/// @see rcCompactHeightfield, rcMedianFilterWalkableArea
+void rcMarkConvexPolyArea(rcContext* ctx, const float* verts, const int nverts,
+						  const float hmin, const float hmax, unsigned char areaId,
+						  rcCompactHeightfield& chf)
+{
+	rcAssert(ctx);
+	
+	ctx->startTimer(RC_TIMER_MARK_CONVEXPOLY_AREA);
+
+	float bmin[3], bmax[3];
+	rcVcopy(bmin, verts);
+	rcVcopy(bmax, verts);
+	for (int i = 1; i < nverts; ++i)
+	{
+		rcVmin(bmin, &verts[i*3]);
+		rcVmax(bmax, &verts[i*3]);
+	}
+	bmin[1] = hmin;
+	bmax[1] = hmax;
+
+	int minx = (int)((bmin[0]-chf.bmin[0])/chf.cs);
+	int miny = (int)((bmin[1]-chf.bmin[1])/chf.ch);
+	int minz = (int)((bmin[2]-chf.bmin[2])/chf.cs);
+	int maxx = (int)((bmax[0]-chf.bmin[0])/chf.cs);
+	int maxy = (int)((bmax[1]-chf.bmin[1])/chf.ch);
+	int maxz = (int)((bmax[2]-chf.bmin[2])/chf.cs);
+	
+	if (maxx < 0) return;
+	if (minx >= chf.width) return;
+	if (maxz < 0) return;
+	if (minz >= chf.height) return;
+	
+	if (minx < 0) minx = 0;
+	if (maxx >= chf.width) maxx = chf.width-1;
+	if (minz < 0) minz = 0;
+	if (maxz >= chf.height) maxz = chf.height-1;	
+	
+	
+	// TODO: Optimize.
+	for (int z = minz; z <= maxz; ++z)
+	{
+		for (int x = minx; x <= maxx; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+z*chf.width];
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				rcCompactSpan& s = chf.spans[i];
+				if (chf.areas[i] == RC_NULL_AREA)
+					continue;
+				if ((int)s.y >= miny && (int)s.y <= maxy)
+				{
+					float p[3];
+					p[0] = chf.bmin[0] + (x+0.5f)*chf.cs; 
+					p[1] = 0;
+					p[2] = chf.bmin[2] + (z+0.5f)*chf.cs; 
+
+					if (pointInPoly(nverts, verts, p))
+					{
+						chf.areas[i] = areaId;
+					}
+				}
+			}
+		}
+	}
+
+	ctx->stopTimer(RC_TIMER_MARK_CONVEXPOLY_AREA);
+}
+
+int rcOffsetPoly(const float* verts, const int nverts, const float offset,
+				 float* outVerts, const int maxOutVerts)
+{
+	const float	MITER_LIMIT = 1.20f;
+
+	int n = 0;
+
+	for (int i = 0; i < nverts; i++)
+	{
+		const int a = (i+nverts-1) % nverts;
+		const int b = i;
+		const int c = (i+1) % nverts;
+		const float* va = &verts[a*3];
+		const float* vb = &verts[b*3];
+		const float* vc = &verts[c*3];
+		float dx0 = vb[0] - va[0];
+		float dy0 = vb[2] - va[2];
+		float d0 = dx0*dx0 + dy0*dy0;
+		if (d0 > 1e-6f)
+		{
+			d0 = 1.0f/rcSqrt(d0);
+			dx0 *= d0;
+			dy0 *= d0;
+		}
+		float dx1 = vc[0] - vb[0];
+		float dy1 = vc[2] - vb[2];
+		float d1 = dx1*dx1 + dy1*dy1;
+		if (d1 > 1e-6f)
+		{
+			d1 = 1.0f/rcSqrt(d1);
+			dx1 *= d1;
+			dy1 *= d1;
+		}
+		const float dlx0 = -dy0;
+		const float dly0 = dx0;
+		const float dlx1 = -dy1;
+		const float dly1 = dx1;
+		float cross = dx1*dy0 - dx0*dy1;
+		float dmx = (dlx0 + dlx1) * 0.5f;
+		float dmy = (dly0 + dly1) * 0.5f;
+		float dmr2 = dmx*dmx + dmy*dmy;
+		bool bevel = dmr2 * MITER_LIMIT*MITER_LIMIT < 1.0f;
+		if (dmr2 > 1e-6f)
+		{
+			const float scale = 1.0f / dmr2;
+			dmx *= scale;
+			dmy *= scale;
+		}
+
+		if (bevel && cross < 0.0f)
+		{
+			if (n+2 >= maxOutVerts)
+				return 0;
+			float d = (1.0f - (dx0*dx1 + dy0*dy1))*0.5f;
+			outVerts[n*3+0] = vb[0] + (-dlx0+dx0*d)*offset;
+			outVerts[n*3+1] = vb[1];
+			outVerts[n*3+2] = vb[2] + (-dly0+dy0*d)*offset;
+			n++;
+			outVerts[n*3+0] = vb[0] + (-dlx1-dx1*d)*offset;
+			outVerts[n*3+1] = vb[1];
+			outVerts[n*3+2] = vb[2] + (-dly1-dy1*d)*offset;
+			n++;
+		}
+		else
+		{
+			if (n+1 >= maxOutVerts)
+				return 0;
+			outVerts[n*3+0] = vb[0] - dmx*offset;
+			outVerts[n*3+1] = vb[1];
+			outVerts[n*3+2] = vb[2] - dmy*offset;
+			n++;
+		}
+	}
+	
+	return n;
+}
+
+
+/// @par
+///
+/// The value of spacial parameters are in world units.
+/// 
+/// @see rcCompactHeightfield, rcMedianFilterWalkableArea
+void rcMarkCylinderArea(rcContext* ctx, const float* pos,
+						const float r, const float h, unsigned char areaId,
+						rcCompactHeightfield& chf)
+{
+	rcAssert(ctx);
+	
+	ctx->startTimer(RC_TIMER_MARK_CYLINDER_AREA);
+	
+	float bmin[3], bmax[3];
+	bmin[0] = pos[0] - r;
+	bmin[1] = pos[1];
+	bmin[2] = pos[2] - r;
+	bmax[0] = pos[0] + r;
+	bmax[1] = pos[1] + h;
+	bmax[2] = pos[2] + r;
+	const float r2 = r*r;
+	
+	int minx = (int)((bmin[0]-chf.bmin[0])/chf.cs);
+	int miny = (int)((bmin[1]-chf.bmin[1])/chf.ch);
+	int minz = (int)((bmin[2]-chf.bmin[2])/chf.cs);
+	int maxx = (int)((bmax[0]-chf.bmin[0])/chf.cs);
+	int maxy = (int)((bmax[1]-chf.bmin[1])/chf.ch);
+	int maxz = (int)((bmax[2]-chf.bmin[2])/chf.cs);
+	
+	if (maxx < 0) return;
+	if (minx >= chf.width) return;
+	if (maxz < 0) return;
+	if (minz >= chf.height) return;
+	
+	if (minx < 0) minx = 0;
+	if (maxx >= chf.width) maxx = chf.width-1;
+	if (minz < 0) minz = 0;
+	if (maxz >= chf.height) maxz = chf.height-1;	
+	
+	
+	for (int z = minz; z <= maxz; ++z)
+	{
+		for (int x = minx; x <= maxx; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+z*chf.width];
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				rcCompactSpan& s = chf.spans[i];
+				
+				if (chf.areas[i] == RC_NULL_AREA)
+					continue;
+				
+				if ((int)s.y >= miny && (int)s.y <= maxy)
+				{
+					const float sx = chf.bmin[0] + (x+0.5f)*chf.cs; 
+					const float sz = chf.bmin[2] + (z+0.5f)*chf.cs; 
+					const float dx = sx - pos[0];
+					const float dz = sz - pos[2];
+					
+					if (dx*dx + dz*dz < r2)
+					{
+						chf.areas[i] = areaId;
+					}
+				}
+			}
+		}
+	}
+	
+	ctx->stopTimer(RC_TIMER_MARK_CYLINDER_AREA);
+}

ThirdParty/Recast/Source/RecastContour.cpp

@@ -0,0 +1,851 @@
+//
+// Copyright (c) 2009-2010 Mikko Mononen [email protected]
+//
+// 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.
+//
+
+#define _USE_MATH_DEFINES
+#include <math.h>
+#include <string.h>
+#include <stdio.h>
+#include "Recast.h"
+#include "RecastAlloc.h"
+#include "RecastAssert.h"
+
+
+static int getCornerHeight(int x, int y, int i, int dir,
+						   const rcCompactHeightfield& chf,
+						   bool& isBorderVertex)
+{
+	const rcCompactSpan& s = chf.spans[i];
+	int ch = (int)s.y;
+	int dirp = (dir+1) & 0x3;
+	
+	unsigned int regs[4] = {0,0,0,0};
+	
+	// Combine region and area codes in order to prevent
+	// border vertices which are in between two areas to be removed. 
+	regs[0] = chf.spans[i].reg | (chf.areas[i] << 16);
+	
+	if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
+	{
+		const int ax = x + rcGetDirOffsetX(dir);
+		const int ay = y + rcGetDirOffsetY(dir);
+		const int ai = (int)chf.cells[ax+ay*chf.width].index + rcGetCon(s, dir);
+		const rcCompactSpan& as = chf.spans[ai];
+		ch = rcMax(ch, (int)as.y);
+		regs[1] = chf.spans[ai].reg | (chf.areas[ai] << 16);
+		if (rcGetCon(as, dirp) != RC_NOT_CONNECTED)
+		{
+			const int ax2 = ax + rcGetDirOffsetX(dirp);
+			const int ay2 = ay + rcGetDirOffsetY(dirp);
+			const int ai2 = (int)chf.cells[ax2+ay2*chf.width].index + rcGetCon(as, dirp);
+			const rcCompactSpan& as2 = chf.spans[ai2];
+			ch = rcMax(ch, (int)as2.y);
+			regs[2] = chf.spans[ai2].reg | (chf.areas[ai2] << 16);
+		}
+	}
+	if (rcGetCon(s, dirp) != RC_NOT_CONNECTED)
+	{
+		const int ax = x + rcGetDirOffsetX(dirp);
+		const int ay = y + rcGetDirOffsetY(dirp);
+		const int ai = (int)chf.cells[ax+ay*chf.width].index + rcGetCon(s, dirp);
+		const rcCompactSpan& as = chf.spans[ai];
+		ch = rcMax(ch, (int)as.y);
+		regs[3] = chf.spans[ai].reg | (chf.areas[ai] << 16);
+		if (rcGetCon(as, dir) != RC_NOT_CONNECTED)
+		{
+			const int ax2 = ax + rcGetDirOffsetX(dir);
+			const int ay2 = ay + rcGetDirOffsetY(dir);
+			const int ai2 = (int)chf.cells[ax2+ay2*chf.width].index + rcGetCon(as, dir);
+			const rcCompactSpan& as2 = chf.spans[ai2];
+			ch = rcMax(ch, (int)as2.y);
+			regs[2] = chf.spans[ai2].reg | (chf.areas[ai2] << 16);
+		}
+	}
+
+	// Check if the vertex is special edge vertex, these vertices will be removed later.
+	for (int j = 0; j < 4; ++j)
+	{
+		const int a = j;
+		const int b = (j+1) & 0x3;
+		const int c = (j+2) & 0x3;
+		const int d = (j+3) & 0x3;
+		
+		// The vertex is a border vertex there are two same exterior cells in a row,
+		// followed by two interior cells and none of the regions are out of bounds.
+		const bool twoSameExts = (regs[a] & regs[b] & RC_BORDER_REG) != 0 && regs[a] == regs[b];
+		const bool twoInts = ((regs[c] | regs[d]) & RC_BORDER_REG) == 0;
+		const bool intsSameArea = (regs[c]>>16) == (regs[d]>>16);
+		const bool noZeros = regs[a] != 0 && regs[b] != 0 && regs[c] != 0 && regs[d] != 0;
+		if (twoSameExts && twoInts && intsSameArea && noZeros)
+		{
+			isBorderVertex = true;
+			break;
+		}
+	}
+	
+	return ch;
+}
+
+static void walkContour(int x, int y, int i,
+						rcCompactHeightfield& chf,
+						unsigned char* flags, rcIntArray& points)
+{
+	// Choose the first non-connected edge
+	unsigned char dir = 0;
+	while ((flags[i] & (1 << dir)) == 0)
+		dir++;
+	
+	unsigned char startDir = dir;
+	int starti = i;
+	
+	const unsigned char area = chf.areas[i];
+	
+	int iter = 0;
+	while (++iter < 40000)
+	{
+		if (flags[i] & (1 << dir))
+		{
+			// Choose the edge corner
+			bool isBorderVertex = false;
+			bool isAreaBorder = false;
+			int px = x;
+			int py = getCornerHeight(x, y, i, dir, chf, isBorderVertex);
+			int pz = y;
+			switch(dir)
+			{
+				case 0: pz++; break;
+				case 1: px++; pz++; break;
+				case 2: px++; break;
+			}
+			int r = 0;
+			const rcCompactSpan& s = chf.spans[i];
+			if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
+			{
+				const int ax = x + rcGetDirOffsetX(dir);
+				const int ay = y + rcGetDirOffsetY(dir);
+				const int ai = (int)chf.cells[ax+ay*chf.width].index + rcGetCon(s, dir);
+				r = (int)chf.spans[ai].reg;
+				if (area != chf.areas[ai])
+					isAreaBorder = true;
+			}
+			if (isBorderVertex)
+				r |= RC_BORDER_VERTEX;
+			if (isAreaBorder)
+				r |= RC_AREA_BORDER;
+			points.push(px);
+			points.push(py);
+			points.push(pz);
+			points.push(r);
+			
+			flags[i] &= ~(1 << dir); // Remove visited edges
+			dir = (dir+1) & 0x3;  // Rotate CW
+		}
+		else
+		{
+			int ni = -1;
+			const int nx = x + rcGetDirOffsetX(dir);
+			const int ny = y + rcGetDirOffsetY(dir);
+			const rcCompactSpan& s = chf.spans[i];
+			if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
+			{
+				const rcCompactCell& nc = chf.cells[nx+ny*chf.width];
+				ni = (int)nc.index + rcGetCon(s, dir);
+			}
+			if (ni == -1)
+			{
+				// Should not happen.
+				return;
+			}
+			x = nx;
+			y = ny;
+			i = ni;
+			dir = (dir+3) & 0x3;	// Rotate CCW
+		}
+		
+		if (starti == i && startDir == dir)
+		{
+			break;
+		}
+	}
+}
+
+static float distancePtSeg(const int x, const int z,
+						   const int px, const int pz,
+						   const int qx, const int qz)
+{
+/*	float pqx = (float)(qx - px);
+	float pqy = (float)(qy - py);
+	float pqz = (float)(qz - pz);
+	float dx = (float)(x - px);
+	float dy = (float)(y - py);
+	float dz = (float)(z - pz);
+	float d = pqx*pqx + pqy*pqy + pqz*pqz;
+	float t = pqx*dx + pqy*dy + pqz*dz;
+	if (d > 0)
+		t /= d;
+	if (t < 0)
+		t = 0;
+	else if (t > 1)
+		t = 1;
+	
+	dx = px + t*pqx - x;
+	dy = py + t*pqy - y;
+	dz = pz + t*pqz - z;
+	
+	return dx*dx + dy*dy + dz*dz;*/
+
+	float pqx = (float)(qx - px);
+	float pqz = (float)(qz - pz);
+	float dx = (float)(x - px);
+	float dz = (float)(z - pz);
+	float d = pqx*pqx + pqz*pqz;
+	float t = pqx*dx + pqz*dz;
+	if (d > 0)
+		t /= d;
+	if (t < 0)
+		t = 0;
+	else if (t > 1)
+		t = 1;
+	
+	dx = px + t*pqx - x;
+	dz = pz + t*pqz - z;
+	
+	return dx*dx + dz*dz;
+}
+
+static void simplifyContour(rcIntArray& points, rcIntArray& simplified,
+							const float maxError, const int maxEdgeLen, const int buildFlags)
+{
+	// Add initial points.
+	bool hasConnections = false;
+	for (int i = 0; i < points.size(); i += 4)
+	{
+		if ((points[i+3] & RC_CONTOUR_REG_MASK) != 0)
+		{
+			hasConnections = true;
+			break;
+		}
+	}
+	
+	if (hasConnections)
+	{
+		// The contour has some portals to other regions.
+		// Add a new point to every location where the region changes.
+		for (int i = 0, ni = points.size()/4; i < ni; ++i)
+		{
+			int ii = (i+1) % ni;
+			const bool differentRegs = (points[i*4+3] & RC_CONTOUR_REG_MASK) != (points[ii*4+3] & RC_CONTOUR_REG_MASK);
+			const bool areaBorders = (points[i*4+3] & RC_AREA_BORDER) != (points[ii*4+3] & RC_AREA_BORDER);
+			if (differentRegs || areaBorders)
+			{
+				simplified.push(points[i*4+0]);
+				simplified.push(points[i*4+1]);
+				simplified.push(points[i*4+2]);
+				simplified.push(i);
+			}
+		}       
+	}
+	
+	if (simplified.size() == 0)
+	{
+		// If there is no connections at all,
+		// create some initial points for the simplification process. 
+		// Find lower-left and upper-right vertices of the contour.
+		int llx = points[0];
+		int lly = points[1];
+		int llz = points[2];
+		int lli = 0;
+		int urx = points[0];
+		int ury = points[1];
+		int urz = points[2];
+		int uri = 0;
+		for (int i = 0; i < points.size(); i += 4)
+		{
+			int x = points[i+0];
+			int y = points[i+1];
+			int z = points[i+2];
+			if (x < llx || (x == llx && z < llz))
+			{
+				llx = x;
+				lly = y;
+				llz = z;
+				lli = i/4;
+			}
+			if (x > urx || (x == urx && z > urz))
+			{
+				urx = x;
+				ury = y;
+				urz = z;
+				uri = i/4;
+			}
+		}
+		simplified.push(llx);
+		simplified.push(lly);
+		simplified.push(llz);
+		simplified.push(lli);
+		
+		simplified.push(urx);
+		simplified.push(ury);
+		simplified.push(urz);
+		simplified.push(uri);
+	}
+	
+	// Add points until all raw points are within
+	// error tolerance to the simplified shape.
+	const int pn = points.size()/4;
+	for (int i = 0; i < simplified.size()/4; )
+	{
+		int ii = (i+1) % (simplified.size()/4);
+		
+		const int ax = simplified[i*4+0];
+		const int az = simplified[i*4+2];
+		const int ai = simplified[i*4+3];
+		
+		const int bx = simplified[ii*4+0];
+		const int bz = simplified[ii*4+2];
+		const int bi = simplified[ii*4+3];
+
+		// Find maximum deviation from the segment.
+		float maxd = 0;
+		int maxi = -1;
+		int ci, cinc, endi;
+		
+		// Traverse the segment in lexilogical order so that the
+		// max deviation is calculated similarly when traversing
+		// opposite segments.
+		if (bx > ax || (bx == ax && bz > az))
+		{
+			cinc = 1;
+			ci = (ai+cinc) % pn;
+			endi = bi;
+		}
+		else
+		{
+			cinc = pn-1;
+			ci = (bi+cinc) % pn;
+			endi = ai;
+		}
+		
+		// Tessellate only outer edges or edges between areas.
+		if ((points[ci*4+3] & RC_CONTOUR_REG_MASK) == 0 ||
+			(points[ci*4+3] & RC_AREA_BORDER))
+		{
+			while (ci != endi)
+			{
+				float d = distancePtSeg(points[ci*4+0], points[ci*4+2], ax, az, bx, bz);
+				if (d > maxd)
+				{
+					maxd = d;
+					maxi = ci;
+				}
+				ci = (ci+cinc) % pn;
+			}
+		}
+		
+		
+		// If the max deviation is larger than accepted error,
+		// add new point, else continue to next segment.
+		if (maxi != -1 && maxd > (maxError*maxError))
+		{
+			// Add space for the new point.
+			simplified.resize(simplified.size()+4);
+			const int n = simplified.size()/4;
+			for (int j = n-1; j > i; --j)
+			{
+				simplified[j*4+0] = simplified[(j-1)*4+0];
+				simplified[j*4+1] = simplified[(j-1)*4+1];
+				simplified[j*4+2] = simplified[(j-1)*4+2];
+				simplified[j*4+3] = simplified[(j-1)*4+3];
+			}
+			// Add the point.
+			simplified[(i+1)*4+0] = points[maxi*4+0];
+			simplified[(i+1)*4+1] = points[maxi*4+1];
+			simplified[(i+1)*4+2] = points[maxi*4+2];
+			simplified[(i+1)*4+3] = maxi;
+		}
+		else
+		{
+			++i;
+		}
+	}
+	
+	// Split too long edges.
+	if (maxEdgeLen > 0 && (buildFlags & (RC_CONTOUR_TESS_WALL_EDGES|RC_CONTOUR_TESS_AREA_EDGES)) != 0)
+	{
+		for (int i = 0; i < simplified.size()/4; )
+		{
+			const int ii = (i+1) % (simplified.size()/4);
+			
+			const int ax = simplified[i*4+0];
+			const int az = simplified[i*4+2];
+			const int ai = simplified[i*4+3];
+			
+			const int bx = simplified[ii*4+0];
+			const int bz = simplified[ii*4+2];
+			const int bi = simplified[ii*4+3];
+
+			// Find maximum deviation from the segment.
+			int maxi = -1;
+			int ci = (ai+1) % pn;
+
+			// Tessellate only outer edges or edges between areas.
+			bool tess = false;
+			// Wall edges.
+			if ((buildFlags & RC_CONTOUR_TESS_WALL_EDGES) && (points[ci*4+3] & RC_CONTOUR_REG_MASK) == 0)
+				tess = true;
+			// Edges between areas.
+			if ((buildFlags & RC_CONTOUR_TESS_AREA_EDGES) && (points[ci*4+3] & RC_AREA_BORDER))
+				tess = true;
+			
+			if (tess)
+			{
+				int dx = bx - ax;
+				int dz = bz - az;
+				if (dx*dx + dz*dz > maxEdgeLen*maxEdgeLen)
+				{
+					// Round based on the segments in lexilogical order so that the
+					// max tesselation is consistent regardles in which direction
+					// segments are traversed.
+					const int n = bi < ai ? (bi+pn - ai) : (bi - ai);
+					if (n > 1)
+					{
+						if (bx > ax || (bx == ax && bz > az))
+							maxi = (ai + n/2) % pn;
+						else
+							maxi = (ai + (n+1)/2) % pn;
+					}
+				}
+			}
+			
+			// If the max deviation is larger than accepted error,
+			// add new point, else continue to next segment.
+			if (maxi != -1)
+			{
+				// Add space for the new point.
+				simplified.resize(simplified.size()+4);
+				const int n = simplified.size()/4;
+				for (int j = n-1; j > i; --j)
+				{
+					simplified[j*4+0] = simplified[(j-1)*4+0];
+					simplified[j*4+1] = simplified[(j-1)*4+1];
+					simplified[j*4+2] = simplified[(j-1)*4+2];
+					simplified[j*4+3] = simplified[(j-1)*4+3];
+				}
+				// Add the point.
+				simplified[(i+1)*4+0] = points[maxi*4+0];
+				simplified[(i+1)*4+1] = points[maxi*4+1];
+				simplified[(i+1)*4+2] = points[maxi*4+2];
+				simplified[(i+1)*4+3] = maxi;
+			}
+			else
+			{
+				++i;
+			}
+		}
+	}
+	
+	for (int i = 0; i < simplified.size()/4; ++i)
+	{
+		// The edge vertex flag is take from the current raw point,
+		// and the neighbour region is take from the next raw point.
+		const int ai = (simplified[i*4+3]+1) % pn;
+		const int bi = simplified[i*4+3];
+		simplified[i*4+3] = (points[ai*4+3] & (RC_CONTOUR_REG_MASK|RC_AREA_BORDER)) | (points[bi*4+3] & RC_BORDER_VERTEX);
+	}
+	
+}
+
+static void removeDegenerateSegments(rcIntArray& simplified)
+{
+	// Remove adjacent vertices which are equal on xz-plane,
+	// or else the triangulator will get confused.
+	for (int i = 0; i < simplified.size()/4; ++i)
+	{
+		int ni = i+1;
+		if (ni >= (simplified.size()/4))
+			ni = 0;
+			
+		if (simplified[i*4+0] == simplified[ni*4+0] &&
+			simplified[i*4+2] == simplified[ni*4+2])
+		{
+			// Degenerate segment, remove.
+			for (int j = i; j < simplified.size()/4-1; ++j)
+			{
+				simplified[j*4+0] = simplified[(j+1)*4+0];
+				simplified[j*4+1] = simplified[(j+1)*4+1];
+				simplified[j*4+2] = simplified[(j+1)*4+2];
+				simplified[j*4+3] = simplified[(j+1)*4+3];
+			}
+			simplified.resize(simplified.size()-4);
+		}
+	}
+}
+
+static int calcAreaOfPolygon2D(const int* verts, const int nverts)
+{
+	int area = 0;
+	for (int i = 0, j = nverts-1; i < nverts; j=i++)
+	{
+		const int* vi = &verts[i*4];
+		const int* vj = &verts[j*4];
+		area += vi[0] * vj[2] - vj[0] * vi[2];
+	}
+	return (area+1) / 2;
+}
+
+inline bool ileft(const int* a, const int* b, const int* c)
+{
+	return (b[0] - a[0]) * (c[2] - a[2]) - (c[0] - a[0]) * (b[2] - a[2]) <= 0;
+}
+
+static void getClosestIndices(const int* vertsa, const int nvertsa,
+							  const int* vertsb, const int nvertsb,
+							  int& ia, int& ib)
+{
+	int closestDist = 0xfffffff;
+	ia = -1, ib = -1;
+	for (int i = 0; i < nvertsa; ++i)
+	{
+		const int in = (i+1) % nvertsa;
+		const int ip = (i+nvertsa-1) % nvertsa;
+		const int* va = &vertsa[i*4];
+		const int* van = &vertsa[in*4];
+		const int* vap = &vertsa[ip*4];
+		
+		for (int j = 0; j < nvertsb; ++j)
+		{
+			const int* vb = &vertsb[j*4];
+			// vb must be "infront" of va.
+			if (ileft(vap,va,vb) && ileft(va,van,vb))
+			{
+				const int dx = vb[0] - va[0];
+				const int dz = vb[2] - va[2];
+				const int d = dx*dx + dz*dz;
+				if (d < closestDist)
+				{
+					ia = i;
+					ib = j;
+					closestDist = d;
+				}
+			}
+		}
+	}
+}
+
+static bool mergeContours(rcContour& ca, rcContour& cb, int ia, int ib)
+{
+	const int maxVerts = ca.nverts + cb.nverts + 2;
+	int* verts = (int*)rcAlloc(sizeof(int)*maxVerts*4, RC_ALLOC_PERM);
+	if (!verts)
+		return false;
+
+	int nv = 0;
+
+	// Copy contour A.
+	for (int i = 0; i <= ca.nverts; ++i)
+	{
+		int* dst = &verts[nv*4];
+		const int* src = &ca.verts[((ia+i)%ca.nverts)*4];
+		dst[0] = src[0];
+		dst[1] = src[1];
+		dst[2] = src[2];
+		dst[3] = src[3];
+		nv++;
+	}
+
+	// Copy contour B
+	for (int i = 0; i <= cb.nverts; ++i)
+	{
+		int* dst = &verts[nv*4];
+		const int* src = &cb.verts[((ib+i)%cb.nverts)*4];
+		dst[0] = src[0];
+		dst[1] = src[1];
+		dst[2] = src[2];
+		dst[3] = src[3];
+		nv++;
+	}
+	
+	rcFree(ca.verts);
+	ca.verts = verts;
+	ca.nverts = nv;
+
+	rcFree(cb.verts);
+	cb.verts = 0;
+	cb.nverts = 0;
+	
+	return true;
+}
+
+/// @par
+///
+/// The raw contours will match the region outlines exactly. The @p maxError and @p maxEdgeLen
+/// parameters control how closely the simplified contours will match the raw contours.
+///
+/// Simplified contours are generated such that the vertices for portals between areas match up. 
+/// (They are considered mandatory vertices.)
+///
+/// Setting @p maxEdgeLength to zero will disabled the edge length feature.
+/// 
+/// See the #rcConfig documentation for more information on the configuration parameters.
+/// 
+/// @see rcAllocContourSet, rcCompactHeightfield, rcContourSet, rcConfig
+bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf,
+					 const float maxError, const int maxEdgeLen,
+					 rcContourSet& cset, const int buildFlags)
+{
+	rcAssert(ctx);
+	
+	const int w = chf.width;
+	const int h = chf.height;
+	const int borderSize = chf.borderSize;
+	
+	ctx->startTimer(RC_TIMER_BUILD_CONTOURS);
+	
+	rcVcopy(cset.bmin, chf.bmin);
+	rcVcopy(cset.bmax, chf.bmax);
+	if (borderSize > 0)
+	{
+		// If the heightfield was build with bordersize, remove the offset.
+		const float pad = borderSize*chf.cs;
+		cset.bmin[0] += pad;
+		cset.bmin[2] += pad;
+		cset.bmax[0] -= pad;
+		cset.bmax[2] -= pad;
+	}
+	cset.cs = chf.cs;
+	cset.ch = chf.ch;
+	cset.width = chf.width - chf.borderSize*2;
+	cset.height = chf.height - chf.borderSize*2;
+	cset.borderSize = chf.borderSize;
+	
+	int maxContours = rcMax((int)chf.maxRegions, 8);
+	cset.conts = (rcContour*)rcAlloc(sizeof(rcContour)*maxContours, RC_ALLOC_PERM);
+	if (!cset.conts)
+		return false;
+	cset.nconts = 0;
+	
+	rcScopedDelete<unsigned char> flags = (unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_TEMP);
+	if (!flags)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildContours: Out of memory 'flags' (%d).", chf.spanCount);
+		return false;
+	}
+	
+	ctx->startTimer(RC_TIMER_BUILD_CONTOURS_TRACE);
+	
+	// Mark boundaries.
+	for (int y = 0; y < h; ++y)
+	{
+		for (int x = 0; x < w; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+y*w];
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				unsigned char res = 0;
+				const rcCompactSpan& s = chf.spans[i];
+				if (!chf.spans[i].reg || (chf.spans[i].reg & RC_BORDER_REG))
+				{
+					flags[i] = 0;
+					continue;
+				}
+				for (int dir = 0; dir < 4; ++dir)
+				{
+					unsigned short r = 0;
+					if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
+					{
+						const int ax = x + rcGetDirOffsetX(dir);
+						const int ay = y + rcGetDirOffsetY(dir);
+						const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, dir);
+						r = chf.spans[ai].reg;
+					}
+					if (r == chf.spans[i].reg)
+						res |= (1 << dir);
+				}
+				flags[i] = res ^ 0xf; // Inverse, mark non connected edges.
+			}
+		}
+	}
+	
+	ctx->stopTimer(RC_TIMER_BUILD_CONTOURS_TRACE);
+	
+	rcIntArray verts(256);
+	rcIntArray simplified(64);
+	
+	for (int y = 0; y < h; ++y)
+	{
+		for (int x = 0; x < w; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+y*w];
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				if (flags[i] == 0 || flags[i] == 0xf)
+				{
+					flags[i] = 0;
+					continue;
+				}
+				const unsigned short reg = chf.spans[i].reg;
+				if (!reg || (reg & RC_BORDER_REG))
+					continue;
+				const unsigned char area = chf.areas[i];
+				
+				verts.resize(0);
+				simplified.resize(0);
+
+				ctx->startTimer(RC_TIMER_BUILD_CONTOURS_TRACE);
+				walkContour(x, y, i, chf, flags, verts);
+				ctx->stopTimer(RC_TIMER_BUILD_CONTOURS_TRACE);
+
+				ctx->startTimer(RC_TIMER_BUILD_CONTOURS_SIMPLIFY);
+				simplifyContour(verts, simplified, maxError, maxEdgeLen, buildFlags);
+				removeDegenerateSegments(simplified);
+				ctx->stopTimer(RC_TIMER_BUILD_CONTOURS_SIMPLIFY);
+				
+
+				// Store region->contour remap info.
+				// Create contour.
+				if (simplified.size()/4 >= 3)
+				{
+					if (cset.nconts >= maxContours)
+					{
+						// Allocate more contours.
+						// This can happen when there are tiny holes in the heightfield.
+						const int oldMax = maxContours;
+						maxContours *= 2;
+						rcContour* newConts = (rcContour*)rcAlloc(sizeof(rcContour)*maxContours, RC_ALLOC_PERM);
+						for (int j = 0; j < cset.nconts; ++j)
+						{
+							newConts[j] = cset.conts[j];
+							// Reset source pointers to prevent data deletion.
+							cset.conts[j].verts = 0;
+							cset.conts[j].rverts = 0;
+						}
+						rcFree(cset.conts);
+						cset.conts = newConts;
+					
+						ctx->log(RC_LOG_WARNING, "rcBuildContours: Expanding max contours from %d to %d.", oldMax, maxContours);
+					}
+						
+					rcContour* cont = &cset.conts[cset.nconts++];
+					
+					cont->nverts = simplified.size()/4;
+					cont->verts = (int*)rcAlloc(sizeof(int)*cont->nverts*4, RC_ALLOC_PERM);
+					if (!cont->verts)
+					{
+						ctx->log(RC_LOG_ERROR, "rcBuildContours: Out of memory 'verts' (%d).", cont->nverts);
+						return false;
+					}
+					memcpy(cont->verts, &simplified[0], sizeof(int)*cont->nverts*4);
+					if (borderSize > 0)
+					{
+						// If the heightfield was build with bordersize, remove the offset.
+						for (int j = 0; j < cont->nverts; ++j)
+						{
+							int* v = &cont->verts[j*4];
+							v[0] -= borderSize;
+							v[2] -= borderSize;
+						}
+					}
+					
+					cont->nrverts = verts.size()/4;
+					cont->rverts = (int*)rcAlloc(sizeof(int)*cont->nrverts*4, RC_ALLOC_PERM);
+					if (!cont->rverts)
+					{
+						ctx->log(RC_LOG_ERROR, "rcBuildContours: Out of memory 'rverts' (%d).", cont->nrverts);
+						return false;
+					}
+					memcpy(cont->rverts, &verts[0], sizeof(int)*cont->nrverts*4);
+					if (borderSize > 0)
+					{
+						// If the heightfield was build with bordersize, remove the offset.
+						for (int j = 0; j < cont->nrverts; ++j)
+						{
+							int* v = &cont->rverts[j*4];
+							v[0] -= borderSize;
+							v[2] -= borderSize;
+						}
+					}
+					
+/*					cont->cx = cont->cy = cont->cz = 0;
+					for (int i = 0; i < cont->nverts; ++i)
+					{
+						cont->cx += cont->verts[i*4+0];
+						cont->cy += cont->verts[i*4+1];
+						cont->cz += cont->verts[i*4+2];
+					}
+					cont->cx /= cont->nverts;
+					cont->cy /= cont->nverts;
+					cont->cz /= cont->nverts;*/
+					
+					cont->reg = reg;
+					cont->area = area;
+				}
+			}
+		}
+	}
+	
+	// Check and merge droppings.
+	// Sometimes the previous algorithms can fail and create several contours
+	// per area. This pass will try to merge the holes into the main region.
+	for (int i = 0; i < cset.nconts; ++i)
+	{
+		rcContour& cont = cset.conts[i];
+		// Check if the contour is would backwards.
+		if (calcAreaOfPolygon2D(cont.verts, cont.nverts) < 0)
+		{
+			// Find another contour which has the same region ID.
+			int mergeIdx = -1;
+			for (int j = 0; j < cset.nconts; ++j)
+			{
+				if (i == j) continue;
+				if (cset.conts[j].nverts && cset.conts[j].reg == cont.reg)
+				{
+					// Make sure the polygon is correctly oriented.
+					if (calcAreaOfPolygon2D(cset.conts[j].verts, cset.conts[j].nverts))
+					{
+						mergeIdx = j;
+						break;
+					}
+				}
+			}
+			if (mergeIdx == -1)
+			{
+				ctx->log(RC_LOG_WARNING, "rcBuildContours: Could not find merge target for bad contour %d.", i);
+			}
+			else
+			{
+				rcContour& mcont = cset.conts[mergeIdx];
+				// Merge by closest points.
+				int ia = 0, ib = 0;
+				getClosestIndices(mcont.verts, mcont.nverts, cont.verts, cont.nverts, ia, ib);
+				if (ia == -1 || ib == -1)
+				{
+					ctx->log(RC_LOG_WARNING, "rcBuildContours: Failed to find merge points for %d and %d.", i, mergeIdx);
+					continue;
+				}
+				if (!mergeContours(mcont, cont, ia, ib))
+				{
+					ctx->log(RC_LOG_WARNING, "rcBuildContours: Failed to merge contours %d and %d.", i, mergeIdx);
+					continue;
+				}
+			}
+		}
+	}
+	
+	ctx->stopTimer(RC_TIMER_BUILD_CONTOURS);
+	
+	return true;
+}

ThirdParty/Recast/Source/RecastFilter.cpp

@@ -0,0 +1,207 @@
+//
+// Copyright (c) 2009-2010 Mikko Mononen [email protected]
+//
+// 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.
+//
+
+#define _USE_MATH_DEFINES
+#include <math.h>
+#include <stdio.h>
+#include "Recast.h"
+#include "RecastAssert.h"
+
+/// @par
+///
+/// Allows the formation of walkable regions that will flow over low lying 
+/// objects such as curbs, and up structures such as stairways. 
+/// 
+/// Two neighboring spans are walkable if: <tt>rcAbs(currentSpan.smax - neighborSpan.smax) < waklableClimb</tt>
+/// 
+/// @warning Will override the effect of #rcFilterLedgeSpans.  So if both filters are used, call
+/// #rcFilterLedgeSpans after calling this filter. 
+///
+/// @see rcHeightfield, rcConfig
+void rcFilterLowHangingWalkableObstacles(rcContext* ctx, const int walkableClimb, rcHeightfield& solid)
+{
+	rcAssert(ctx);
+
+	ctx->startTimer(RC_TIMER_FILTER_LOW_OBSTACLES);
+	
+	const int w = solid.width;
+	const int h = solid.height;
+	
+	for (int y = 0; y < h; ++y)
+	{
+		for (int x = 0; x < w; ++x)
+		{
+			rcSpan* ps = 0;
+			bool previousWalkable = false;
+			unsigned char previousArea = RC_NULL_AREA;
+			
+			for (rcSpan* s = solid.spans[x + y*w]; s; ps = s, s = s->next)
+			{
+				const bool walkable = s->area != RC_NULL_AREA;
+				// If current span is not walkable, but there is walkable
+				// span just below it, mark the span above it walkable too.
+				if (!walkable && previousWalkable)
+				{
+					if (rcAbs((int)s->smax - (int)ps->smax) <= walkableClimb)
+						s->area = previousArea;
+				}
+				// Copy walkable flag so that it cannot propagate
+				// past multiple non-walkable objects.
+				previousWalkable = walkable;
+				previousArea = s->area;
+			}
+		}
+	}
+
+	ctx->stopTimer(RC_TIMER_FILTER_LOW_OBSTACLES);
+}
+
+/// @par
+///
+/// A ledge is a span with one or more neighbors whose maximum is further away than @p walkableClimb
+/// from the current span's maximum.
+/// This method removes the impact of the overestimation of conservative voxelization 
+/// so the resulting mesh will not have regions hanging in the air over ledges.
+/// 
+/// A span is a ledge if: <tt>rcAbs(currentSpan.smax - neighborSpan.smax) > walkableClimb</tt>
+/// 
+/// @see rcHeightfield, rcConfig
+void rcFilterLedgeSpans(rcContext* ctx, const int walkableHeight, const int walkableClimb,
+						rcHeightfield& solid)
+{
+	rcAssert(ctx);
+	
+	ctx->startTimer(RC_TIMER_FILTER_BORDER);
+
+	const int w = solid.width;
+	const int h = solid.height;
+	const int MAX_HEIGHT = 0xffff;
+	
+	// Mark border spans.
+	for (int y = 0; y < h; ++y)
+	{
+		for (int x = 0; x < w; ++x)
+		{
+			for (rcSpan* s = solid.spans[x + y*w]; s; s = s->next)
+			{
+				// Skip non walkable spans.
+				if (s->area == RC_NULL_AREA)
+					continue;
+				
+				const int bot = (int)(s->smax);
+				const int top = s->next ? (int)(s->next->smin) : MAX_HEIGHT;
+				
+				// Find neighbours minimum height.
+				int minh = MAX_HEIGHT;
+
+				// Min and max height of accessible neighbours.
+				int asmin = s->smax;
+				int asmax = s->smax;
+
+				for (int dir = 0; dir < 4; ++dir)
+				{
+					int dx = x + rcGetDirOffsetX(dir);
+					int dy = y + rcGetDirOffsetY(dir);
+					// Skip neighbours which are out of bounds.
+					if (dx < 0 || dy < 0 || dx >= w || dy >= h)
+					{
+						minh = rcMin(minh, -walkableClimb - bot);
+						continue;
+					}
+
+					// From minus infinity to the first span.
+					rcSpan* ns = solid.spans[dx + dy*w];
+					int nbot = -walkableClimb;
+					int ntop = ns ? (int)ns->smin : MAX_HEIGHT;
+					// Skip neightbour if the gap between the spans is too small.
+					if (rcMin(top,ntop) - rcMax(bot,nbot) > walkableHeight)
+						minh = rcMin(minh, nbot - bot);
+					
+					// Rest of the spans.
+					for (ns = solid.spans[dx + dy*w]; ns; ns = ns->next)
+					{
+						nbot = (int)ns->smax;
+						ntop = ns->next ? (int)ns->next->smin : MAX_HEIGHT;
+						// Skip neightbour if the gap between the spans is too small.
+						if (rcMin(top,ntop) - rcMax(bot,nbot) > walkableHeight)
+						{
+							minh = rcMin(minh, nbot - bot);
+						
+							// Find min/max accessible neighbour height. 
+							if (rcAbs(nbot - bot) <= walkableClimb)
+							{
+								if (nbot < asmin) asmin = nbot;
+								if (nbot > asmax) asmax = nbot;
+							}
+							
+						}
+					}
+				}
+				
+				// The current span is close to a ledge if the drop to any
+				// neighbour span is less than the walkableClimb.
+				if (minh < -walkableClimb)
+					s->area = RC_NULL_AREA;
+					
+				// If the difference between all neighbours is too large,
+				// we are at steep slope, mark the span as ledge.
+				if ((asmax - asmin) > walkableClimb)
+				{
+					s->area = RC_NULL_AREA;
+				}
+			}
+		}
+	}
+	
+	ctx->stopTimer(RC_TIMER_FILTER_BORDER);
+}	
+
+/// @par
+///
+/// For this filter, the clearance above the span is the distance from the span's 
+/// maximum to the next higher span's minimum. (Same grid column.)
+/// 
+/// @see rcHeightfield, rcConfig
+void rcFilterWalkableLowHeightSpans(rcContext* ctx, int walkableHeight, rcHeightfield& solid)
+{
+	rcAssert(ctx);
+	
+	ctx->startTimer(RC_TIMER_FILTER_WALKABLE);
+	
+	const int w = solid.width;
+	const int h = solid.height;
+	const int MAX_HEIGHT = 0xffff;
+	
+	// Remove walkable flag from spans which do not have enough
+	// space above them for the agent to stand there.
+	for (int y = 0; y < h; ++y)
+	{
+		for (int x = 0; x < w; ++x)
+		{
+			for (rcSpan* s = solid.spans[x + y*w]; s; s = s->next)
+			{
+				const int bot = (int)(s->smax);
+				const int top = s->next ? (int)(s->next->smin) : MAX_HEIGHT;
+				if ((top - bot) <= walkableHeight)
+					s->area = RC_NULL_AREA;
+			}
+		}
+	}
+	
+	ctx->stopTimer(RC_TIMER_FILTER_WALKABLE);
+}

ThirdParty/Recast/Source/RecastLayers.cpp

@@ -0,0 +1,620 @@
+//
+// Copyright (c) 2009-2010 Mikko Mononen [email protected]
+//
+// 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.
+//
+
+#include <float.h>
+#define _USE_MATH_DEFINES
+#include <math.h>
+#include <string.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include "Recast.h"
+#include "RecastAlloc.h"
+#include "RecastAssert.h"
+
+
+static const int RC_MAX_LAYERS = RC_NOT_CONNECTED;
+static const int RC_MAX_NEIS = 16;
+
+struct rcLayerRegion
+{
+	unsigned char layers[RC_MAX_LAYERS];
+	unsigned char neis[RC_MAX_NEIS];
+	unsigned short ymin, ymax;
+	unsigned char layerId;		// Layer ID
+	unsigned char nlayers;		// Layer count
+	unsigned char nneis;		// Neighbour count
+	unsigned char base;			// Flag indicating if the region is hte base of merged regions.
+};
+
+
+static void addUnique(unsigned char* a, unsigned char& an, unsigned char v)
+{
+	const int n = (int)an;
+	for (int i = 0; i < n; ++i)
+		if (a[i] == v)
+			return;
+	a[an] = v;
+	an++;
+}
+
+static bool contains(const unsigned char* a, const unsigned char an, const unsigned char v)
+{
+	const int n = (int)an;
+	for (int i = 0; i < n; ++i)
+		if (a[i] == v)
+			return true;
+	return false;
+}
+
+inline bool overlapRange(const unsigned short amin, const unsigned short amax,
+						 const unsigned short bmin, const unsigned short bmax)
+{
+	return (amin > bmax || amax < bmin) ? false : true;
+}
+
+
+
+struct rcLayerSweepSpan
+{
+	unsigned short ns;	// number samples
+	unsigned char id;	// region id
+	unsigned char nei;	// neighbour id
+};
+
+/// @par
+/// 
+/// See the #rcConfig documentation for more information on the configuration parameters.
+/// 
+/// @see rcAllocHeightfieldLayerSet, rcCompactHeightfield, rcHeightfieldLayerSet, rcConfig
+bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
+							  const int borderSize, const int walkableHeight,
+							  rcHeightfieldLayerSet& lset)
+{
+	rcAssert(ctx);
+	
+	ctx->startTimer(RC_TIMER_BUILD_LAYERS);
+	
+	const int w = chf.width;
+	const int h = chf.height;
+	
+	rcScopedDelete<unsigned char> srcReg = (unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_TEMP);
+	if (!srcReg)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'srcReg' (%d).", chf.spanCount);
+		return false;
+	}
+	memset(srcReg,0xff,sizeof(unsigned char)*chf.spanCount);
+	
+	const int nsweeps = chf.width;
+	rcScopedDelete<rcLayerSweepSpan> sweeps = (rcLayerSweepSpan*)rcAlloc(sizeof(rcLayerSweepSpan)*nsweeps, RC_ALLOC_TEMP);
+	if (!sweeps)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'sweeps' (%d).", nsweeps);
+		return false;
+	}
+	
+	
+	// Partition walkable area into monotone regions.
+	int prevCount[256];
+	unsigned char regId = 0;
+
+	for (int y = borderSize; y < h-borderSize; ++y)
+	{
+		memset(prevCount,0,sizeof(int)*regId);
+		unsigned char sweepId = 0;
+		
+		for (int x = borderSize; x < w-borderSize; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+y*w];
+			
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				const rcCompactSpan& s = chf.spans[i];
+				if (chf.areas[i] == RC_NULL_AREA) continue;
+
+				unsigned char sid = 0xff;
+
+				// -x
+				if (rcGetCon(s, 0) != RC_NOT_CONNECTED)
+				{
+					const int ax = x + rcGetDirOffsetX(0);
+					const int ay = y + rcGetDirOffsetY(0);
+					const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 0);
+					if (chf.areas[ai] != RC_NULL_AREA && srcReg[ai] != 0xff)
+						sid = srcReg[ai];
+				}
+				
+				if (sid == 0xff)
+				{
+					sid = sweepId++;
+					sweeps[sid].nei = 0xff;
+					sweeps[sid].ns = 0;
+				}
+				
+				// -y
+				if (rcGetCon(s,3) != RC_NOT_CONNECTED)
+				{
+					const int ax = x + rcGetDirOffsetX(3);
+					const int ay = y + rcGetDirOffsetY(3);
+					const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 3);
+					const unsigned char nr = srcReg[ai];
+					if (nr != 0xff)
+					{
+						// Set neighbour when first valid neighbour is encoutered.
+						if (sweeps[sid].ns == 0)
+							sweeps[sid].nei = nr;
+						
+						if (sweeps[sid].nei == nr)
+						{
+							// Update existing neighbour
+							sweeps[sid].ns++;
+							prevCount[nr]++;
+						}
+						else
+						{
+							// This is hit if there is nore than one neighbour.
+							// Invalidate the neighbour.
+							sweeps[sid].nei = 0xff;
+						}
+					}
+				}
+				
+				srcReg[i] = sid;
+			}
+		}
+		
+		// Create unique ID.
+		for (int i = 0; i < sweepId; ++i)
+		{
+			// If the neighbour is set and there is only one continuous connection to it,
+			// the sweep will be merged with the previous one, else new region is created.
+			if (sweeps[i].nei != 0xff && prevCount[sweeps[i].nei] == (int)sweeps[i].ns)
+			{
+				sweeps[i].id = sweeps[i].nei;
+			}
+			else
+			{
+				if (regId == 255)
+				{
+					ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Region ID overflow.");
+					return false;
+				}
+				sweeps[i].id = regId++;
+			}
+		}
+		
+		// Remap local sweep ids to region ids.
+		for (int x = borderSize; x < w-borderSize; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+y*w];
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				if (srcReg[i] != 0xff)
+					srcReg[i] = sweeps[srcReg[i]].id;
+			}
+		}
+	}
+
+	// Allocate and init layer regions.
+	const int nregs = (int)regId;
+	rcScopedDelete<rcLayerRegion> regs = (rcLayerRegion*)rcAlloc(sizeof(rcLayerRegion)*nregs, RC_ALLOC_TEMP);
+	if (!regs)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'regs' (%d).", nregs);
+		return false;
+	}
+	memset(regs, 0, sizeof(rcLayerRegion)*nregs);
+	for (int i = 0; i < nregs; ++i)
+	{
+		regs[i].layerId = 0xff;
+		regs[i].ymin = 0xffff;
+		regs[i].ymax = 0;
+	}
+	
+	// Find region neighbours and overlapping regions.
+	for (int y = 0; y < h; ++y)
+	{
+		for (int x = 0; x < w; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+y*w];
+			
+			unsigned char lregs[RC_MAX_LAYERS];
+			int nlregs = 0;
+			
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				const rcCompactSpan& s = chf.spans[i];
+				const unsigned char ri = srcReg[i];
+				if (ri == 0xff) continue;
+				
+				regs[ri].ymin = rcMin(regs[ri].ymin, s.y);
+				regs[ri].ymax = rcMax(regs[ri].ymax, s.y);
+				
+				// Collect all region layers.
+				if (nlregs < RC_MAX_LAYERS)
+					lregs[nlregs++] = ri;
+				
+				// Update neighbours
+				for (int dir = 0; dir < 4; ++dir)
+				{
+					if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
+					{
+						const int ax = x + rcGetDirOffsetX(dir);
+						const int ay = y + rcGetDirOffsetY(dir);
+						const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, dir);
+						const unsigned char rai = srcReg[ai];
+						if (rai != 0xff && rai != ri)
+							addUnique(regs[ri].neis, regs[ri].nneis, rai);
+					}
+				}
+				
+			}
+			
+			// Update overlapping regions.
+			for (int i = 0; i < nlregs-1; ++i)
+			{
+				for (int j = i+1; j < nlregs; ++j)
+				{
+					if (lregs[i] != lregs[j])
+					{
+						rcLayerRegion& ri = regs[lregs[i]];
+						rcLayerRegion& rj = regs[lregs[j]];
+						addUnique(ri.layers, ri.nlayers, lregs[j]);
+						addUnique(rj.layers, rj.nlayers, lregs[i]);
+					}
+				}
+			}
+			
+		}
+	}
+	
+	// Create 2D layers from regions.
+	unsigned char layerId = 0;
+	
+	static const int MAX_STACK = 64;
+	unsigned char stack[MAX_STACK];
+	int nstack = 0;
+	
+	for (int i = 0; i < nregs; ++i)
+	{
+		rcLayerRegion& root = regs[i];
+		// Skip alreadu visited.
+		if (root.layerId != 0xff)
+			continue;
+
+		// Start search.
+		root.layerId = layerId;
+		root.base = 1;
+		
+		nstack = 0;
+		stack[nstack++] = (unsigned char)i;
+		
+		while (nstack)
+		{
+			// Pop front
+			rcLayerRegion& reg = regs[stack[0]];
+			nstack--;
+			for (int j = 0; j < nstack; ++j)
+				stack[j] = stack[j+1];
+			
+			const int nneis = (int)reg.nneis;
+			for (int j = 0; j < nneis; ++j)
+			{
+				const unsigned char nei = reg.neis[j];
+				rcLayerRegion& regn = regs[nei];
+				// Skip already visited.
+				if (regn.layerId != 0xff)
+					continue;
+				// Skip if the neighbour is overlapping root region.
+				if (contains(root.layers, root.nlayers, nei))
+					continue;
+				// Skip if the height range would become too large.
+				const int ymin = rcMin(root.ymin, regn.ymin);
+				const int ymax = rcMin(root.ymax, regn.ymax);
+				if ((ymax - ymin) >= 255)
+					 continue;
+
+				if (nstack < MAX_STACK)
+				{
+					// Deepen
+					stack[nstack++] = (unsigned char)nei;
+					
+					// Mark layer id
+					regn.layerId = layerId;
+					// Merge current layers to root.
+					for (int k = 0; k < regn.nlayers; ++k)
+						addUnique(root.layers, root.nlayers, regn.layers[k]);
+					root.ymin = rcMin(root.ymin, regn.ymin);
+					root.ymax = rcMax(root.ymax, regn.ymax);
+				}
+			}
+		}
+		
+		layerId++;
+	}
+	
+	// Merge non-overlapping regions that are close in height.
+	const unsigned short mergeHeight = (unsigned short)walkableHeight * 4;
+	
+	for (int i = 0; i < nregs; ++i)
+	{
+		rcLayerRegion& ri = regs[i];
+		if (!ri.base) continue;
+		
+		unsigned char newId = ri.layerId;
+		
+		for (;;)
+		{
+			unsigned char oldId = 0xff;
+			
+			for (int j = 0; j < nregs; ++j)
+			{
+				if (i == j) continue;
+				rcLayerRegion& rj = regs[j];
+				if (!rj.base) continue;
+				
+				// Skip if teh regions are not close to each other.
+				if (!overlapRange(ri.ymin,ri.ymax+mergeHeight, rj.ymin,rj.ymax+mergeHeight))
+					continue;
+				// Skip if the height range would become too large.
+				const int ymin = rcMin(ri.ymin, rj.ymin);
+				const int ymax = rcMin(ri.ymax, rj.ymax);
+				if ((ymax - ymin) >= 255)
+				  continue;
+						  
+				// Make sure that there is no overlap when mergin 'ri' and 'rj'.
+				bool overlap = false;
+				// Iterate over all regions which have the same layerId as 'rj'
+				for (int k = 0; k < nregs; ++k)
+				{
+					if (regs[k].layerId != rj.layerId)
+						continue;
+					// Check if region 'k' is overlapping region 'ri'
+					// Index to 'regs' is the same as region id.
+					if (contains(ri.layers,ri.nlayers, (unsigned char)k))
+					{
+						overlap = true;
+						break;
+					}
+				}
+				// Cannot merge of regions overlap.
+				if (overlap)
+					continue;
+				
+				// Can merge i and j.
+				oldId = rj.layerId;
+				break;
+			}
+			
+			// Could not find anything to merge with, stop.
+			if (oldId == 0xff)
+				break;
+			
+			// Merge
+			for (int j = 0; j < nregs; ++j)
+			{
+				rcLayerRegion& rj = regs[j];
+				if (rj.layerId == oldId)
+				{
+					rj.base = 0;
+					// Remap layerIds.
+					rj.layerId = newId;
+					// Add overlaid layers from 'rj' to 'ri'.
+					for (int k = 0; k < rj.nlayers; ++k)
+						addUnique(ri.layers, ri.nlayers, rj.layers[k]);
+					// Update heigh bounds.
+					ri.ymin = rcMin(ri.ymin, rj.ymin);
+					ri.ymax = rcMax(ri.ymax, rj.ymax);
+				}
+			}
+		}
+	}
+	
+	// Compact layerIds
+	unsigned char remap[256];
+	memset(remap, 0, 256);
+
+	// Find number of unique layers.
+	layerId = 0;
+	for (int i = 0; i < nregs; ++i)
+		remap[regs[i].layerId] = 1;
+	for (int i = 0; i < 256; ++i)
+	{
+		if (remap[i])
+			remap[i] = layerId++;
+		else
+			remap[i] = 0xff;
+	}
+	// Remap ids.
+	for (int i = 0; i < nregs; ++i)
+		regs[i].layerId = remap[regs[i].layerId];
+	
+	// No layers, return empty.
+	if (layerId == 0)
+	{
+		ctx->stopTimer(RC_TIMER_BUILD_LAYERS);
+		return true;
+	}
+	
+	// Create layers.
+	rcAssert(lset.layers == 0);
+	
+	const int lw = w - borderSize*2;
+	const int lh = h - borderSize*2;
+
+	// Build contracted bbox for layers.
+	float bmin[3], bmax[3];
+	rcVcopy(bmin, chf.bmin);
+	rcVcopy(bmax, chf.bmax);
+	bmin[0] += borderSize*chf.cs;
+	bmin[2] += borderSize*chf.cs;
+	bmax[0] -= borderSize*chf.cs;
+	bmax[2] -= borderSize*chf.cs;
+	
+	lset.nlayers = (int)layerId;
+	
+	lset.layers = (rcHeightfieldLayer*)rcAlloc(sizeof(rcHeightfieldLayer)*lset.nlayers, RC_ALLOC_PERM);
+	if (!lset.layers)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'layers' (%d).", lset.nlayers);
+		return false;
+	}
+	memset(lset.layers, 0, sizeof(rcHeightfieldLayer)*lset.nlayers);
+
+	
+	// Store layers.
+	for (int i = 0; i < lset.nlayers; ++i)
+	{
+		unsigned char curId = (unsigned char)i;
+		
+		// Allocate memory for the current layer.
+		rcHeightfieldLayer* layer = &lset.layers[i];
+		memset(layer, 0, sizeof(rcHeightfieldLayer));
+
+		const int gridSize = sizeof(unsigned char)*lw*lh;
+
+		layer->heights = (unsigned char*)rcAlloc(gridSize, RC_ALLOC_PERM);
+		if (!layer->heights)
+		{
+			ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'heights' (%d).", gridSize);
+			return false;
+		}
+		memset(layer->heights, 0xff, gridSize);
+
+		layer->areas = (unsigned char*)rcAlloc(gridSize, RC_ALLOC_PERM);
+		if (!layer->areas)
+		{
+			ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'areas' (%d).", gridSize);
+			return false;
+		}
+		memset(layer->areas, 0, gridSize);
+
+		layer->cons = (unsigned char*)rcAlloc(gridSize, RC_ALLOC_PERM);
+		if (!layer->cons)
+		{
+			ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'cons' (%d).", gridSize);
+			return false;
+		}
+		memset(layer->cons, 0, gridSize);
+		
+		// Find layer height bounds.
+		int hmin = 0, hmax = 0;
+		for (int j = 0; j < nregs; ++j)
+		{
+			if (regs[j].base && regs[j].layerId == curId)
+			{
+				hmin = (int)regs[j].ymin;
+				hmax = (int)regs[j].ymax;
+			}
+		}
+
+		layer->width = lw;
+		layer->height = lh;
+		layer->cs = chf.cs;
+		layer->ch = chf.ch;
+		
+		// Adjust the bbox to fit the heighfield.
+		rcVcopy(layer->bmin, bmin);
+		rcVcopy(layer->bmax, bmax);
+		layer->bmin[1] = bmin[1] + hmin*chf.ch;
+		layer->bmax[1] = bmin[1] + hmax*chf.ch;
+		layer->hmin = hmin;
+		layer->hmax = hmax;
+
+		// Update usable data region.
+		layer->minx = layer->width;
+		layer->maxx = 0;
+		layer->miny = layer->height;
+		layer->maxy = 0;
+		
+		// Copy height and area from compact heighfield. 
+		for (int y = 0; y < lh; ++y)
+		{
+			for (int x = 0; x < lw; ++x)
+			{
+				const int cx = borderSize+x;
+				const int cy = borderSize+y;
+				const rcCompactCell& c = chf.cells[cx+cy*w];
+				for (int j = (int)c.index, nj = (int)(c.index+c.count); j < nj; ++j)
+				{
+					const rcCompactSpan& s = chf.spans[j];
+					// Skip unassigned regions.
+					if (srcReg[j] == 0xff)
+						continue;
+					// Skip of does nto belong to current layer.
+					unsigned char lid = regs[srcReg[j]].layerId;
+					if (lid != curId)
+						continue;
+					
+					// Update data bounds.
+					layer->minx = rcMin(layer->minx, x);
+					layer->maxx = rcMax(layer->maxx, x);
+					layer->miny = rcMin(layer->miny, y);
+					layer->maxy = rcMax(layer->maxy, y);
+					
+					// Store height and area type.
+					const int idx = x+y*lw;
+					layer->heights[idx] = (unsigned char)(s.y - hmin);
+					layer->areas[idx] = chf.areas[j];
+					
+					// Check connection.
+					unsigned char portal = 0;
+					unsigned char con = 0;
+					for (int dir = 0; dir < 4; ++dir)
+					{
+						if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
+						{
+							const int ax = cx + rcGetDirOffsetX(dir);
+							const int ay = cy + rcGetDirOffsetY(dir);
+							const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, dir);
+							unsigned char alid = srcReg[ai] != 0xff ? regs[srcReg[ai]].layerId : 0xff;
+							// Portal mask
+							if (chf.areas[ai] != RC_NULL_AREA && lid != alid)
+							{
+								portal |= (unsigned char)(1<<dir);
+								// Update height so that it matches on both sides of the portal.
+								const rcCompactSpan& as = chf.spans[ai];
+								if (as.y > hmin)
+									layer->heights[idx] = rcMax(layer->heights[idx], (unsigned char)(as.y - hmin));
+							}
+							// Valid connection mask
+							if (chf.areas[ai] != RC_NULL_AREA && lid == alid)
+							{
+								const int nx = ax - borderSize;
+								const int ny = ay - borderSize;
+								if (nx >= 0 && ny >= 0 && nx < lw && ny < lh)
+									con |= (unsigned char)(1<<dir);
+							}
+						}
+					}
+					
+					layer->cons[idx] = (portal << 4) | con;
+				}
+			}
+		}
+		
+		if (layer->minx > layer->maxx)
+			layer->minx = layer->maxx = 0;
+		if (layer->miny > layer->maxy)
+			layer->miny = layer->maxy = 0;
+	}
+	
+	ctx->stopTimer(RC_TIMER_BUILD_LAYERS);
+	
+	return true;
+}

ThirdParty/Recast/Source/RecastMesh.cpp

@@ -0,0 +1,1428 @@
+//
+// Copyright (c) 2009-2010 Mikko Mononen [email protected]
+//
+// 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.
+//
+
+#define _USE_MATH_DEFINES
+#include <math.h>
+#include <string.h>
+#include <stdio.h>
+#include "Recast.h"
+#include "RecastAlloc.h"
+#include "RecastAssert.h"
+
+struct rcEdge
+{
+	unsigned short vert[2];
+	unsigned short polyEdge[2];
+	unsigned short poly[2];
+};
+
+static bool buildMeshAdjacency(unsigned short* polys, const int npolys,
+							   const int nverts, const int vertsPerPoly)
+{
+	// Based on code by Eric Lengyel from:
+	// http://www.terathon.com/code/edges.php
+	
+	int maxEdgeCount = npolys*vertsPerPoly;
+	unsigned short* firstEdge = (unsigned short*)rcAlloc(sizeof(unsigned short)*(nverts + maxEdgeCount), RC_ALLOC_TEMP);
+	if (!firstEdge)
+		return false;
+	unsigned short* nextEdge = firstEdge + nverts;
+	int edgeCount = 0;
+	
+	rcEdge* edges = (rcEdge*)rcAlloc(sizeof(rcEdge)*maxEdgeCount, RC_ALLOC_TEMP);
+	if (!edges)
+	{
+		rcFree(firstEdge);
+		return false;
+	}
+	
+	for (int i = 0; i < nverts; i++)
+		firstEdge[i] = RC_MESH_NULL_IDX;
+	
+	for (int i = 0; i < npolys; ++i)
+	{
+		unsigned short* t = &polys[i*vertsPerPoly*2];
+		for (int j = 0; j < vertsPerPoly; ++j)
+		{
+			if (t[j] == RC_MESH_NULL_IDX) break;
+			unsigned short v0 = t[j];
+			unsigned short v1 = (j+1 >= vertsPerPoly || t[j+1] == RC_MESH_NULL_IDX) ? t[0] : t[j+1];
+			if (v0 < v1)
+			{
+				rcEdge& edge = edges[edgeCount];
+				edge.vert[0] = v0;
+				edge.vert[1] = v1;
+				edge.poly[0] = (unsigned short)i;
+				edge.polyEdge[0] = (unsigned short)j;
+				edge.poly[1] = (unsigned short)i;
+				edge.polyEdge[1] = 0;
+				// Insert edge
+				nextEdge[edgeCount] = firstEdge[v0];
+				firstEdge[v0] = (unsigned short)edgeCount;
+				edgeCount++;
+			}
+		}
+	}
+	
+	for (int i = 0; i < npolys; ++i)
+	{
+		unsigned short* t = &polys[i*vertsPerPoly*2];
+		for (int j = 0; j < vertsPerPoly; ++j)
+		{
+			if (t[j] == RC_MESH_NULL_IDX) break;
+			unsigned short v0 = t[j];
+			unsigned short v1 = (j+1 >= vertsPerPoly || t[j+1] == RC_MESH_NULL_IDX) ? t[0] : t[j+1];
+			if (v0 > v1)
+			{
+				for (unsigned short e = firstEdge[v1]; e != RC_MESH_NULL_IDX; e = nextEdge[e])
+				{
+					rcEdge& edge = edges[e];
+					if (edge.vert[1] == v0 && edge.poly[0] == edge.poly[1])
+					{
+						edge.poly[1] = (unsigned short)i;
+						edge.polyEdge[1] = (unsigned short)j;
+						break;
+					}
+				}
+			}
+		}
+	}
+	
+	// Store adjacency
+	for (int i = 0; i < edgeCount; ++i)
+	{
+		const rcEdge& e = edges[i];
+		if (e.poly[0] != e.poly[1])
+		{
+			unsigned short* p0 = &polys[e.poly[0]*vertsPerPoly*2];
+			unsigned short* p1 = &polys[e.poly[1]*vertsPerPoly*2];
+			p0[vertsPerPoly + e.polyEdge[0]] = e.poly[1];
+			p1[vertsPerPoly + e.polyEdge[1]] = e.poly[0];
+		}
+	}
+	
+	rcFree(firstEdge);
+	rcFree(edges);
+	
+	return true;
+}
+
+
+static const int VERTEX_BUCKET_COUNT = (1<<12);
+
+inline int computeVertexHash(int x, int y, int z)
+{
+	const unsigned int h1 = 0x8da6b343; // Large multiplicative constants;
+	const unsigned int h2 = 0xd8163841; // here arbitrarily chosen primes
+	const unsigned int h3 = 0xcb1ab31f;
+	unsigned int n = h1 * x + h2 * y + h3 * z;
+	return (int)(n & (VERTEX_BUCKET_COUNT-1));
+}
+
+static unsigned short addVertex(unsigned short x, unsigned short y, unsigned short z,
+								unsigned short* verts, int* firstVert, int* nextVert, int& nv)
+{
+	int bucket = computeVertexHash(x, 0, z);
+	int i = firstVert[bucket];
+	
+	while (i != -1)
+	{
+		const unsigned short* v = &verts[i*3];
+		if (v[0] == x && (rcAbs(v[1] - y) <= 2) && v[2] == z)
+			return (unsigned short)i;
+		i = nextVert[i]; // next
+	}
+	
+	// Could not find, create new.
+	i = nv; nv++;
+	unsigned short* v = &verts[i*3];
+	v[0] = x;
+	v[1] = y;
+	v[2] = z;
+	nextVert[i] = firstVert[bucket];
+	firstVert[bucket] = i;
+	
+	return (unsigned short)i;
+}
+
+inline int prev(int i, int n) { return i-1 >= 0 ? i-1 : n-1; }
+inline int next(int i, int n) { return i+1 < n ? i+1 : 0; }
+
+inline int area2(const int* a, const int* b, const int* c)
+{
+	return (b[0] - a[0]) * (c[2] - a[2]) - (c[0] - a[0]) * (b[2] - a[2]);
+}
+
+//	Exclusive or: true iff exactly one argument is true.
+//	The arguments are negated to ensure that they are 0/1
+//	values.  Then the bitwise Xor operator may apply.
+//	(This idea is due to Michael Baldwin.)
+inline bool xorb(bool x, bool y)
+{
+	return !x ^ !y;
+}
+
+// Returns true iff c is strictly to the left of the directed
+// line through a to b.
+inline bool left(const int* a, const int* b, const int* c)
+{
+	return area2(a, b, c) < 0;
+}
+
+inline bool leftOn(const int* a, const int* b, const int* c)
+{
+	return area2(a, b, c) <= 0;
+}
+
+inline bool collinear(const int* a, const int* b, const int* c)
+{
+	return area2(a, b, c) == 0;
+}
+
+//	Returns true iff ab properly intersects cd: they share
+//	a point interior to both segments.  The properness of the
+//	intersection is ensured by using strict leftness.
+static bool intersectProp(const int* a, const int* b, const int* c, const int* d)
+{
+	// Eliminate improper cases.
+	if (collinear(a,b,c) || collinear(a,b,d) ||
+		collinear(c,d,a) || collinear(c,d,b))
+		return false;
+	
+	return xorb(left(a,b,c), left(a,b,d)) && xorb(left(c,d,a), left(c,d,b));
+}
+
+// Returns T iff (a,b,c) are collinear and point c lies 
+// on the closed segement ab.
+static bool between(const int* a, const int* b, const int* c)
+{
+	if (!collinear(a, b, c))
+		return false;
+	// If ab not vertical, check betweenness on x; else on y.
+	if (a[0] != b[0])
+		return	((a[0] <= c[0]) && (c[0] <= b[0])) || ((a[0] >= c[0]) && (c[0] >= b[0]));
+	else
+		return	((a[2] <= c[2]) && (c[2] <= b[2])) || ((a[2] >= c[2]) && (c[2] >= b[2]));
+}
+
+// Returns true iff segments ab and cd intersect, properly or improperly.
+static bool intersect(const int* a, const int* b, const int* c, const int* d)
+{
+	if (intersectProp(a, b, c, d))
+		return true;
+	else if (between(a, b, c) || between(a, b, d) ||
+			 between(c, d, a) || between(c, d, b))
+		return true;
+	else
+		return false;
+}
+
+static bool vequal(const int* a, const int* b)
+{
+	return a[0] == b[0] && a[2] == b[2];
+}
+
+// Returns T iff (v_i, v_j) is a proper internal *or* external
+// diagonal of P, *ignoring edges incident to v_i and v_j*.
+static bool diagonalie(int i, int j, int n, const int* verts, int* indices)
+{
+	const int* d0 = &verts[(indices[i] & 0x0fffffff) * 4];
+	const int* d1 = &verts[(indices[j] & 0x0fffffff) * 4];
+	
+	// For each edge (k,k+1) of P
+	for (int k = 0; k < n; k++)
+	{
+		int k1 = next(k, n);
+		// Skip edges incident to i or j
+		if (!((k == i) || (k1 == i) || (k == j) || (k1 == j)))
+		{
+			const int* p0 = &verts[(indices[k] & 0x0fffffff) * 4];
+			const int* p1 = &verts[(indices[k1] & 0x0fffffff) * 4];
+
+			if (vequal(d0, p0) || vequal(d1, p0) || vequal(d0, p1) || vequal(d1, p1))
+				continue;
+			
+			if (intersect(d0, d1, p0, p1))
+				return false;
+		}
+	}
+	return true;
+}
+
+// Returns true iff the diagonal (i,j) is strictly internal to the 
+// polygon P in the neighborhood of the i endpoint.
+static bool	inCone(int i, int j, int n, const int* verts, int* indices)
+{
+	const int* pi = &verts[(indices[i] & 0x0fffffff) * 4];
+	const int* pj = &verts[(indices[j] & 0x0fffffff) * 4];
+	const int* pi1 = &verts[(indices[next(i, n)] & 0x0fffffff) * 4];
+	const int* pin1 = &verts[(indices[prev(i, n)] & 0x0fffffff) * 4];
+
+	// If P[i] is a convex vertex [ i+1 left or on (i-1,i) ].
+	if (leftOn(pin1, pi, pi1))
+		return left(pi, pj, pin1) && left(pj, pi, pi1);
+	// Assume (i-1,i,i+1) not collinear.
+	// else P[i] is reflex.
+	return !(leftOn(pi, pj, pi1) && leftOn(pj, pi, pin1));
+}
+
+// Returns T iff (v_i, v_j) is a proper internal
+// diagonal of P.
+static bool diagonal(int i, int j, int n, const int* verts, int* indices)
+{
+	return inCone(i, j, n, verts, indices) && diagonalie(i, j, n, verts, indices);
+}
+
+static int triangulate(int n, const int* verts, int* indices, int* tris)
+{
+	int ntris = 0;
+	int* dst = tris;
+	
+	// The last bit of the index is used to indicate if the vertex can be removed.
+	for (int i = 0; i < n; i++)
+	{
+		int i1 = next(i, n);
+		int i2 = next(i1, n);
+		if (diagonal(i, i2, n, verts, indices))
+			indices[i1] |= 0x80000000;
+	}
+	
+	while (n > 3)
+	{
+		int minLen = -1;
+		int mini = -1;
+		for (int i = 0; i < n; i++)
+		{
+			int i1 = next(i, n);
+			if (indices[i1] & 0x80000000)
+			{
+				const int* p0 = &verts[(indices[i] & 0x0fffffff) * 4];
+				const int* p2 = &verts[(indices[next(i1, n)] & 0x0fffffff) * 4];
+				
+				int dx = p2[0] - p0[0];
+				int dy = p2[2] - p0[2];
+				int len = dx*dx + dy*dy;
+				
+				if (minLen < 0 || len < minLen)
+				{
+					minLen = len;
+					mini = i;
+				}
+			}
+		}
+		
+		if (mini == -1)
+		{
+			// Should not happen.
+/*			printf("mini == -1 ntris=%d n=%d\n", ntris, n);
+			for (int i = 0; i < n; i++)
+			{
+				printf("%d ", indices[i] & 0x0fffffff);
+			}
+			printf("\n");*/
+			return -ntris;
+		}
+		
+		int i = mini;
+		int i1 = next(i, n);
+		int i2 = next(i1, n);
+		
+		*dst++ = indices[i] & 0x0fffffff;
+		*dst++ = indices[i1] & 0x0fffffff;
+		*dst++ = indices[i2] & 0x0fffffff;
+		ntris++;
+		
+		// Removes P[i1] by copying P[i+1]...P[n-1] left one index.
+		n--;
+		for (int k = i1; k < n; k++)
+			indices[k] = indices[k+1];
+		
+		if (i1 >= n) i1 = 0;
+		i = prev(i1,n);
+		// Update diagonal flags.
+		if (diagonal(prev(i, n), i1, n, verts, indices))
+			indices[i] |= 0x80000000;
+		else
+			indices[i] &= 0x0fffffff;
+		
+		if (diagonal(i, next(i1, n), n, verts, indices))
+			indices[i1] |= 0x80000000;
+		else
+			indices[i1] &= 0x0fffffff;
+	}
+	
+	// Append the remaining triangle.
+	*dst++ = indices[0] & 0x0fffffff;
+	*dst++ = indices[1] & 0x0fffffff;
+	*dst++ = indices[2] & 0x0fffffff;
+	ntris++;
+	
+	return ntris;
+}
+
+static int countPolyVerts(const unsigned short* p, const int nvp)
+{
+	for (int i = 0; i < nvp; ++i)
+		if (p[i] == RC_MESH_NULL_IDX)
+			return i;
+	return nvp;
+}
+
+inline bool uleft(const unsigned short* a, const unsigned short* b, const unsigned short* c)
+{
+	return ((int)b[0] - (int)a[0]) * ((int)c[2] - (int)a[2]) -
+		   ((int)c[0] - (int)a[0]) * ((int)b[2] - (int)a[2]) < 0;
+}
+
+static int getPolyMergeValue(unsigned short* pa, unsigned short* pb,
+							 const unsigned short* verts, int& ea, int& eb,
+							 const int nvp)
+{
+	const int na = countPolyVerts(pa, nvp);
+	const int nb = countPolyVerts(pb, nvp);
+	
+	// If the merged polygon would be too big, do not merge.
+	if (na+nb-2 > nvp)
+		return -1;
+	
+	// Check if the polygons share an edge.
+	ea = -1;
+	eb = -1;
+	
+	for (int i = 0; i < na; ++i)
+	{
+		unsigned short va0 = pa[i];
+		unsigned short va1 = pa[(i+1) % na];
+		if (va0 > va1)
+			rcSwap(va0, va1);
+		for (int j = 0; j < nb; ++j)
+		{
+			unsigned short vb0 = pb[j];
+			unsigned short vb1 = pb[(j+1) % nb];
+			if (vb0 > vb1)
+				rcSwap(vb0, vb1);
+			if (va0 == vb0 && va1 == vb1)
+			{
+				ea = i;
+				eb = j;
+				break;
+			}
+		}
+	}
+	
+	// No common edge, cannot merge.
+	if (ea == -1 || eb == -1)
+		return -1;
+	
+	// Check to see if the merged polygon would be convex.
+	unsigned short va, vb, vc;
+	
+	va = pa[(ea+na-1) % na];
+	vb = pa[ea];
+	vc = pb[(eb+2) % nb];
+	if (!uleft(&verts[va*3], &verts[vb*3], &verts[vc*3]))
+		return -1;
+	
+	va = pb[(eb+nb-1) % nb];
+	vb = pb[eb];
+	vc = pa[(ea+2) % na];
+	if (!uleft(&verts[va*3], &verts[vb*3], &verts[vc*3]))
+		return -1;
+	
+	va = pa[ea];
+	vb = pa[(ea+1)%na];
+	
+	int dx = (int)verts[va*3+0] - (int)verts[vb*3+0];
+	int dy = (int)verts[va*3+2] - (int)verts[vb*3+2];
+	
+	return dx*dx + dy*dy;
+}
+
+static void mergePolys(unsigned short* pa, unsigned short* pb, int ea, int eb,
+					   unsigned short* tmp, const int nvp)
+{
+	const int na = countPolyVerts(pa, nvp);
+	const int nb = countPolyVerts(pb, nvp);
+	
+	// Merge polygons.
+	memset(tmp, 0xff, sizeof(unsigned short)*nvp);
+	int n = 0;
+	// Add pa
+	for (int i = 0; i < na-1; ++i)
+		tmp[n++] = pa[(ea+1+i) % na];
+	// Add pb
+	for (int i = 0; i < nb-1; ++i)
+		tmp[n++] = pb[(eb+1+i) % nb];
+	
+	memcpy(pa, tmp, sizeof(unsigned short)*nvp);
+}
+
+
+static void pushFront(int v, int* arr, int& an)
+{
+	an++;
+	for (int i = an-1; i > 0; --i) arr[i] = arr[i-1];
+	arr[0] = v;
+}
+
+static void pushBack(int v, int* arr, int& an)
+{
+	arr[an] = v;
+	an++;
+}
+
+static bool canRemoveVertex(rcContext* ctx, rcPolyMesh& mesh, const unsigned short rem)
+{
+	const int nvp = mesh.nvp;
+	
+	// Count number of polygons to remove.
+	int numRemovedVerts = 0;
+	int numTouchedVerts = 0;
+	int numRemainingEdges = 0;
+	for (int i = 0; i < mesh.npolys; ++i)
+	{
+		unsigned short* p = &mesh.polys[i*nvp*2];
+		const int nv = countPolyVerts(p, nvp);
+		int numRemoved = 0;
+		int numVerts = 0;
+		for (int j = 0; j < nv; ++j)
+		{
+			if (p[j] == rem)
+			{
+				numTouchedVerts++;
+				numRemoved++;
+			}
+			numVerts++;
+		}
+		if (numRemoved)
+		{
+			numRemovedVerts += numRemoved;
+			numRemainingEdges += numVerts-(numRemoved+1);
+		}
+	}
+	
+	// There would be too few edges remaining to create a polygon.
+	// This can happen for example when a tip of a triangle is marked
+	// as deletion, but there are no other polys that share the vertex.
+	// In this case, the vertex should not be removed.
+	if (numRemainingEdges <= 2)
+		return false;
+	
+	// Find edges which share the removed vertex.
+	const int maxEdges = numTouchedVerts*2;
+	int nedges = 0;
+	rcScopedDelete<int> edges = (int*)rcAlloc(sizeof(int)*maxEdges*3, RC_ALLOC_TEMP);
+	if (!edges)
+	{
+		ctx->log(RC_LOG_WARNING, "canRemoveVertex: Out of memory 'edges' (%d).", maxEdges*3);
+		return false;
+	}
+		
+	for (int i = 0; i < mesh.npolys; ++i)
+	{
+		unsigned short* p = &mesh.polys[i*nvp*2];
+		const int nv = countPolyVerts(p, nvp);
+
+		// Collect edges which touches the removed vertex.
+		for (int j = 0, k = nv-1; j < nv; k = j++)
+		{
+			if (p[j] == rem || p[k] == rem)
+			{
+				// Arrange edge so that a=rem.
+				int a = p[j], b = p[k];
+				if (b == rem)
+					rcSwap(a,b);
+					
+				// Check if the edge exists
+				bool exists = false;
+				for (int m = 0; m < nedges; ++m)
+				{
+					int* e = &edges[m*3];
+					if (e[1] == b)
+					{
+						// Exists, increment vertex share count.
+						e[2]++;
+						exists = true;
+					}
+				}
+				// Add new edge.
+				if (!exists)
+				{
+					int* e = &edges[nedges*3];
+					e[0] = a;
+					e[1] = b;
+					e[2] = 1;
+					nedges++;
+				}
+			}
+		}
+	}
+
+	// There should be no more than 2 open edges.
+	// This catches the case that two non-adjacent polygons
+	// share the removed vertex. In that case, do not remove the vertex.
+	int numOpenEdges = 0;
+	for (int i = 0; i < nedges; ++i)
+	{
+		if (edges[i*3+2] < 2)
+			numOpenEdges++;
+	}
+	if (numOpenEdges > 2)
+		return false;
+	
+	return true;
+}
+
+static bool removeVertex(rcContext* ctx, rcPolyMesh& mesh, const unsigned short rem, const int maxTris)
+{
+	const int nvp = mesh.nvp;
+
+	// Count number of polygons to remove.
+	int numRemovedVerts = 0;
+	for (int i = 0; i < mesh.npolys; ++i)
+	{
+		unsigned short* p = &mesh.polys[i*nvp*2];
+		const int nv = countPolyVerts(p, nvp);
+		for (int j = 0; j < nv; ++j)
+		{
+			if (p[j] == rem)
+				numRemovedVerts++;
+		}
+	}
+	
+	int nedges = 0;
+	rcScopedDelete<int> edges = (int*)rcAlloc(sizeof(int)*numRemovedVerts*nvp*4, RC_ALLOC_TEMP);
+	if (!edges)
+	{
+		ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'edges' (%d).", numRemovedVerts*nvp*4);
+		return false;
+	}
+
+	int nhole = 0;
+	rcScopedDelete<int> hole = (int*)rcAlloc(sizeof(int)*numRemovedVerts*nvp, RC_ALLOC_TEMP);
+	if (!hole)
+	{
+		ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'hole' (%d).", numRemovedVerts*nvp);
+		return false;
+	}
+	
+	int nhreg = 0;
+	rcScopedDelete<int> hreg = (int*)rcAlloc(sizeof(int)*numRemovedVerts*nvp, RC_ALLOC_TEMP);
+	if (!hreg)
+	{
+		ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'hreg' (%d).", numRemovedVerts*nvp);
+		return false;
+	}
+
+	int nharea = 0;
+	rcScopedDelete<int> harea = (int*)rcAlloc(sizeof(int)*numRemovedVerts*nvp, RC_ALLOC_TEMP);
+	if (!harea)
+	{
+		ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'harea' (%d).", numRemovedVerts*nvp);
+		return false;
+	}
+	
+	for (int i = 0; i < mesh.npolys; ++i)
+	{
+		unsigned short* p = &mesh.polys[i*nvp*2];
+		const int nv = countPolyVerts(p, nvp);
+		bool hasRem = false;
+		for (int j = 0; j < nv; ++j)
+			if (p[j] == rem) hasRem = true;
+		if (hasRem)
+		{
+			// Collect edges which does not touch the removed vertex.
+			for (int j = 0, k = nv-1; j < nv; k = j++)
+			{
+				if (p[j] != rem && p[k] != rem)
+				{
+					int* e = &edges[nedges*4];
+					e[0] = p[k];
+					e[1] = p[j];
+					e[2] = mesh.regs[i];
+					e[3] = mesh.areas[i];
+					nedges++;
+				}
+			}
+			// Remove the polygon.
+			unsigned short* p2 = &mesh.polys[(mesh.npolys-1)*nvp*2];
+			memcpy(p,p2,sizeof(unsigned short)*nvp);
+			memset(p+nvp,0xff,sizeof(unsigned short)*nvp);
+			mesh.regs[i] = mesh.regs[mesh.npolys-1];
+			mesh.areas[i] = mesh.areas[mesh.npolys-1];
+			mesh.npolys--;
+			--i;
+		}
+	}
+	
+	// Remove vertex.
+	for (int i = (int)rem; i < mesh.nverts; ++i)
+	{
+		mesh.verts[i*3+0] = mesh.verts[(i+1)*3+0];
+		mesh.verts[i*3+1] = mesh.verts[(i+1)*3+1];
+		mesh.verts[i*3+2] = mesh.verts[(i+1)*3+2];
+	}
+	mesh.nverts--;
+
+	// Adjust indices to match the removed vertex layout.
+	for (int i = 0; i < mesh.npolys; ++i)
+	{
+		unsigned short* p = &mesh.polys[i*nvp*2];
+		const int nv = countPolyVerts(p, nvp);
+		for (int j = 0; j < nv; ++j)
+			if (p[j] > rem) p[j]--;
+	}
+	for (int i = 0; i < nedges; ++i)
+	{
+		if (edges[i*4+0] > rem) edges[i*4+0]--;
+		if (edges[i*4+1] > rem) edges[i*4+1]--;
+	}
+
+	if (nedges == 0)
+		return true;
+
+	// Start with one vertex, keep appending connected
+	// segments to the start and end of the hole.
+	pushBack(edges[0], hole, nhole);
+	pushBack(edges[2], hreg, nhreg);
+	pushBack(edges[3], harea, nharea);
+	
+	while (nedges)
+	{
+		bool match = false;
+		
+		for (int i = 0; i < nedges; ++i)
+		{
+			const int ea = edges[i*4+0];
+			const int eb = edges[i*4+1];
+			const int r = edges[i*4+2];
+			const int a = edges[i*4+3];
+			bool add = false;
+			if (hole[0] == eb)
+			{
+				// The segment matches the beginning of the hole boundary.
+				pushFront(ea, hole, nhole);
+				pushFront(r, hreg, nhreg);
+				pushFront(a, harea, nharea);
+				add = true;
+			}
+			else if (hole[nhole-1] == ea)
+			{
+				// The segment matches the end of the hole boundary.
+				pushBack(eb, hole, nhole);
+				pushBack(r, hreg, nhreg);
+				pushBack(a, harea, nharea);
+				add = true;
+			}
+			if (add)
+			{
+				// The edge segment was added, remove it.
+				edges[i*4+0] = edges[(nedges-1)*4+0];
+				edges[i*4+1] = edges[(nedges-1)*4+1];
+				edges[i*4+2] = edges[(nedges-1)*4+2];
+				edges[i*4+3] = edges[(nedges-1)*4+3];
+				--nedges;
+				match = true;
+				--i;
+			}
+		}
+		
+		if (!match)
+			break;
+	}
+
+	rcScopedDelete<int> tris = (int*)rcAlloc(sizeof(int)*nhole*3, RC_ALLOC_TEMP);
+	if (!tris)
+	{
+		ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'tris' (%d).", nhole*3);
+		return false;
+	}
+
+	rcScopedDelete<int> tverts = (int*)rcAlloc(sizeof(int)*nhole*4, RC_ALLOC_TEMP);
+	if (!tverts)
+	{
+		ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'tverts' (%d).", nhole*4);
+		return false;
+	}
+
+	rcScopedDelete<int> thole = (int*)rcAlloc(sizeof(int)*nhole, RC_ALLOC_TEMP);
+	if (!tverts)
+	{
+		ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'thole' (%d).", nhole);
+		return false;
+	}
+
+	// Generate temp vertex array for triangulation.
+	for (int i = 0; i < nhole; ++i)
+	{
+		const int pi = hole[i];
+		tverts[i*4+0] = mesh.verts[pi*3+0];
+		tverts[i*4+1] = mesh.verts[pi*3+1];
+		tverts[i*4+2] = mesh.verts[pi*3+2];
+		tverts[i*4+3] = 0;
+		thole[i] = i;
+	}
+
+	// Triangulate the hole.
+	int ntris = triangulate(nhole, &tverts[0], &thole[0], tris);
+	if (ntris < 0)
+	{
+		ntris = -ntris;
+		ctx->log(RC_LOG_WARNING, "removeVertex: triangulate() returned bad results.");
+	}
+	
+	// Merge the hole triangles back to polygons.
+	rcScopedDelete<unsigned short> polys = (unsigned short*)rcAlloc(sizeof(unsigned short)*(ntris+1)*nvp, RC_ALLOC_TEMP);
+	if (!polys)
+	{
+		ctx->log(RC_LOG_ERROR, "removeVertex: Out of memory 'polys' (%d).", (ntris+1)*nvp);
+		return false;
+	}
+	rcScopedDelete<unsigned short> pregs = (unsigned short*)rcAlloc(sizeof(unsigned short)*ntris, RC_ALLOC_TEMP);
+	if (!pregs)
+	{
+		ctx->log(RC_LOG_ERROR, "removeVertex: Out of memory 'pregs' (%d).", ntris);
+		return false;
+	}
+	rcScopedDelete<unsigned char> pareas = (unsigned char*)rcAlloc(sizeof(unsigned char)*ntris, RC_ALLOC_TEMP);
+	if (!pregs)
+	{
+		ctx->log(RC_LOG_ERROR, "removeVertex: Out of memory 'pareas' (%d).", ntris);
+		return false;
+	}
+	
+	unsigned short* tmpPoly = &polys[ntris*nvp];
+			
+	// Build initial polygons.
+	int npolys = 0;
+	memset(polys, 0xff, ntris*nvp*sizeof(unsigned short));
+	for (int j = 0; j < ntris; ++j)
+	{
+		int* t = &tris[j*3];
+		if (t[0] != t[1] && t[0] != t[2] && t[1] != t[2])
+		{
+			polys[npolys*nvp+0] = (unsigned short)hole[t[0]];
+			polys[npolys*nvp+1] = (unsigned short)hole[t[1]];
+			polys[npolys*nvp+2] = (unsigned short)hole[t[2]];
+			pregs[npolys] = (unsigned short)hreg[t[0]];
+			pareas[npolys] = (unsigned char)harea[t[0]];
+			npolys++;
+		}
+	}
+	if (!npolys)
+		return true;
+	
+	// Merge polygons.
+	if (nvp > 3)
+	{
+		for (;;)
+		{
+			// Find best polygons to merge.
+			int bestMergeVal = 0;
+			int bestPa = 0, bestPb = 0, bestEa = 0, bestEb = 0;
+			
+			for (int j = 0; j < npolys-1; ++j)
+			{
+				unsigned short* pj = &polys[j*nvp];
+				for (int k = j+1; k < npolys; ++k)
+				{
+					unsigned short* pk = &polys[k*nvp];
+					int ea, eb;
+					int v = getPolyMergeValue(pj, pk, mesh.verts, ea, eb, nvp);
+					if (v > bestMergeVal)
+					{
+						bestMergeVal = v;
+						bestPa = j;
+						bestPb = k;
+						bestEa = ea;
+						bestEb = eb;
+					}
+				}
+			}
+			
+			if (bestMergeVal > 0)
+			{
+				// Found best, merge.
+				unsigned short* pa = &polys[bestPa*nvp];
+				unsigned short* pb = &polys[bestPb*nvp];
+				mergePolys(pa, pb, bestEa, bestEb, tmpPoly, nvp);
+				memcpy(pb, &polys[(npolys-1)*nvp], sizeof(unsigned short)*nvp);
+				pregs[bestPb] = pregs[npolys-1];
+				pareas[bestPb] = pareas[npolys-1];
+				npolys--;
+			}
+			else
+			{
+				// Could not merge any polygons, stop.
+				break;
+			}
+		}
+	}
+	
+	// Store polygons.
+	for (int i = 0; i < npolys; ++i)
+	{
+		if (mesh.npolys >= maxTris) break;
+		unsigned short* p = &mesh.polys[mesh.npolys*nvp*2];
+		memset(p,0xff,sizeof(unsigned short)*nvp*2);
+		for (int j = 0; j < nvp; ++j)
+			p[j] = polys[i*nvp+j];
+		mesh.regs[mesh.npolys] = pregs[i];
+		mesh.areas[mesh.npolys] = pareas[i];
+		mesh.npolys++;
+		if (mesh.npolys > maxTris)
+		{
+			ctx->log(RC_LOG_ERROR, "removeVertex: Too many polygons %d (max:%d).", mesh.npolys, maxTris);
+			return false;
+		}
+	}
+	
+	return true;
+}
+
+/// @par
+///
+/// @note If the mesh data is to be used to construct a Detour navigation mesh, then the upper 
+/// limit must be retricted to <= #DT_VERTS_PER_POLYGON.
+///
+/// @see rcAllocPolyMesh, rcContourSet, rcPolyMesh, rcConfig
+bool rcBuildPolyMesh(rcContext* ctx, rcContourSet& cset, const int nvp, rcPolyMesh& mesh)
+{
+	rcAssert(ctx);
+	
+	ctx->startTimer(RC_TIMER_BUILD_POLYMESH);
+
+	rcVcopy(mesh.bmin, cset.bmin);
+	rcVcopy(mesh.bmax, cset.bmax);
+	mesh.cs = cset.cs;
+	mesh.ch = cset.ch;
+	mesh.borderSize = cset.borderSize;
+	
+	int maxVertices = 0;
+	int maxTris = 0;
+	int maxVertsPerCont = 0;
+	for (int i = 0; i < cset.nconts; ++i)
+	{
+		// Skip null contours.
+		if (cset.conts[i].nverts < 3) continue;
+		maxVertices += cset.conts[i].nverts;
+		maxTris += cset.conts[i].nverts - 2;
+		maxVertsPerCont = rcMax(maxVertsPerCont, cset.conts[i].nverts);
+	}
+	
+	if (maxVertices >= 0xfffe)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Too many vertices %d.", maxVertices);
+		return false;
+	}
+		
+	rcScopedDelete<unsigned char> vflags = (unsigned char*)rcAlloc(sizeof(unsigned char)*maxVertices, RC_ALLOC_TEMP);
+	if (!vflags)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'vflags' (%d).", maxVertices);
+		return false;
+	}
+	memset(vflags, 0, maxVertices);
+	
+	mesh.verts = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxVertices*3, RC_ALLOC_PERM);
+	if (!mesh.verts)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.verts' (%d).", maxVertices);
+		return false;
+	}
+	mesh.polys = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxTris*nvp*2, RC_ALLOC_PERM);
+	if (!mesh.polys)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.polys' (%d).", maxTris*nvp*2);
+		return false;
+	}
+	mesh.regs = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxTris, RC_ALLOC_PERM);
+	if (!mesh.regs)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.regs' (%d).", maxTris);
+		return false;
+	}
+	mesh.areas = (unsigned char*)rcAlloc(sizeof(unsigned char)*maxTris, RC_ALLOC_PERM);
+	if (!mesh.areas)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.areas' (%d).", maxTris);
+		return false;
+	}
+	
+	mesh.nverts = 0;
+	mesh.npolys = 0;
+	mesh.nvp = nvp;
+	mesh.maxpolys = maxTris;
+	
+	memset(mesh.verts, 0, sizeof(unsigned short)*maxVertices*3);
+	memset(mesh.polys, 0xff, sizeof(unsigned short)*maxTris*nvp*2);
+	memset(mesh.regs, 0, sizeof(unsigned short)*maxTris);
+	memset(mesh.areas, 0, sizeof(unsigned char)*maxTris);
+	
+	rcScopedDelete<int> nextVert = (int*)rcAlloc(sizeof(int)*maxVertices, RC_ALLOC_TEMP);
+	if (!nextVert)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'nextVert' (%d).", maxVertices);
+		return false;
+	}
+	memset(nextVert, 0, sizeof(int)*maxVertices);
+	
+	rcScopedDelete<int> firstVert = (int*)rcAlloc(sizeof(int)*VERTEX_BUCKET_COUNT, RC_ALLOC_TEMP);
+	if (!firstVert)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'firstVert' (%d).", VERTEX_BUCKET_COUNT);
+		return false;
+	}
+	for (int i = 0; i < VERTEX_BUCKET_COUNT; ++i)
+		firstVert[i] = -1;
+	
+	rcScopedDelete<int> indices = (int*)rcAlloc(sizeof(int)*maxVertsPerCont, RC_ALLOC_TEMP);
+	if (!indices)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'indices' (%d).", maxVertsPerCont);
+		return false;
+	}
+	rcScopedDelete<int> tris = (int*)rcAlloc(sizeof(int)*maxVertsPerCont*3, RC_ALLOC_TEMP);
+	if (!tris)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'tris' (%d).", maxVertsPerCont*3);
+		return false;
+	}
+	rcScopedDelete<unsigned short> polys = (unsigned short*)rcAlloc(sizeof(unsigned short)*(maxVertsPerCont+1)*nvp, RC_ALLOC_TEMP);
+	if (!polys)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'polys' (%d).", maxVertsPerCont*nvp);
+		return false;
+	}
+	unsigned short* tmpPoly = &polys[maxVertsPerCont*nvp];
+
+	for (int i = 0; i < cset.nconts; ++i)
+	{
+		rcContour& cont = cset.conts[i];
+		
+		// Skip null contours.
+		if (cont.nverts < 3)
+			continue;
+		
+		// Triangulate contour
+		for (int j = 0; j < cont.nverts; ++j)
+			indices[j] = j;
+			
+		int ntris = triangulate(cont.nverts, cont.verts, &indices[0], &tris[0]);
+		if (ntris <= 0)
+		{
+			// Bad triangulation, should not happen.
+/*			printf("\tconst float bmin[3] = {%ff,%ff,%ff};\n", cset.bmin[0], cset.bmin[1], cset.bmin[2]);
+			printf("\tconst float cs = %ff;\n", cset.cs);
+			printf("\tconst float ch = %ff;\n", cset.ch);
+			printf("\tconst int verts[] = {\n");
+			for (int k = 0; k < cont.nverts; ++k)
+			{
+				const int* v = &cont.verts[k*4];
+				printf("\t\t%d,%d,%d,%d,\n", v[0], v[1], v[2], v[3]);
+			}
+			printf("\t};\n\tconst int nverts = sizeof(verts)/(sizeof(int)*4);\n");*/
+			ctx->log(RC_LOG_WARNING, "rcBuildPolyMesh: Bad triangulation Contour %d.", i);
+			ntris = -ntris;
+		}
+				
+		// Add and merge vertices.
+		for (int j = 0; j < cont.nverts; ++j)
+		{
+			const int* v = &cont.verts[j*4];
+			indices[j] = addVertex((unsigned short)v[0], (unsigned short)v[1], (unsigned short)v[2],
+								   mesh.verts, firstVert, nextVert, mesh.nverts);
+			if (v[3] & RC_BORDER_VERTEX)
+			{
+				// This vertex should be removed.
+				vflags[indices[j]] = 1;
+			}
+		}
+
+		// Build initial polygons.
+		int npolys = 0;
+		memset(polys, 0xff, maxVertsPerCont*nvp*sizeof(unsigned short));
+		for (int j = 0; j < ntris; ++j)
+		{
+			int* t = &tris[j*3];
+			if (t[0] != t[1] && t[0] != t[2] && t[1] != t[2])
+			{
+				polys[npolys*nvp+0] = (unsigned short)indices[t[0]];
+				polys[npolys*nvp+1] = (unsigned short)indices[t[1]];
+				polys[npolys*nvp+2] = (unsigned short)indices[t[2]];
+				npolys++;
+			}
+		}
+		if (!npolys)
+			continue;
+		
+		// Merge polygons.
+		if (nvp > 3)
+		{
+			for(;;)
+			{
+				// Find best polygons to merge.
+				int bestMergeVal = 0;
+				int bestPa = 0, bestPb = 0, bestEa = 0, bestEb = 0;
+				
+				for (int j = 0; j < npolys-1; ++j)
+				{
+					unsigned short* pj = &polys[j*nvp];
+					for (int k = j+1; k < npolys; ++k)
+					{
+						unsigned short* pk = &polys[k*nvp];
+						int ea, eb;
+						int v = getPolyMergeValue(pj, pk, mesh.verts, ea, eb, nvp);
+						if (v > bestMergeVal)
+						{
+							bestMergeVal = v;
+							bestPa = j;
+							bestPb = k;
+							bestEa = ea;
+							bestEb = eb;
+						}
+					}
+				}
+				
+				if (bestMergeVal > 0)
+				{
+					// Found best, merge.
+					unsigned short* pa = &polys[bestPa*nvp];
+					unsigned short* pb = &polys[bestPb*nvp];
+					mergePolys(pa, pb, bestEa, bestEb, tmpPoly, nvp);
+					memcpy(pb, &polys[(npolys-1)*nvp], sizeof(unsigned short)*nvp);
+					npolys--;
+				}
+				else
+				{
+					// Could not merge any polygons, stop.
+					break;
+				}
+			}
+		}
+		
+		// Store polygons.
+		for (int j = 0; j < npolys; ++j)
+		{
+			unsigned short* p = &mesh.polys[mesh.npolys*nvp*2];
+			unsigned short* q = &polys[j*nvp];
+			for (int k = 0; k < nvp; ++k)
+				p[k] = q[k];
+			mesh.regs[mesh.npolys] = cont.reg;
+			mesh.areas[mesh.npolys] = cont.area;
+			mesh.npolys++;
+			if (mesh.npolys > maxTris)
+			{
+				ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Too many polygons %d (max:%d).", mesh.npolys, maxTris);
+				return false;
+			}
+		}
+	}
+	
+	
+	// Remove edge vertices.
+	for (int i = 0; i < mesh.nverts; ++i)
+	{
+		if (vflags[i])
+		{
+			if (!canRemoveVertex(ctx, mesh, (unsigned short)i))
+				continue;
+			if (!removeVertex(ctx, mesh, (unsigned short)i, maxTris))
+			{
+				// Failed to remove vertex
+				ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Failed to remove edge vertex %d.", i);
+				return false;
+			}
+			// Remove vertex
+			// Note: mesh.nverts is already decremented inside removeVertex()!
+			// Fixup vertex flags
+			for (int j = i; j < mesh.nverts; ++j)
+				vflags[j] = vflags[j+1];
+			--i;
+		}
+	}
+	
+	// Calculate adjacency.
+	if (!buildMeshAdjacency(mesh.polys, mesh.npolys, mesh.nverts, nvp))
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Adjacency failed.");
+		return false;
+	}
+	
+	// Find portal edges
+	if (mesh.borderSize > 0)
+	{
+		const int w = cset.width;
+		const int h = cset.height;
+		for (int i = 0; i < mesh.npolys; ++i)
+		{
+			unsigned short* p = &mesh.polys[i*2*nvp];
+			for (int j = 0; j < nvp; ++j)
+			{
+				if (p[j] == RC_MESH_NULL_IDX) break;
+				// Skip connected edges.
+				if (p[nvp+j] != RC_MESH_NULL_IDX)
+					continue;
+				int nj = j+1;
+				if (nj >= nvp || p[nj] == RC_MESH_NULL_IDX) nj = 0;
+				const unsigned short* va = &mesh.verts[p[j]*3];
+				const unsigned short* vb = &mesh.verts[p[nj]*3];
+
+				if ((int)va[0] == 0 && (int)vb[0] == 0)
+					p[nvp+j] = 0x8000 | 0;
+				else if ((int)va[2] == h && (int)vb[2] == h)
+					p[nvp+j] = 0x8000 | 1;
+				else if ((int)va[0] == w && (int)vb[0] == w)
+					p[nvp+j] = 0x8000 | 2;
+				else if ((int)va[2] == 0 && (int)vb[2] == 0)
+					p[nvp+j] = 0x8000 | 3;
+			}
+		}
+	}
+
+	// Just allocate the mesh flags array. The user is resposible to fill it.
+	mesh.flags = (unsigned short*)rcAlloc(sizeof(unsigned short)*mesh.npolys, RC_ALLOC_PERM);
+	if (!mesh.flags)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.flags' (%d).", mesh.npolys);
+		return false;
+	}
+	memset(mesh.flags, 0, sizeof(unsigned short) * mesh.npolys);
+	
+	if (mesh.nverts > 0xffff)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: The resulting mesh has too many vertices %d (max %d). Data can be corrupted.", mesh.nverts, 0xffff);
+	}
+	if (mesh.npolys > 0xffff)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: The resulting mesh has too many polygons %d (max %d). Data can be corrupted.", mesh.npolys, 0xffff);
+	}
+	
+	ctx->stopTimer(RC_TIMER_BUILD_POLYMESH);
+	
+	return true;
+}
+
+/// @see rcAllocPolyMesh, rcPolyMesh
+bool rcMergePolyMeshes(rcContext* ctx, rcPolyMesh** meshes, const int nmeshes, rcPolyMesh& mesh)
+{
+	rcAssert(ctx);
+	
+	if (!nmeshes || !meshes)
+		return true;
+
+	ctx->startTimer(RC_TIMER_MERGE_POLYMESH);
+
+	mesh.nvp = meshes[0]->nvp;
+	mesh.cs = meshes[0]->cs;
+	mesh.ch = meshes[0]->ch;
+	rcVcopy(mesh.bmin, meshes[0]->bmin);
+	rcVcopy(mesh.bmax, meshes[0]->bmax);
+
+	int maxVerts = 0;
+	int maxPolys = 0;
+	int maxVertsPerMesh = 0;
+	for (int i = 0; i < nmeshes; ++i)
+	{
+		rcVmin(mesh.bmin, meshes[i]->bmin);
+		rcVmax(mesh.bmax, meshes[i]->bmax);
+		maxVertsPerMesh = rcMax(maxVertsPerMesh, meshes[i]->nverts);
+		maxVerts += meshes[i]->nverts;
+		maxPolys += meshes[i]->npolys;
+	}
+	
+	mesh.nverts = 0;
+	mesh.verts = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxVerts*3, RC_ALLOC_PERM);
+	if (!mesh.verts)
+	{
+		ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'mesh.verts' (%d).", maxVerts*3);
+		return false;
+	}
+
+	mesh.npolys = 0;
+	mesh.polys = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxPolys*2*mesh.nvp, RC_ALLOC_PERM);
+	if (!mesh.polys)
+	{
+		ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'mesh.polys' (%d).", maxPolys*2*mesh.nvp);
+		return false;
+	}
+	memset(mesh.polys, 0xff, sizeof(unsigned short)*maxPolys*2*mesh.nvp);
+
+	mesh.regs = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxPolys, RC_ALLOC_PERM);
+	if (!mesh.regs)
+	{
+		ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'mesh.regs' (%d).", maxPolys);
+		return false;
+	}
+	memset(mesh.regs, 0, sizeof(unsigned short)*maxPolys);
+
+	mesh.areas = (unsigned char*)rcAlloc(sizeof(unsigned char)*maxPolys, RC_ALLOC_PERM);
+	if (!mesh.areas)
+	{
+		ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'mesh.areas' (%d).", maxPolys);
+		return false;
+	}
+	memset(mesh.areas, 0, sizeof(unsigned char)*maxPolys);
+
+	mesh.flags = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxPolys, RC_ALLOC_PERM);
+	if (!mesh.flags)
+	{
+		ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'mesh.flags' (%d).", maxPolys);
+		return false;
+	}
+	memset(mesh.flags, 0, sizeof(unsigned short)*maxPolys);
+	
+	rcScopedDelete<int> nextVert = (int*)rcAlloc(sizeof(int)*maxVerts, RC_ALLOC_TEMP);
+	if (!nextVert)
+	{
+		ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'nextVert' (%d).", maxVerts);
+		return false;
+	}
+	memset(nextVert, 0, sizeof(int)*maxVerts);
+	
+	rcScopedDelete<int> firstVert = (int*)rcAlloc(sizeof(int)*VERTEX_BUCKET_COUNT, RC_ALLOC_TEMP);
+	if (!firstVert)
+	{
+		ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'firstVert' (%d).", VERTEX_BUCKET_COUNT);
+		return false;
+	}
+	for (int i = 0; i < VERTEX_BUCKET_COUNT; ++i)
+		firstVert[i] = -1;
+
+	rcScopedDelete<unsigned short> vremap = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxVertsPerMesh, RC_ALLOC_PERM);
+	if (!vremap)
+	{
+		ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'vremap' (%d).", maxVertsPerMesh);
+		return false;
+	}
+	memset(vremap, 0, sizeof(unsigned short)*maxVertsPerMesh);
+	
+	for (int i = 0; i < nmeshes; ++i)
+	{
+		const rcPolyMesh* pmesh = meshes[i];
+		
+		const unsigned short ox = (unsigned short)floorf((pmesh->bmin[0]-mesh.bmin[0])/mesh.cs+0.5f);
+		const unsigned short oz = (unsigned short)floorf((pmesh->bmin[2]-mesh.bmin[2])/mesh.cs+0.5f);
+		
+		for (int j = 0; j < pmesh->nverts; ++j)
+		{
+			unsigned short* v = &pmesh->verts[j*3];
+			vremap[j] = addVertex(v[0]+ox, v[1], v[2]+oz,
+								  mesh.verts, firstVert, nextVert, mesh.nverts);
+		}
+		
+		for (int j = 0; j < pmesh->npolys; ++j)
+		{
+			unsigned short* tgt = &mesh.polys[mesh.npolys*2*mesh.nvp];
+			unsigned short* src = &pmesh->polys[j*2*mesh.nvp];
+			mesh.regs[mesh.npolys] = pmesh->regs[j];
+			mesh.areas[mesh.npolys] = pmesh->areas[j];
+			mesh.flags[mesh.npolys] = pmesh->flags[j];
+			mesh.npolys++;
+			for (int k = 0; k < mesh.nvp; ++k)
+			{
+				if (src[k] == RC_MESH_NULL_IDX) break;
+				tgt[k] = vremap[src[k]];
+			}
+		}
+	}
+
+	// Calculate adjacency.
+	if (!buildMeshAdjacency(mesh.polys, mesh.npolys, mesh.nverts, mesh.nvp))
+	{
+		ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Adjacency failed.");
+		return false;
+	}
+
+	if (mesh.nverts > 0xffff)
+	{
+		ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: The resulting mesh has too many vertices %d (max %d). Data can be corrupted.", mesh.nverts, 0xffff);
+	}
+	if (mesh.npolys > 0xffff)
+	{
+		ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: The resulting mesh has too many polygons %d (max %d). Data can be corrupted.", mesh.npolys, 0xffff);
+	}
+	
+	ctx->stopTimer(RC_TIMER_MERGE_POLYMESH);
+	
+	return true;
+}
+
+bool rcCopyPolyMesh(rcContext* ctx, const rcPolyMesh& src, rcPolyMesh& dst)
+{
+	rcAssert(ctx);
+	
+	// Destination must be empty.
+	rcAssert(dst.verts == 0);
+	rcAssert(dst.polys == 0);
+	rcAssert(dst.regs == 0);
+	rcAssert(dst.areas == 0);
+	rcAssert(dst.flags == 0);
+	
+	dst.nverts = src.nverts;
+	dst.npolys = src.npolys;
+	dst.maxpolys = src.npolys;
+	dst.nvp = src.nvp;
+	rcVcopy(dst.bmin, src.bmin);
+	rcVcopy(dst.bmax, src.bmax);
+	dst.cs = src.cs;
+	dst.ch = src.ch;
+	dst.borderSize = src.borderSize;
+	
+	dst.verts = (unsigned short*)rcAlloc(sizeof(unsigned short)*src.nverts*3, RC_ALLOC_PERM);
+	if (!dst.verts)
+	{
+		ctx->log(RC_LOG_ERROR, "rcCopyPolyMesh: Out of memory 'dst.verts' (%d).", src.nverts*3);
+		return false;
+	}
+	memcpy(dst.verts, src.verts, sizeof(unsigned short)*src.nverts*3);
+	
+	dst.polys = (unsigned short*)rcAlloc(sizeof(unsigned short)*src.npolys*2*src.nvp, RC_ALLOC_PERM);
+	if (!dst.polys)
+	{
+		ctx->log(RC_LOG_ERROR, "rcCopyPolyMesh: Out of memory 'dst.polys' (%d).", src.npolys*2*src.nvp);
+		return false;
+	}
+	memcpy(dst.polys, src.polys, sizeof(unsigned short)*src.npolys*2*src.nvp);
+	
+	dst.regs = (unsigned short*)rcAlloc(sizeof(unsigned short)*src.npolys, RC_ALLOC_PERM);
+	if (!dst.regs)
+	{
+		ctx->log(RC_LOG_ERROR, "rcCopyPolyMesh: Out of memory 'dst.regs' (%d).", src.npolys);
+		return false;
+	}
+	memcpy(dst.regs, src.regs, sizeof(unsigned short)*src.npolys);
+	
+	dst.areas = (unsigned char*)rcAlloc(sizeof(unsigned char)*src.npolys, RC_ALLOC_PERM);
+	if (!dst.areas)
+	{
+		ctx->log(RC_LOG_ERROR, "rcCopyPolyMesh: Out of memory 'dst.areas' (%d).", src.npolys);
+		return false;
+	}
+	memcpy(dst.areas, src.areas, sizeof(unsigned char)*src.npolys);
+	
+	dst.flags = (unsigned short*)rcAlloc(sizeof(unsigned short)*src.npolys, RC_ALLOC_PERM);
+	if (!dst.flags)
+	{
+		ctx->log(RC_LOG_ERROR, "rcCopyPolyMesh: Out of memory 'dst.flags' (%d).", src.npolys);
+		return false;
+	}
+	memcpy(dst.flags, src.flags, sizeof(unsigned char)*src.npolys);
+	
+	return true;
+}

ThirdParty/Recast/Source/RecastMeshDetail.cpp

@@ -0,0 +1,1245 @@
+//
+// Copyright (c) 2009-2010 Mikko Mononen [email protected]
+//
+// 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.
+//
+
+#include <float.h>
+#define _USE_MATH_DEFINES
+#include <math.h>
+#include <string.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include "Recast.h"
+#include "RecastAlloc.h"
+#include "RecastAssert.h"
+
+
+static const unsigned RC_UNSET_HEIGHT = 0xffff;
+
+struct rcHeightPatch
+{
+	inline rcHeightPatch() : data(0), xmin(0), ymin(0), width(0), height(0) {}
+	inline ~rcHeightPatch() { rcFree(data); }
+	unsigned short* data;
+	int xmin, ymin, width, height;
+};
+
+
+inline float vdot2(const float* a, const float* b)
+{
+	return a[0]*b[0] + a[2]*b[2];
+}
+
+inline float vdistSq2(const float* p, const float* q)
+{
+	const float dx = q[0] - p[0];
+	const float dy = q[2] - p[2];
+	return dx*dx + dy*dy;
+}
+
+inline float vdist2(const float* p, const float* q)
+{
+	return sqrtf(vdistSq2(p,q));
+}
+
+inline float vcross2(const float* p1, const float* p2, const float* p3)
+{ 
+	const float u1 = p2[0] - p1[0];
+	const float v1 = p2[2] - p1[2];
+	const float u2 = p3[0] - p1[0];
+	const float v2 = p3[2] - p1[2];
+	return u1 * v2 - v1 * u2;
+}
+
+static bool circumCircle(const float* p1, const float* p2, const float* p3,
+						 float* c, float& r)
+{
+	static const float EPS = 1e-6f;
+	
+	const float cp = vcross2(p1, p2, p3);
+	if (fabsf(cp) > EPS)
+	{
+		const float p1Sq = vdot2(p1,p1);
+		const float p2Sq = vdot2(p2,p2);
+		const float p3Sq = vdot2(p3,p3);
+		c[0] = (p1Sq*(p2[2]-p3[2]) + p2Sq*(p3[2]-p1[2]) + p3Sq*(p1[2]-p2[2])) / (2*cp);
+		c[2] = (p1Sq*(p3[0]-p2[0]) + p2Sq*(p1[0]-p3[0]) + p3Sq*(p2[0]-p1[0])) / (2*cp);
+		r = vdist2(c, p1);
+		return true;
+	}
+
+	c[0] = p1[0];
+	c[2] = p1[2];
+	r = 0;
+	return false;
+}
+
+static float distPtTri(const float* p, const float* a, const float* b, const float* c)
+{
+	float v0[3], v1[3], v2[3];
+	rcVsub(v0, c,a);
+	rcVsub(v1, b,a);
+	rcVsub(v2, p,a);
+
+	const float dot00 = vdot2(v0, v0);
+	const float dot01 = vdot2(v0, v1);
+	const float dot02 = vdot2(v0, v2);
+	const float dot11 = vdot2(v1, v1);
+	const float dot12 = vdot2(v1, v2);
+	
+	// Compute barycentric coordinates
+	const float invDenom = 1.0f / (dot00 * dot11 - dot01 * dot01);
+	const float u = (dot11 * dot02 - dot01 * dot12) * invDenom;
+	float v = (dot00 * dot12 - dot01 * dot02) * invDenom;
+	
+	// If point lies inside the triangle, return interpolated y-coord.
+	static const float EPS = 1e-4f;
+	if (u >= -EPS && v >= -EPS && (u+v) <= 1+EPS)
+	{
+		const float y = a[1] + v0[1]*u + v1[1]*v;
+		return fabsf(y-p[1]);
+	}
+	return FLT_MAX;
+}
+
+static float distancePtSeg(const float* pt, const float* p, const float* q)
+{
+	float pqx = q[0] - p[0];
+	float pqy = q[1] - p[1];
+	float pqz = q[2] - p[2];
+	float dx = pt[0] - p[0];
+	float dy = pt[1] - p[1];
+	float dz = pt[2] - p[2];
+	float d = pqx*pqx + pqy*pqy + pqz*pqz;
+	float t = pqx*dx + pqy*dy + pqz*dz;
+	if (d > 0)
+		t /= d;
+	if (t < 0)
+		t = 0;
+	else if (t > 1)
+		t = 1;
+	
+	dx = p[0] + t*pqx - pt[0];
+	dy = p[1] + t*pqy - pt[1];
+	dz = p[2] + t*pqz - pt[2];
+	
+	return dx*dx + dy*dy + dz*dz;
+}
+
+static float distancePtSeg2d(const float* pt, const float* p, const float* q)
+{
+	float pqx = q[0] - p[0];
+	float pqz = q[2] - p[2];
+	float dx = pt[0] - p[0];
+	float dz = pt[2] - p[2];
+	float d = pqx*pqx + pqz*pqz;
+	float t = pqx*dx + pqz*dz;
+	if (d > 0)
+		t /= d;
+	if (t < 0)
+		t = 0;
+	else if (t > 1)
+		t = 1;
+	
+	dx = p[0] + t*pqx - pt[0];
+	dz = p[2] + t*pqz - pt[2];
+	
+	return dx*dx + dz*dz;
+}
+
+static float distToTriMesh(const float* p, const float* verts, const int /*nverts*/, const int* tris, const int ntris)
+{
+	float dmin = FLT_MAX;
+	for (int i = 0; i < ntris; ++i)
+	{
+		const float* va = &verts[tris[i*4+0]*3];
+		const float* vb = &verts[tris[i*4+1]*3];
+		const float* vc = &verts[tris[i*4+2]*3];
+		float d = distPtTri(p, va,vb,vc);
+		if (d < dmin)
+			dmin = d;
+	}
+	if (dmin == FLT_MAX) return -1;
+	return dmin;
+}
+
+static float distToPoly(int nvert, const float* verts, const float* p)
+{
+
+	float dmin = FLT_MAX;
+	int i, j, c = 0;
+	for (i = 0, j = nvert-1; i < nvert; j = i++)
+	{
+		const float* vi = &verts[i*3];
+		const float* vj = &verts[j*3];
+		if (((vi[2] > p[2]) != (vj[2] > p[2])) &&
+			(p[0] < (vj[0]-vi[0]) * (p[2]-vi[2]) / (vj[2]-vi[2]) + vi[0]) )
+			c = !c;
+		dmin = rcMin(dmin, distancePtSeg2d(p, vj, vi));
+	}
+	return c ? -dmin : dmin;
+}
+
+
+static unsigned short getHeight(const float fx, const float fy, const float fz,
+								const float /*cs*/, const float ics, const float ch,
+								const rcHeightPatch& hp)
+{
+	int ix = (int)floorf(fx*ics + 0.01f);
+	int iz = (int)floorf(fz*ics + 0.01f);
+	ix = rcClamp(ix-hp.xmin, 0, hp.width);
+	iz = rcClamp(iz-hp.ymin, 0, hp.height);
+	unsigned short h = hp.data[ix+iz*hp.width];
+	if (h == RC_UNSET_HEIGHT)
+	{
+		// Special case when data might be bad.
+		// Find nearest neighbour pixel which has valid height.
+		const int off[8*2] = { -1,0, -1,-1, 0,-1, 1,-1, 1,0, 1,1, 0,1, -1,1};
+		float dmin = FLT_MAX;
+		for (int i = 0; i < 8; ++i)
+		{
+			const int nx = ix+off[i*2+0];
+			const int nz = iz+off[i*2+1];
+			if (nx < 0 || nz < 0 || nx >= hp.width || nz >= hp.height) continue;
+			const unsigned short nh = hp.data[nx+nz*hp.width];
+			if (nh == RC_UNSET_HEIGHT) continue;
+
+			const float d = fabsf(nh*ch - fy);
+			if (d < dmin)
+			{
+				h = nh;
+				dmin = d;
+			}
+			
+/*			const float dx = (nx+0.5f)*cs - fx; 
+			const float dz = (nz+0.5f)*cs - fz;
+			const float d = dx*dx+dz*dz;
+			if (d < dmin)
+			{
+				h = nh;
+				dmin = d;
+			} */
+		}
+	}
+	return h;
+}
+
+
+enum EdgeValues
+{
+	UNDEF = -1,
+	HULL = -2,
+};
+
+static int findEdge(const int* edges, int nedges, int s, int t)
+{
+	for (int i = 0; i < nedges; i++)
+	{
+		const int* e = &edges[i*4];
+		if ((e[0] == s && e[1] == t) || (e[0] == t && e[1] == s))
+			return i;
+	}
+	return UNDEF;
+}
+
+static int addEdge(rcContext* ctx, int* edges, int& nedges, const int maxEdges, int s, int t, int l, int r)
+{
+	if (nedges >= maxEdges)
+	{
+		ctx->log(RC_LOG_ERROR, "addEdge: Too many edges (%d/%d).", nedges, maxEdges);
+		return UNDEF;
+	}
+	
+	// Add edge if not already in the triangulation. 
+	int e = findEdge(edges, nedges, s, t);
+	if (e == UNDEF)
+	{
+		int* edge = &edges[nedges*4];
+		edge[0] = s;
+		edge[1] = t;
+		edge[2] = l;
+		edge[3] = r;
+		return nedges++;
+	}
+	else
+	{
+		return UNDEF;
+	}
+}
+
+static void updateLeftFace(int* e, int s, int t, int f)
+{
+	if (e[0] == s && e[1] == t && e[2] == UNDEF)
+		e[2] = f;
+	else if (e[1] == s && e[0] == t && e[3] == UNDEF)
+		e[3] = f;
+}	
+
+static int overlapSegSeg2d(const float* a, const float* b, const float* c, const float* d)
+{
+	const float a1 = vcross2(a, b, d);
+	const float a2 = vcross2(a, b, c);
+	if (a1*a2 < 0.0f)
+	{
+		float a3 = vcross2(c, d, a);
+		float a4 = a3 + a2 - a1;
+		if (a3 * a4 < 0.0f)
+			return 1;
+	}	
+	return 0;
+}
+
+static bool overlapEdges(const float* pts, const int* edges, int nedges, int s1, int t1)
+{
+	for (int i = 0; i < nedges; ++i)
+	{
+		const int s0 = edges[i*4+0];
+		const int t0 = edges[i*4+1];
+		// Same or connected edges do not overlap.
+		if (s0 == s1 || s0 == t1 || t0 == s1 || t0 == t1)
+			continue;
+		if (overlapSegSeg2d(&pts[s0*3],&pts[t0*3], &pts[s1*3],&pts[t1*3]))
+			return true;
+	}
+	return false;
+}
+
+static void completeFacet(rcContext* ctx, const float* pts, int npts, int* edges, int& nedges, const int maxEdges, int& nfaces, int e)
+{
+	static const float EPS = 1e-5f;
+
+	int* edge = &edges[e*4];
+	
+	// Cache s and t.
+	int s,t;
+	if (edge[2] == UNDEF)
+	{
+		s = edge[0];
+		t = edge[1];
+	}
+	else if (edge[3] == UNDEF)
+	{
+		s = edge[1];
+		t = edge[0];
+	}
+	else
+	{
+	    // Edge already completed. 
+	    return;
+	}
+    
+	// Find best point on left of edge. 
+	int pt = npts;
+	float c[3] = {0,0,0};
+	float r = -1;
+	for (int u = 0; u < npts; ++u)
+	{
+		if (u == s || u == t) continue;
+		if (vcross2(&pts[s*3], &pts[t*3], &pts[u*3]) > EPS)
+		{
+			if (r < 0)
+			{
+				// The circle is not updated yet, do it now.
+				pt = u;
+				circumCircle(&pts[s*3], &pts[t*3], &pts[u*3], c, r);
+				continue;
+			}
+			const float d = vdist2(c, &pts[u*3]);
+			const float tol = 0.001f;
+			if (d > r*(1+tol))
+			{
+				// Outside current circumcircle, skip.
+				continue;
+			}
+			else if (d < r*(1-tol))
+			{
+				// Inside safe circumcircle, update circle.
+				pt = u;
+				circumCircle(&pts[s*3], &pts[t*3], &pts[u*3], c, r);
+			}
+			else
+			{
+				// Inside epsilon circum circle, do extra tests to make sure the edge is valid.
+				// s-u and t-u cannot overlap with s-pt nor t-pt if they exists.
+				if (overlapEdges(pts, edges, nedges, s,u))
+					continue;
+				if (overlapEdges(pts, edges, nedges, t,u))
+					continue;
+				// Edge is valid.
+				pt = u;
+				circumCircle(&pts[s*3], &pts[t*3], &pts[u*3], c, r);
+			}
+		}
+	}
+	
+	// Add new triangle or update edge info if s-t is on hull. 
+	if (pt < npts)
+	{
+		// Update face information of edge being completed. 
+		updateLeftFace(&edges[e*4], s, t, nfaces);
+		
+		// Add new edge or update face info of old edge. 
+		e = findEdge(edges, nedges, pt, s);
+		if (e == UNDEF)
+		    addEdge(ctx, edges, nedges, maxEdges, pt, s, nfaces, UNDEF);
+		else
+		    updateLeftFace(&edges[e*4], pt, s, nfaces);
+		
+		// Add new edge or update face info of old edge. 
+		e = findEdge(edges, nedges, t, pt);
+		if (e == UNDEF)
+		    addEdge(ctx, edges, nedges, maxEdges, t, pt, nfaces, UNDEF);
+		else
+		    updateLeftFace(&edges[e*4], t, pt, nfaces);
+		
+		nfaces++;
+	}
+	else
+	{
+		updateLeftFace(&edges[e*4], s, t, HULL);
+	}
+}
+
+static void delaunayHull(rcContext* ctx, const int npts, const float* pts,
+						 const int nhull, const int* hull,
+						 rcIntArray& tris, rcIntArray& edges)
+{
+	int nfaces = 0;
+	int nedges = 0;
+	const int maxEdges = npts*10;
+	edges.resize(maxEdges*4);
+	
+	for (int i = 0, j = nhull-1; i < nhull; j=i++)
+		addEdge(ctx, &edges[0], nedges, maxEdges, hull[j],hull[i], HULL, UNDEF);
+	
+	int currentEdge = 0;
+	while (currentEdge < nedges)
+	{
+		if (edges[currentEdge*4+2] == UNDEF)
+			completeFacet(ctx, pts, npts, &edges[0], nedges, maxEdges, nfaces, currentEdge);
+		if (edges[currentEdge*4+3] == UNDEF)
+			completeFacet(ctx, pts, npts, &edges[0], nedges, maxEdges, nfaces, currentEdge);
+		currentEdge++;
+	}
+
+	// Create tris
+	tris.resize(nfaces*4);
+	for (int i = 0; i < nfaces*4; ++i)
+		tris[i] = -1;
+	
+	for (int i = 0; i < nedges; ++i)
+	{
+		const int* e = &edges[i*4];
+		if (e[3] >= 0)
+		{
+			// Left face
+			int* t = &tris[e[3]*4];
+			if (t[0] == -1)
+			{
+				t[0] = e[0];
+				t[1] = e[1];
+			}
+			else if (t[0] == e[1])
+				t[2] = e[0];
+			else if (t[1] == e[0])
+				t[2] = e[1];
+		}
+		if (e[2] >= 0)
+		{
+			// Right
+			int* t = &tris[e[2]*4];
+			if (t[0] == -1)
+			{
+				t[0] = e[1];
+				t[1] = e[0];
+			}
+			else if (t[0] == e[0])
+				t[2] = e[1];
+			else if (t[1] == e[1])
+				t[2] = e[0];
+		}
+	}
+	
+	for (int i = 0; i < tris.size()/4; ++i)
+	{
+		int* t = &tris[i*4];
+		if (t[0] == -1 || t[1] == -1 || t[2] == -1)
+		{
+			ctx->log(RC_LOG_WARNING, "delaunayHull: Removing dangling face %d [%d,%d,%d].", i, t[0],t[1],t[2]);
+			t[0] = tris[tris.size()-4];
+			t[1] = tris[tris.size()-3];
+			t[2] = tris[tris.size()-2];
+			t[3] = tris[tris.size()-1];
+			tris.resize(tris.size()-4);
+			--i;
+		}
+	}
+}
+
+
+inline float getJitterX(const int i)
+{
+	return (((i * 0x8da6b343) & 0xffff) / 65535.0f * 2.0f) - 1.0f;
+}
+
+inline float getJitterY(const int i)
+{
+	return (((i * 0xd8163841) & 0xffff) / 65535.0f * 2.0f) - 1.0f;
+}
+
+static bool buildPolyDetail(rcContext* ctx, const float* in, const int nin,
+							const float sampleDist, const float sampleMaxError,
+							const rcCompactHeightfield& chf, const rcHeightPatch& hp,
+							float* verts, int& nverts, rcIntArray& tris,
+							rcIntArray& edges, rcIntArray& samples)
+{
+	static const int MAX_VERTS = 127;
+	static const int MAX_TRIS = 255;	// Max tris for delaunay is 2n-2-k (n=num verts, k=num hull verts).
+	static const int MAX_VERTS_PER_EDGE = 32;
+	float edge[(MAX_VERTS_PER_EDGE+1)*3];
+	int hull[MAX_VERTS];
+	int nhull = 0;
+
+	nverts = 0;
+
+	for (int i = 0; i < nin; ++i)
+		rcVcopy(&verts[i*3], &in[i*3]);
+	nverts = nin;
+	
+	const float cs = chf.cs;
+	const float ics = 1.0f/cs;
+	
+	// Tessellate outlines.
+	// This is done in separate pass in order to ensure
+	// seamless height values across the ply boundaries.
+	if (sampleDist > 0)
+	{
+		for (int i = 0, j = nin-1; i < nin; j=i++)
+		{
+			const float* vj = &in[j*3];
+			const float* vi = &in[i*3];
+			bool swapped = false;
+			// Make sure the segments are always handled in same order
+			// using lexological sort or else there will be seams.
+			if (fabsf(vj[0]-vi[0]) < 1e-6f)
+			{
+				if (vj[2] > vi[2])
+				{
+					rcSwap(vj,vi);
+					swapped = true;
+				}
+			}
+			else
+			{
+				if (vj[0] > vi[0])
+				{
+					rcSwap(vj,vi);
+					swapped = true;
+				}
+			}
+			// Create samples along the edge.
+			float dx = vi[0] - vj[0];
+			float dy = vi[1] - vj[1];
+			float dz = vi[2] - vj[2];
+			float d = sqrtf(dx*dx + dz*dz);
+			int nn = 1 + (int)floorf(d/sampleDist);
+			if (nn >= MAX_VERTS_PER_EDGE) nn = MAX_VERTS_PER_EDGE-1;
+			if (nverts+nn >= MAX_VERTS)
+				nn = MAX_VERTS-1-nverts;
+			
+			for (int k = 0; k <= nn; ++k)
+			{
+				float u = (float)k/(float)nn;
+				float* pos = &edge[k*3];
+				pos[0] = vj[0] + dx*u;
+				pos[1] = vj[1] + dy*u;
+				pos[2] = vj[2] + dz*u;
+				pos[1] = getHeight(pos[0],pos[1],pos[2], cs, ics, chf.ch, hp)*chf.ch;
+			}
+			// Simplify samples.
+			int idx[MAX_VERTS_PER_EDGE] = {0,nn};
+			int nidx = 2;
+			for (int k = 0; k < nidx-1; )
+			{
+				const int a = idx[k];
+				const int b = idx[k+1];
+				const float* va = &edge[a*3];
+				const float* vb = &edge[b*3];
+				// Find maximum deviation along the segment.
+				float maxd = 0;
+				int maxi = -1;
+				for (int m = a+1; m < b; ++m)
+				{
+					float dev = distancePtSeg(&edge[m*3],va,vb);
+					if (dev > maxd)
+					{
+						maxd = dev;
+						maxi = m;
+					}
+				}
+				// If the max deviation is larger than accepted error,
+				// add new point, else continue to next segment.
+				if (maxi != -1 && maxd > rcSqr(sampleMaxError))
+				{
+					for (int m = nidx; m > k; --m)
+						idx[m] = idx[m-1];
+					idx[k+1] = maxi;
+					nidx++;
+				}
+				else
+				{
+					++k;
+				}
+			}
+			
+			hull[nhull++] = j;
+			// Add new vertices.
+			if (swapped)
+			{
+				for (int k = nidx-2; k > 0; --k)
+				{
+					rcVcopy(&verts[nverts*3], &edge[idx[k]*3]);
+					hull[nhull++] = nverts;
+					nverts++;
+				}
+			}
+			else
+			{
+				for (int k = 1; k < nidx-1; ++k)
+				{
+					rcVcopy(&verts[nverts*3], &edge[idx[k]*3]);
+					hull[nhull++] = nverts;
+					nverts++;
+				}
+			}
+		}
+	}
+	
+
+	// Tessellate the base mesh.
+	edges.resize(0);
+	tris.resize(0);
+
+	delaunayHull(ctx, nverts, verts, nhull, hull, tris, edges);
+	
+	if (tris.size() == 0)
+	{
+		// Could not triangulate the poly, make sure there is some valid data there.
+		ctx->log(RC_LOG_WARNING, "buildPolyDetail: Could not triangulate polygon, adding default data.");
+		for (int i = 2; i < nverts; ++i)
+		{
+			tris.push(0);
+			tris.push(i-1);
+			tris.push(i);
+			tris.push(0);
+		}
+		return true;
+	}
+
+	if (sampleDist > 0)
+	{
+		// Create sample locations in a grid.
+		float bmin[3], bmax[3];
+		rcVcopy(bmin, in);
+		rcVcopy(bmax, in);
+		for (int i = 1; i < nin; ++i)
+		{
+			rcVmin(bmin, &in[i*3]);
+			rcVmax(bmax, &in[i*3]);
+		}
+		int x0 = (int)floorf(bmin[0]/sampleDist);
+		int x1 = (int)ceilf(bmax[0]/sampleDist);
+		int z0 = (int)floorf(bmin[2]/sampleDist);
+		int z1 = (int)ceilf(bmax[2]/sampleDist);
+		samples.resize(0);
+		for (int z = z0; z < z1; ++z)
+		{
+			for (int x = x0; x < x1; ++x)
+			{
+				float pt[3];
+				pt[0] = x*sampleDist;
+				pt[1] = (bmax[1]+bmin[1])*0.5f;
+				pt[2] = z*sampleDist;
+				// Make sure the samples are not too close to the edges.
+				if (distToPoly(nin,in,pt) > -sampleDist/2) continue;
+				samples.push(x);
+				samples.push(getHeight(pt[0], pt[1], pt[2], cs, ics, chf.ch, hp));
+				samples.push(z);
+				samples.push(0); // Not added
+			}
+		}
+				
+		// Add the samples starting from the one that has the most
+		// error. The procedure stops when all samples are added
+		// or when the max error is within treshold.
+		const int nsamples = samples.size()/4;
+		for (int iter = 0; iter < nsamples; ++iter)
+		{
+			if (nverts >= MAX_VERTS)
+				break;
+
+			// Find sample with most error.
+			float bestpt[3] = {0,0,0};
+			float bestd = 0;
+			int besti = -1;
+			for (int i = 0; i < nsamples; ++i)
+			{
+				const int* s = &samples[i*4];
+				if (s[3]) continue; // skip added.
+				float pt[3];
+				// The sample location is jittered to get rid of some bad triangulations
+				// which are cause by symmetrical data from the grid structure.
+				pt[0] = s[0]*sampleDist + getJitterX(i)*cs*0.1f;
+				pt[1] = s[1]*chf.ch;
+				pt[2] = s[2]*sampleDist + getJitterY(i)*cs*0.1f;
+				float d = distToTriMesh(pt, verts, nverts, &tris[0], tris.size()/4);
+				if (d < 0) continue; // did not hit the mesh.
+				if (d > bestd)
+				{
+					bestd = d;
+					besti = i;
+					rcVcopy(bestpt,pt);
+				}
+			}
+			// If the max error is within accepted threshold, stop tesselating.
+			if (bestd <= sampleMaxError || besti == -1)
+				break;
+			// Mark sample as added.
+			samples[besti*4+3] = 1;
+			// Add the new sample point.
+			rcVcopy(&verts[nverts*3],bestpt);
+			nverts++;
+			
+			// Create new triangulation.
+			// TODO: Incremental add instead of full rebuild.
+			edges.resize(0);
+			tris.resize(0);
+			delaunayHull(ctx, nverts, verts, nhull, hull, tris, edges);
+		}		
+	}
+
+	const int ntris = tris.size()/4;
+	if (ntris > MAX_TRIS)
+	{
+		tris.resize(MAX_TRIS*4);
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Shrinking triangle count from %d to max %d.", ntris, MAX_TRIS);
+	}
+
+	return true;
+}
+
+static void getHeightData(const rcCompactHeightfield& chf,
+						  const unsigned short* poly, const int npoly,
+						  const unsigned short* verts, const int bs,
+						  rcHeightPatch& hp, rcIntArray& stack)
+{
+	// Floodfill the heightfield to get 2D height data,
+	// starting at vertex locations as seeds.
+	
+	// Note: Reads to the compact heightfield are offset by border size (bs)
+	// since border size offset is already removed from the polymesh vertices.
+	
+	memset(hp.data, 0, sizeof(unsigned short)*hp.width*hp.height);
+	
+	stack.resize(0);
+	
+	static const int offset[9*2] =
+	{
+		0,0, -1,-1, 0,-1, 1,-1, 1,0, 1,1, 0,1, -1,1, -1,0,
+	};
+	
+	// Use poly vertices as seed points for the flood fill.
+	for (int j = 0; j < npoly; ++j)
+	{
+		int cx = 0, cz = 0, ci =-1;
+		int dmin = RC_UNSET_HEIGHT;
+		for (int k = 0; k < 9; ++k)
+		{
+			const int ax = (int)verts[poly[j]*3+0] + offset[k*2+0];
+			const int ay = (int)verts[poly[j]*3+1];
+			const int az = (int)verts[poly[j]*3+2] + offset[k*2+1];
+			if (ax < hp.xmin || ax >= hp.xmin+hp.width ||
+				az < hp.ymin || az >= hp.ymin+hp.height)
+				continue;
+			
+			const rcCompactCell& c = chf.cells[(ax+bs)+(az+bs)*chf.width];
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				const rcCompactSpan& s = chf.spans[i];
+				int d = rcAbs(ay - (int)s.y);
+				if (d < dmin)
+				{
+					cx = ax;
+					cz = az;
+					ci = i;
+					dmin = d;
+				}
+			}
+		}
+		if (ci != -1)
+		{
+			stack.push(cx);
+			stack.push(cz);
+			stack.push(ci);
+		}
+	}
+	
+	// Find center of the polygon using flood fill.
+	int pcx = 0, pcz = 0;
+	for (int j = 0; j < npoly; ++j)
+	{
+		pcx += (int)verts[poly[j]*3+0];
+		pcz += (int)verts[poly[j]*3+2];
+	}
+	pcx /= npoly;
+	pcz /= npoly;
+	
+	for (int i = 0; i < stack.size(); i += 3)
+	{
+		int cx = stack[i+0];
+		int cy = stack[i+1];
+		int idx = cx-hp.xmin+(cy-hp.ymin)*hp.width;
+		hp.data[idx] = 1;
+	}
+	
+	while (stack.size() > 0)
+	{
+		int ci = stack.pop();
+		int cy = stack.pop();
+		int cx = stack.pop();
+		
+		// Check if close to center of the polygon.
+		if (rcAbs(cx-pcx) <= 1 && rcAbs(cy-pcz) <= 1)
+		{
+			stack.resize(0);
+			stack.push(cx);
+			stack.push(cy);
+			stack.push(ci);
+			break;
+		}
+		
+		const rcCompactSpan& cs = chf.spans[ci];
+		
+		for (int dir = 0; dir < 4; ++dir)
+		{
+			if (rcGetCon(cs, dir) == RC_NOT_CONNECTED) continue;
+			
+			const int ax = cx + rcGetDirOffsetX(dir);
+			const int ay = cy + rcGetDirOffsetY(dir);
+			
+			if (ax < hp.xmin || ax >= (hp.xmin+hp.width) ||
+				ay < hp.ymin || ay >= (hp.ymin+hp.height))
+				continue;
+			
+			if (hp.data[ax-hp.xmin+(ay-hp.ymin)*hp.width] != 0)
+				continue;
+			
+			const int ai = (int)chf.cells[(ax+bs)+(ay+bs)*chf.width].index + rcGetCon(cs, dir);
+
+			int idx = ax-hp.xmin+(ay-hp.ymin)*hp.width;
+			hp.data[idx] = 1;
+			
+			stack.push(ax);
+			stack.push(ay);
+			stack.push(ai);
+		}
+	}
+
+	memset(hp.data, 0xff, sizeof(unsigned short)*hp.width*hp.height);
+
+	// Mark start locations.
+	for (int i = 0; i < stack.size(); i += 3)
+	{
+		int cx = stack[i+0];
+		int cy = stack[i+1];
+		int ci = stack[i+2];
+		int idx = cx-hp.xmin+(cy-hp.ymin)*hp.width;
+		const rcCompactSpan& cs = chf.spans[ci];
+		hp.data[idx] = cs.y;
+	}
+	
+	static const int RETRACT_SIZE = 256;
+	int head = 0;
+	
+	while (head*3 < stack.size())
+	{
+		int cx = stack[head*3+0];
+		int cy = stack[head*3+1];
+		int ci = stack[head*3+2];
+		head++;
+		if (head >= RETRACT_SIZE)
+		{
+			head = 0;
+			if (stack.size() > RETRACT_SIZE*3)
+				memmove(&stack[0], &stack[RETRACT_SIZE*3], sizeof(int)*(stack.size()-RETRACT_SIZE*3));
+			stack.resize(stack.size()-RETRACT_SIZE*3);
+		}
+
+		const rcCompactSpan& cs = chf.spans[ci];
+		for (int dir = 0; dir < 4; ++dir)
+		{
+			if (rcGetCon(cs, dir) == RC_NOT_CONNECTED) continue;
+			
+			const int ax = cx + rcGetDirOffsetX(dir);
+			const int ay = cy + rcGetDirOffsetY(dir);
+			
+			if (ax < hp.xmin || ax >= (hp.xmin+hp.width) ||
+				ay < hp.ymin || ay >= (hp.ymin+hp.height))
+				continue;
+			
+			if (hp.data[ax-hp.xmin+(ay-hp.ymin)*hp.width] != RC_UNSET_HEIGHT)
+				continue;
+			
+			const int ai = (int)chf.cells[(ax+bs)+(ay+bs)*chf.width].index + rcGetCon(cs, dir);
+			
+			const rcCompactSpan& as = chf.spans[ai];
+			int idx = ax-hp.xmin+(ay-hp.ymin)*hp.width;
+			hp.data[idx] = as.y;
+
+			stack.push(ax);
+			stack.push(ay);
+			stack.push(ai);
+		}
+	}
+	
+}
+
+static unsigned char getEdgeFlags(const float* va, const float* vb,
+								  const float* vpoly, const int npoly)
+{
+	// Return true if edge (va,vb) is part of the polygon.
+	static const float thrSqr = rcSqr(0.001f);
+	for (int i = 0, j = npoly-1; i < npoly; j=i++)
+	{
+		if (distancePtSeg2d(va, &vpoly[j*3], &vpoly[i*3]) < thrSqr && 
+			distancePtSeg2d(vb, &vpoly[j*3], &vpoly[i*3]) < thrSqr)
+			return 1;
+	}
+	return 0;
+}
+
+static unsigned char getTriFlags(const float* va, const float* vb, const float* vc,
+								 const float* vpoly, const int npoly)
+{
+	unsigned char flags = 0;
+	flags |= getEdgeFlags(va,vb,vpoly,npoly) << 0;
+	flags |= getEdgeFlags(vb,vc,vpoly,npoly) << 2;
+	flags |= getEdgeFlags(vc,va,vpoly,npoly) << 4;
+	return flags;
+}
+
+/// @par
+///
+/// See the #rcConfig documentation for more information on the configuration parameters.
+///
+/// @see rcAllocPolyMeshDetail, rcPolyMesh, rcCompactHeightfield, rcPolyMeshDetail, rcConfig
+bool rcBuildPolyMeshDetail(rcContext* ctx, const rcPolyMesh& mesh, const rcCompactHeightfield& chf,
+						   const float sampleDist, const float sampleMaxError,
+						   rcPolyMeshDetail& dmesh)
+{
+	rcAssert(ctx);
+	
+	ctx->startTimer(RC_TIMER_BUILD_POLYMESHDETAIL);
+
+	if (mesh.nverts == 0 || mesh.npolys == 0)
+		return true;
+	
+	const int nvp = mesh.nvp;
+	const float cs = mesh.cs;
+	const float ch = mesh.ch;
+	const float* orig = mesh.bmin;
+	const int borderSize = mesh.borderSize;
+	
+	rcIntArray edges(64);
+	rcIntArray tris(512);
+	rcIntArray stack(512);
+	rcIntArray samples(512);
+	float verts[256*3];
+	rcHeightPatch hp;
+	int nPolyVerts = 0;
+	int maxhw = 0, maxhh = 0;
+	
+	rcScopedDelete<int> bounds = (int*)rcAlloc(sizeof(int)*mesh.npolys*4, RC_ALLOC_TEMP);
+	if (!bounds)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'bounds' (%d).", mesh.npolys*4);
+		return false;
+	}
+	rcScopedDelete<float> poly = (float*)rcAlloc(sizeof(float)*nvp*3, RC_ALLOC_TEMP);
+	if (!poly)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'poly' (%d).", nvp*3);
+		return false;
+	}
+	
+	// Find max size for a polygon area.
+	for (int i = 0; i < mesh.npolys; ++i)
+	{
+		const unsigned short* p = &mesh.polys[i*nvp*2];
+		int& xmin = bounds[i*4+0];
+		int& xmax = bounds[i*4+1];
+		int& ymin = bounds[i*4+2];
+		int& ymax = bounds[i*4+3];
+		xmin = chf.width;
+		xmax = 0;
+		ymin = chf.height;
+		ymax = 0;
+		for (int j = 0; j < nvp; ++j)
+		{
+			if(p[j] == RC_MESH_NULL_IDX) break;
+			const unsigned short* v = &mesh.verts[p[j]*3];
+			xmin = rcMin(xmin, (int)v[0]);
+			xmax = rcMax(xmax, (int)v[0]);
+			ymin = rcMin(ymin, (int)v[2]);
+			ymax = rcMax(ymax, (int)v[2]);
+			nPolyVerts++;
+		}
+		xmin = rcMax(0,xmin-1);
+		xmax = rcMin(chf.width,xmax+1);
+		ymin = rcMax(0,ymin-1);
+		ymax = rcMin(chf.height,ymax+1);
+		if (xmin >= xmax || ymin >= ymax) continue;
+		maxhw = rcMax(maxhw, xmax-xmin);
+		maxhh = rcMax(maxhh, ymax-ymin);
+	}
+	
+	hp.data = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxhw*maxhh, RC_ALLOC_TEMP);
+	if (!hp.data)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'hp.data' (%d).", maxhw*maxhh);
+		return false;
+	}
+	
+	dmesh.nmeshes = mesh.npolys;
+	dmesh.nverts = 0;
+	dmesh.ntris = 0;
+	dmesh.meshes = (unsigned int*)rcAlloc(sizeof(unsigned int)*dmesh.nmeshes*4, RC_ALLOC_PERM);
+	if (!dmesh.meshes)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'dmesh.meshes' (%d).", dmesh.nmeshes*4);
+		return false;
+	}
+
+	int vcap = nPolyVerts+nPolyVerts/2;
+	int tcap = vcap*2;
+
+	dmesh.nverts = 0;
+	dmesh.verts = (float*)rcAlloc(sizeof(float)*vcap*3, RC_ALLOC_PERM);
+	if (!dmesh.verts)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'dmesh.verts' (%d).", vcap*3);
+		return false;
+	}
+	dmesh.ntris = 0;
+	dmesh.tris = (unsigned char*)rcAlloc(sizeof(unsigned char*)*tcap*4, RC_ALLOC_PERM);
+	if (!dmesh.tris)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'dmesh.tris' (%d).", tcap*4);
+		return false;
+	}
+	
+	for (int i = 0; i < mesh.npolys; ++i)
+	{
+		const unsigned short* p = &mesh.polys[i*nvp*2];
+		
+		// Store polygon vertices for processing.
+		int npoly = 0;
+		for (int j = 0; j < nvp; ++j)
+		{
+			if(p[j] == RC_MESH_NULL_IDX) break;
+			const unsigned short* v = &mesh.verts[p[j]*3];
+			poly[j*3+0] = v[0]*cs;
+			poly[j*3+1] = v[1]*ch;
+			poly[j*3+2] = v[2]*cs;
+			npoly++;
+		}
+		
+		// Get the height data from the area of the polygon.
+		hp.xmin = bounds[i*4+0];
+		hp.ymin = bounds[i*4+2];
+		hp.width = bounds[i*4+1]-bounds[i*4+0];
+		hp.height = bounds[i*4+3]-bounds[i*4+2];
+		getHeightData(chf, p, npoly, mesh.verts, borderSize, hp, stack);
+		
+		// Build detail mesh.
+		int nverts = 0;
+		if (!buildPolyDetail(ctx, poly, npoly,
+							 sampleDist, sampleMaxError,
+							 chf, hp, verts, nverts, tris,
+							 edges, samples))
+		{
+			return false;
+		}
+
+		// Move detail verts to world space.
+		for (int j = 0; j < nverts; ++j)
+		{
+			verts[j*3+0] += orig[0];
+			verts[j*3+1] += orig[1] + chf.ch; // Is this offset necessary?
+			verts[j*3+2] += orig[2];
+		}
+		// Offset poly too, will be used to flag checking.
+		for (int j = 0; j < npoly; ++j)
+		{
+			poly[j*3+0] += orig[0];
+			poly[j*3+1] += orig[1];
+			poly[j*3+2] += orig[2];
+		}
+	
+		// Store detail submesh.
+		const int ntris = tris.size()/4;
+
+		dmesh.meshes[i*4+0] = (unsigned int)dmesh.nverts;
+		dmesh.meshes[i*4+1] = (unsigned int)nverts;
+		dmesh.meshes[i*4+2] = (unsigned int)dmesh.ntris;
+		dmesh.meshes[i*4+3] = (unsigned int)ntris;		
+		
+		// Store vertices, allocate more memory if necessary.
+		if (dmesh.nverts+nverts > vcap)
+		{
+			while (dmesh.nverts+nverts > vcap)
+				vcap += 256;
+				
+			float* newv = (float*)rcAlloc(sizeof(float)*vcap*3, RC_ALLOC_PERM);
+			if (!newv)
+			{
+				ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'newv' (%d).", vcap*3);
+				return false;
+			}
+			if (dmesh.nverts)
+				memcpy(newv, dmesh.verts, sizeof(float)*3*dmesh.nverts);
+			rcFree(dmesh.verts);
+			dmesh.verts = newv;
+		}
+		for (int j = 0; j < nverts; ++j)
+		{
+			dmesh.verts[dmesh.nverts*3+0] = verts[j*3+0];
+			dmesh.verts[dmesh.nverts*3+1] = verts[j*3+1];
+			dmesh.verts[dmesh.nverts*3+2] = verts[j*3+2];
+			dmesh.nverts++;
+		}
+		
+		// Store triangles, allocate more memory if necessary.
+		if (dmesh.ntris+ntris > tcap)
+		{
+			while (dmesh.ntris+ntris > tcap)
+				tcap += 256;
+			unsigned char* newt = (unsigned char*)rcAlloc(sizeof(unsigned char)*tcap*4, RC_ALLOC_PERM);
+			if (!newt)
+			{
+				ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'newt' (%d).", tcap*4);
+				return false;
+			}
+			if (dmesh.ntris)
+				memcpy(newt, dmesh.tris, sizeof(unsigned char)*4*dmesh.ntris);
+			rcFree(dmesh.tris);
+			dmesh.tris = newt;
+		}
+		for (int j = 0; j < ntris; ++j)
+		{
+			const int* t = &tris[j*4];
+			dmesh.tris[dmesh.ntris*4+0] = (unsigned char)t[0];
+			dmesh.tris[dmesh.ntris*4+1] = (unsigned char)t[1];
+			dmesh.tris[dmesh.ntris*4+2] = (unsigned char)t[2];
+			dmesh.tris[dmesh.ntris*4+3] = getTriFlags(&verts[t[0]*3], &verts[t[1]*3], &verts[t[2]*3], poly, npoly);
+			dmesh.ntris++;
+		}
+	}
+		
+	ctx->stopTimer(RC_TIMER_BUILD_POLYMESHDETAIL);
+
+	return true;
+}
+
+/// @see rcAllocPolyMeshDetail, rcPolyMeshDetail
+bool rcMergePolyMeshDetails(rcContext* ctx, rcPolyMeshDetail** meshes, const int nmeshes, rcPolyMeshDetail& mesh)
+{
+	rcAssert(ctx);
+	
+	ctx->startTimer(RC_TIMER_MERGE_POLYMESHDETAIL);
+
+	int maxVerts = 0;
+	int maxTris = 0;
+	int maxMeshes = 0;
+
+	for (int i = 0; i < nmeshes; ++i)
+	{
+		if (!meshes[i]) continue;
+		maxVerts += meshes[i]->nverts;
+		maxTris += meshes[i]->ntris;
+		maxMeshes += meshes[i]->nmeshes;
+	}
+
+	mesh.nmeshes = 0;
+	mesh.meshes = (unsigned int*)rcAlloc(sizeof(unsigned int)*maxMeshes*4, RC_ALLOC_PERM);
+	if (!mesh.meshes)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'pmdtl.meshes' (%d).", maxMeshes*4);
+		return false;
+	}
+
+	mesh.ntris = 0;
+	mesh.tris = (unsigned char*)rcAlloc(sizeof(unsigned char)*maxTris*4, RC_ALLOC_PERM);
+	if (!mesh.tris)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'dmesh.tris' (%d).", maxTris*4);
+		return false;
+	}
+
+	mesh.nverts = 0;
+	mesh.verts = (float*)rcAlloc(sizeof(float)*maxVerts*3, RC_ALLOC_PERM);
+	if (!mesh.verts)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'dmesh.verts' (%d).", maxVerts*3);
+		return false;
+	}
+	
+	// Merge datas.
+	for (int i = 0; i < nmeshes; ++i)
+	{
+		rcPolyMeshDetail* dm = meshes[i];
+		if (!dm) continue;
+		for (int j = 0; j < dm->nmeshes; ++j)
+		{
+			unsigned int* dst = &mesh.meshes[mesh.nmeshes*4];
+			unsigned int* src = &dm->meshes[j*4];
+			dst[0] = (unsigned int)mesh.nverts+src[0];
+			dst[1] = src[1];
+			dst[2] = (unsigned int)mesh.ntris+src[2];
+			dst[3] = src[3];
+			mesh.nmeshes++;
+		}
+			
+		for (int k = 0; k < dm->nverts; ++k)
+		{
+			rcVcopy(&mesh.verts[mesh.nverts*3], &dm->verts[k*3]);
+			mesh.nverts++;
+		}
+		for (int k = 0; k < dm->ntris; ++k)
+		{
+			mesh.tris[mesh.ntris*4+0] = dm->tris[k*4+0];
+			mesh.tris[mesh.ntris*4+1] = dm->tris[k*4+1];
+			mesh.tris[mesh.ntris*4+2] = dm->tris[k*4+2];
+			mesh.tris[mesh.ntris*4+3] = dm->tris[k*4+3];
+			mesh.ntris++;
+		}
+	}
+
+	ctx->stopTimer(RC_TIMER_MERGE_POLYMESHDETAIL);
+	
+	return true;
+}
+

ThirdParty/Recast/Source/RecastRasterization.cpp

@@ -0,0 +1,387 @@
+//
+// Copyright (c) 2009-2010 Mikko Mononen [email protected]
+//
+// 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.
+//
+
+#define _USE_MATH_DEFINES
+#include <math.h>
+#include <stdio.h>
+#include "Recast.h"
+#include "RecastAlloc.h"
+#include "RecastAssert.h"
+
+inline bool overlapBounds(const float* amin, const float* amax, const float* bmin, const float* bmax)
+{
+	bool overlap = true;
+	overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap;
+	overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap;
+	overlap = (amin[2] > bmax[2] || amax[2] < bmin[2]) ? false : overlap;
+	return overlap;
+}
+
+inline bool overlapInterval(unsigned short amin, unsigned short amax,
+							unsigned short bmin, unsigned short bmax)
+{
+	if (amax < bmin) return false;
+	if (amin > bmax) return false;
+	return true;
+}
+
+
+static rcSpan* allocSpan(rcHeightfield& hf)
+{
+	// If running out of memory, allocate new page and update the freelist.
+	if (!hf.freelist || !hf.freelist->next)
+	{
+		// Create new page.
+		// Allocate memory for the new pool.
+		rcSpanPool* pool = (rcSpanPool*)rcAlloc(sizeof(rcSpanPool), RC_ALLOC_PERM);
+		if (!pool) return 0;
+		pool->next = 0;
+		// Add the pool into the list of pools.
+		pool->next = hf.pools;
+		hf.pools = pool;
+		// Add new items to the free list.
+		rcSpan* freelist = hf.freelist;
+		rcSpan* head = &pool->items[0];
+		rcSpan* it = &pool->items[RC_SPANS_PER_POOL];
+		do
+		{
+			--it;
+			it->next = freelist;
+			freelist = it;
+		}
+		while (it != head);
+		hf.freelist = it;
+	}
+	
+	// Pop item from in front of the free list.
+	rcSpan* it = hf.freelist;
+	hf.freelist = hf.freelist->next;
+	return it;
+}
+
+static void freeSpan(rcHeightfield& hf, rcSpan* ptr)
+{
+	if (!ptr) return;
+	// Add the node in front of the free list.
+	ptr->next = hf.freelist;
+	hf.freelist = ptr;
+}
+
+static void addSpan(rcHeightfield& hf, const int x, const int y,
+					const unsigned short smin, const unsigned short smax,
+					const unsigned char area, const int flagMergeThr)
+{
+	
+	int idx = x + y*hf.width;
+	
+	rcSpan* s = allocSpan(hf);
+	s->smin = smin;
+	s->smax = smax;
+	s->area = area;
+	s->next = 0;
+	
+	// Empty cell, add he first span.
+	if (!hf.spans[idx])
+	{
+		hf.spans[idx] = s;
+		return;
+	}
+	rcSpan* prev = 0;
+	rcSpan* cur = hf.spans[idx];
+	
+	// Insert and merge spans.
+	while (cur)
+	{
+		if (cur->smin > s->smax)
+		{
+			// Current span is further than the new span, break.
+			break;
+		}
+		else if (cur->smax < s->smin)
+		{
+			// Current span is before the new span advance.
+			prev = cur;
+			cur = cur->next;
+		}
+		else
+		{
+			// Merge spans.
+			if (cur->smin < s->smin)
+				s->smin = cur->smin;
+			if (cur->smax > s->smax)
+				s->smax = cur->smax;
+			
+			// Merge flags.
+			if (rcAbs((int)s->smax - (int)cur->smax) <= flagMergeThr)
+				s->area = rcMax(s->area, cur->area);
+			
+			// Remove current span.
+			rcSpan* next = cur->next;
+			freeSpan(hf, cur);
+			if (prev)
+				prev->next = next;
+			else
+				hf.spans[idx] = next;
+			cur = next;
+		}
+	}
+	
+	// Insert new span.
+	if (prev)
+	{
+		s->next = prev->next;
+		prev->next = s;
+	}
+	else
+	{
+		s->next = hf.spans[idx];
+		hf.spans[idx] = s;
+	}
+}
+
+/// @par
+///
+/// The span addition can be set to favor flags. If the span is merged to
+/// another span and the new @p smax is within @p flagMergeThr units
+/// from the existing span, the span flags are merged.
+///
+/// @see rcHeightfield, rcSpan.
+void rcAddSpan(rcContext* /*ctx*/, rcHeightfield& hf, const int x, const int y,
+			   const unsigned short smin, const unsigned short smax,
+			   const unsigned char area, const int flagMergeThr)
+{
+//	rcAssert(ctx);
+	addSpan(hf, x,y, smin, smax, area, flagMergeThr);
+}
+
+static int clipPoly(const float* in, int n, float* out, float pnx, float pnz, float pd)
+{
+	float d[12];
+	for (int i = 0; i < n; ++i)
+		d[i] = pnx*in[i*3+0] + pnz*in[i*3+2] + pd;
+	
+	int m = 0;
+	for (int i = 0, j = n-1; i < n; j=i, ++i)
+	{
+		bool ina = d[j] >= 0;
+		bool inb = d[i] >= 0;
+		if (ina != inb)
+		{
+			float s = d[j] / (d[j] - d[i]);
+			out[m*3+0] = in[j*3+0] + (in[i*3+0] - in[j*3+0])*s;
+			out[m*3+1] = in[j*3+1] + (in[i*3+1] - in[j*3+1])*s;
+			out[m*3+2] = in[j*3+2] + (in[i*3+2] - in[j*3+2])*s;
+			m++;
+		}
+		if (inb)
+		{
+			out[m*3+0] = in[i*3+0];
+			out[m*3+1] = in[i*3+1];
+			out[m*3+2] = in[i*3+2];
+			m++;
+		}
+	}
+	return m;
+}
+
+static void rasterizeTri(const float* v0, const float* v1, const float* v2,
+						 const unsigned char area, rcHeightfield& hf,
+						 const float* bmin, const float* bmax,
+						 const float cs, const float ics, const float ich,
+						 const int flagMergeThr)
+{
+	const int w = hf.width;
+	const int h = hf.height;
+	float tmin[3], tmax[3];
+	const float by = bmax[1] - bmin[1];
+	
+	// Calculate the bounding box of the triangle.
+	rcVcopy(tmin, v0);
+	rcVcopy(tmax, v0);
+	rcVmin(tmin, v1);
+	rcVmin(tmin, v2);
+	rcVmax(tmax, v1);
+	rcVmax(tmax, v2);
+	
+	// If the triangle does not touch the bbox of the heightfield, skip the triagle.
+	if (!overlapBounds(bmin, bmax, tmin, tmax))
+		return;
+	
+	// Calculate the footpring of the triangle on the grid.
+	int x0 = (int)((tmin[0] - bmin[0])*ics);
+	int y0 = (int)((tmin[2] - bmin[2])*ics);
+	int x1 = (int)((tmax[0] - bmin[0])*ics);
+	int y1 = (int)((tmax[2] - bmin[2])*ics);
+	x0 = rcClamp(x0, 0, w-1);
+	y0 = rcClamp(y0, 0, h-1);
+	x1 = rcClamp(x1, 0, w-1);
+	y1 = rcClamp(y1, 0, h-1);
+	
+	// Clip the triangle into all grid cells it touches.
+	float in[7*3], out[7*3], inrow[7*3];
+	
+	for (int y = y0; y <= y1; ++y)
+	{
+		// Clip polygon to row.
+		rcVcopy(&in[0], v0);
+		rcVcopy(&in[1*3], v1);
+		rcVcopy(&in[2*3], v2);
+		int nvrow = 3;
+		const float cz = bmin[2] + y*cs;
+		nvrow = clipPoly(in, nvrow, out, 0, 1, -cz);
+		if (nvrow < 3) continue;
+		nvrow = clipPoly(out, nvrow, inrow, 0, -1, cz+cs);
+		if (nvrow < 3) continue;
+		
+		for (int x = x0; x <= x1; ++x)
+		{
+			// Clip polygon to column.
+			int nv = nvrow;
+			const float cx = bmin[0] + x*cs;
+			nv = clipPoly(inrow, nv, out, 1, 0, -cx);
+			if (nv < 3) continue;
+			nv = clipPoly(out, nv, in, -1, 0, cx+cs);
+			if (nv < 3) continue;
+			
+			// Calculate min and max of the span.
+			float smin = in[1], smax = in[1];
+			for (int i = 1; i < nv; ++i)
+			{
+				smin = rcMin(smin, in[i*3+1]);
+				smax = rcMax(smax, in[i*3+1]);
+			}
+			smin -= bmin[1];
+			smax -= bmin[1];
+			// Skip the span if it is outside the heightfield bbox
+			if (smax < 0.0f) continue;
+			if (smin > by) continue;
+			// Clamp the span to the heightfield bbox.
+			if (smin < 0.0f) smin = 0;
+			if (smax > by) smax = by;
+			
+			// Snap the span to the heightfield height grid.
+			unsigned short ismin = (unsigned short)rcClamp((int)floorf(smin * ich), 0, RC_SPAN_MAX_HEIGHT);
+			unsigned short ismax = (unsigned short)rcClamp((int)ceilf(smax * ich), (int)ismin+1, RC_SPAN_MAX_HEIGHT);
+			
+			addSpan(hf, x, y, ismin, ismax, area, flagMergeThr);
+		}
+	}
+}
+
+/// @par
+///
+/// No spans will be added if the triangle does not overlap the heightfield grid.
+///
+/// @see rcHeightfield
+void rcRasterizeTriangle(rcContext* ctx, const float* v0, const float* v1, const float* v2,
+						 const unsigned char area, rcHeightfield& solid,
+						 const int flagMergeThr)
+{
+	rcAssert(ctx);
+
+	ctx->startTimer(RC_TIMER_RASTERIZE_TRIANGLES);
+
+	const float ics = 1.0f/solid.cs;
+	const float ich = 1.0f/solid.ch;
+	rasterizeTri(v0, v1, v2, area, solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr);
+
+	ctx->stopTimer(RC_TIMER_RASTERIZE_TRIANGLES);
+}
+
+/// @par
+///
+/// Spans will only be added for triangles that overlap the heightfield grid.
+///
+/// @see rcHeightfield
+void rcRasterizeTriangles(rcContext* ctx, const float* verts, const int /*nv*/,
+						  const int* tris, const unsigned char* areas, const int nt,
+						  rcHeightfield& solid, const int flagMergeThr)
+{
+	rcAssert(ctx);
+
+	ctx->startTimer(RC_TIMER_RASTERIZE_TRIANGLES);
+	
+	const float ics = 1.0f/solid.cs;
+	const float ich = 1.0f/solid.ch;
+	// Rasterize triangles.
+	for (int i = 0; i < nt; ++i)
+	{
+		const float* v0 = &verts[tris[i*3+0]*3];
+		const float* v1 = &verts[tris[i*3+1]*3];
+		const float* v2 = &verts[tris[i*3+2]*3];
+		// Rasterize.
+		rasterizeTri(v0, v1, v2, areas[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr);
+	}
+	
+	ctx->stopTimer(RC_TIMER_RASTERIZE_TRIANGLES);
+}
+
+/// @par
+///
+/// Spans will only be added for triangles that overlap the heightfield grid.
+///
+/// @see rcHeightfield
+void rcRasterizeTriangles(rcContext* ctx, const float* verts, const int /*nv*/,
+						  const unsigned short* tris, const unsigned char* areas, const int nt,
+						  rcHeightfield& solid, const int flagMergeThr)
+{
+	rcAssert(ctx);
+
+	ctx->startTimer(RC_TIMER_RASTERIZE_TRIANGLES);
+	
+	const float ics = 1.0f/solid.cs;
+	const float ich = 1.0f/solid.ch;
+	// Rasterize triangles.
+	for (int i = 0; i < nt; ++i)
+	{
+		const float* v0 = &verts[tris[i*3+0]*3];
+		const float* v1 = &verts[tris[i*3+1]*3];
+		const float* v2 = &verts[tris[i*3+2]*3];
+		// Rasterize.
+		rasterizeTri(v0, v1, v2, areas[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr);
+	}
+	
+	ctx->stopTimer(RC_TIMER_RASTERIZE_TRIANGLES);
+}
+
+/// @par
+///
+/// Spans will only be added for triangles that overlap the heightfield grid.
+///
+/// @see rcHeightfield
+void rcRasterizeTriangles(rcContext* ctx, const float* verts, const unsigned char* areas, const int nt,
+						  rcHeightfield& solid, const int flagMergeThr)
+{
+	rcAssert(ctx);
+	
+	ctx->startTimer(RC_TIMER_RASTERIZE_TRIANGLES);
+	
+	const float ics = 1.0f/solid.cs;
+	const float ich = 1.0f/solid.ch;
+	// Rasterize triangles.
+	for (int i = 0; i < nt; ++i)
+	{
+		const float* v0 = &verts[(i*3+0)*3];
+		const float* v1 = &verts[(i*3+1)*3];
+		const float* v2 = &verts[(i*3+2)*3];
+		// Rasterize.
+		rasterizeTri(v0, v1, v2, areas[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr);
+	}
+	
+	ctx->stopTimer(RC_TIMER_RASTERIZE_TRIANGLES);
+}

ThirdParty/Recast/Source/RecastRegion.cpp

@@ -0,0 +1,1337 @@
+//
+// Copyright (c) 2009-2010 Mikko Mononen [email protected]
+//
+// 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.
+//
+
+#include <float.h>
+#define _USE_MATH_DEFINES
+#include <math.h>
+#include <string.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include "Recast.h"
+#include "RecastAlloc.h"
+#include "RecastAssert.h"
+#include <new>
+
+
+static void calculateDistanceField(rcCompactHeightfield& chf, unsigned short* src, unsigned short& maxDist)
+{
+	const int w = chf.width;
+	const int h = chf.height;
+	
+	// Init distance and points.
+	for (int i = 0; i < chf.spanCount; ++i)
+		src[i] = 0xffff;
+	
+	// Mark boundary cells.
+	for (int y = 0; y < h; ++y)
+	{
+		for (int x = 0; x < w; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+y*w];
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				const rcCompactSpan& s = chf.spans[i];
+				const unsigned char area = chf.areas[i];
+				
+				int nc = 0;
+				for (int dir = 0; dir < 4; ++dir)
+				{
+					if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
+					{
+						const int ax = x + rcGetDirOffsetX(dir);
+						const int ay = y + rcGetDirOffsetY(dir);
+						const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, dir);
+						if (area == chf.areas[ai])
+							nc++;
+					}
+				}
+				if (nc != 4)
+					src[i] = 0;
+			}
+		}
+	}
+	
+			
+	// Pass 1
+	for (int y = 0; y < h; ++y)
+	{
+		for (int x = 0; x < w; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+y*w];
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				const rcCompactSpan& s = chf.spans[i];
+				
+				if (rcGetCon(s, 0) != RC_NOT_CONNECTED)
+				{
+					// (-1,0)
+					const int ax = x + rcGetDirOffsetX(0);
+					const int ay = y + rcGetDirOffsetY(0);
+					const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 0);
+					const rcCompactSpan& as = chf.spans[ai];
+					if (src[ai]+2 < src[i])
+						src[i] = src[ai]+2;
+					
+					// (-1,-1)
+					if (rcGetCon(as, 3) != RC_NOT_CONNECTED)
+					{
+						const int aax = ax + rcGetDirOffsetX(3);
+						const int aay = ay + rcGetDirOffsetY(3);
+						const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 3);
+						if (src[aai]+3 < src[i])
+							src[i] = src[aai]+3;
+					}
+				}
+				if (rcGetCon(s, 3) != RC_NOT_CONNECTED)
+				{
+					// (0,-1)
+					const int ax = x + rcGetDirOffsetX(3);
+					const int ay = y + rcGetDirOffsetY(3);
+					const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 3);
+					const rcCompactSpan& as = chf.spans[ai];
+					if (src[ai]+2 < src[i])
+						src[i] = src[ai]+2;
+					
+					// (1,-1)
+					if (rcGetCon(as, 2) != RC_NOT_CONNECTED)
+					{
+						const int aax = ax + rcGetDirOffsetX(2);
+						const int aay = ay + rcGetDirOffsetY(2);
+						const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 2);
+						if (src[aai]+3 < src[i])
+							src[i] = src[aai]+3;
+					}
+				}
+			}
+		}
+	}
+	
+	// Pass 2
+	for (int y = h-1; y >= 0; --y)
+	{
+		for (int x = w-1; x >= 0; --x)
+		{
+			const rcCompactCell& c = chf.cells[x+y*w];
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				const rcCompactSpan& s = chf.spans[i];
+				
+				if (rcGetCon(s, 2) != RC_NOT_CONNECTED)
+				{
+					// (1,0)
+					const int ax = x + rcGetDirOffsetX(2);
+					const int ay = y + rcGetDirOffsetY(2);
+					const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 2);
+					const rcCompactSpan& as = chf.spans[ai];
+					if (src[ai]+2 < src[i])
+						src[i] = src[ai]+2;
+					
+					// (1,1)
+					if (rcGetCon(as, 1) != RC_NOT_CONNECTED)
+					{
+						const int aax = ax + rcGetDirOffsetX(1);
+						const int aay = ay + rcGetDirOffsetY(1);
+						const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 1);
+						if (src[aai]+3 < src[i])
+							src[i] = src[aai]+3;
+					}
+				}
+				if (rcGetCon(s, 1) != RC_NOT_CONNECTED)
+				{
+					// (0,1)
+					const int ax = x + rcGetDirOffsetX(1);
+					const int ay = y + rcGetDirOffsetY(1);
+					const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 1);
+					const rcCompactSpan& as = chf.spans[ai];
+					if (src[ai]+2 < src[i])
+						src[i] = src[ai]+2;
+					
+					// (-1,1)
+					if (rcGetCon(as, 0) != RC_NOT_CONNECTED)
+					{
+						const int aax = ax + rcGetDirOffsetX(0);
+						const int aay = ay + rcGetDirOffsetY(0);
+						const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 0);
+						if (src[aai]+3 < src[i])
+							src[i] = src[aai]+3;
+					}
+				}
+			}
+		}
+	}	
+	
+	maxDist = 0;
+	for (int i = 0; i < chf.spanCount; ++i)
+		maxDist = rcMax(src[i], maxDist);
+	
+}
+
+static unsigned short* boxBlur(rcCompactHeightfield& chf, int thr,
+							   unsigned short* src, unsigned short* dst)
+{
+	const int w = chf.width;
+	const int h = chf.height;
+	
+	thr *= 2;
+	
+	for (int y = 0; y < h; ++y)
+	{
+		for (int x = 0; x < w; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+y*w];
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				const rcCompactSpan& s = chf.spans[i];
+				const unsigned short cd = src[i];
+				if (cd <= thr)
+				{
+					dst[i] = cd;
+					continue;
+				}
+
+				int d = (int)cd;
+				for (int dir = 0; dir < 4; ++dir)
+				{
+					if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
+					{
+						const int ax = x + rcGetDirOffsetX(dir);
+						const int ay = y + rcGetDirOffsetY(dir);
+						const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, dir);
+						d += (int)src[ai];
+						
+						const rcCompactSpan& as = chf.spans[ai];
+						const int dir2 = (dir+1) & 0x3;
+						if (rcGetCon(as, dir2) != RC_NOT_CONNECTED)
+						{
+							const int ax2 = ax + rcGetDirOffsetX(dir2);
+							const int ay2 = ay + rcGetDirOffsetY(dir2);
+							const int ai2 = (int)chf.cells[ax2+ay2*w].index + rcGetCon(as, dir2);
+							d += (int)src[ai2];
+						}
+						else
+						{
+							d += cd;
+						}
+					}
+					else
+					{
+						d += cd*2;
+					}
+				}
+				dst[i] = (unsigned short)((d+5)/9);
+			}
+		}
+	}
+	return dst;
+}
+
+
+static bool floodRegion(int x, int y, int i,
+						unsigned short level, unsigned short r,
+						rcCompactHeightfield& chf,
+						unsigned short* srcReg, unsigned short* srcDist,
+						rcIntArray& stack)
+{
+	const int w = chf.width;
+	
+	const unsigned char area = chf.areas[i];
+	
+	// Flood fill mark region.
+	stack.resize(0);
+	stack.push((int)x);
+	stack.push((int)y);
+	stack.push((int)i);
+	srcReg[i] = r;
+	srcDist[i] = 0;
+	
+	unsigned short lev = level >= 2 ? level-2 : 0;
+	int count = 0;
+	
+	while (stack.size() > 0)
+	{
+		int ci = stack.pop();
+		int cy = stack.pop();
+		int cx = stack.pop();
+		
+		const rcCompactSpan& cs = chf.spans[ci];
+		
+		// Check if any of the neighbours already have a valid region set.
+		unsigned short ar = 0;
+		for (int dir = 0; dir < 4; ++dir)
+		{
+			// 8 connected
+			if (rcGetCon(cs, dir) != RC_NOT_CONNECTED)
+			{
+				const int ax = cx + rcGetDirOffsetX(dir);
+				const int ay = cy + rcGetDirOffsetY(dir);
+				const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(cs, dir);
+				if (chf.areas[ai] != area)
+					continue;
+				unsigned short nr = srcReg[ai];
+				if (nr & RC_BORDER_REG) // Do not take borders into account.
+					continue;
+				if (nr != 0 && nr != r)
+					ar = nr;
+				
+				const rcCompactSpan& as = chf.spans[ai];
+				
+				const int dir2 = (dir+1) & 0x3;
+				if (rcGetCon(as, dir2) != RC_NOT_CONNECTED)
+				{
+					const int ax2 = ax + rcGetDirOffsetX(dir2);
+					const int ay2 = ay + rcGetDirOffsetY(dir2);
+					const int ai2 = (int)chf.cells[ax2+ay2*w].index + rcGetCon(as, dir2);
+					if (chf.areas[ai2] != area)
+						continue;
+					unsigned short nr2 = srcReg[ai2];
+					if (nr2 != 0 && nr2 != r)
+						ar = nr2;
+				}				
+			}
+		}
+		if (ar != 0)
+		{
+			srcReg[ci] = 0;
+			continue;
+		}
+		count++;
+		
+		// Expand neighbours.
+		for (int dir = 0; dir < 4; ++dir)
+		{
+			if (rcGetCon(cs, dir) != RC_NOT_CONNECTED)
+			{
+				const int ax = cx + rcGetDirOffsetX(dir);
+				const int ay = cy + rcGetDirOffsetY(dir);
+				const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(cs, dir);
+				if (chf.areas[ai] != area)
+					continue;
+				if (chf.dist[ai] >= lev && srcReg[ai] == 0)
+				{
+					srcReg[ai] = r;
+					srcDist[ai] = 0;
+					stack.push(ax);
+					stack.push(ay);
+					stack.push(ai);
+				}
+			}
+		}
+	}
+	
+	return count > 0;
+}
+
+static unsigned short* expandRegions(int maxIter, unsigned short level,
+									 rcCompactHeightfield& chf,
+									 unsigned short* srcReg, unsigned short* srcDist,
+									 unsigned short* dstReg, unsigned short* dstDist, 
+									 rcIntArray& stack)
+{
+	const int w = chf.width;
+	const int h = chf.height;
+
+	// Find cells revealed by the raised level.
+	stack.resize(0);
+	for (int y = 0; y < h; ++y)
+	{
+		for (int x = 0; x < w; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+y*w];
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				if (chf.dist[i] >= level && srcReg[i] == 0 && chf.areas[i] != RC_NULL_AREA)
+				{
+					stack.push(x);
+					stack.push(y);
+					stack.push(i);
+				}
+			}
+		}
+	}
+	
+	int iter = 0;
+	while (stack.size() > 0)
+	{
+		int failed = 0;
+		
+		memcpy(dstReg, srcReg, sizeof(unsigned short)*chf.spanCount);
+		memcpy(dstDist, srcDist, sizeof(unsigned short)*chf.spanCount);
+		
+		for (int j = 0; j < stack.size(); j += 3)
+		{
+			int x = stack[j+0];
+			int y = stack[j+1];
+			int i = stack[j+2];
+			if (i < 0)
+			{
+				failed++;
+				continue;
+			}
+			
+			unsigned short r = srcReg[i];
+			unsigned short d2 = 0xffff;
+			const unsigned char area = chf.areas[i];
+			const rcCompactSpan& s = chf.spans[i];
+			for (int dir = 0; dir < 4; ++dir)
+			{
+				if (rcGetCon(s, dir) == RC_NOT_CONNECTED) continue;
+				const int ax = x + rcGetDirOffsetX(dir);
+				const int ay = y + rcGetDirOffsetY(dir);
+				const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, dir);
+				if (chf.areas[ai] != area) continue;
+				if (srcReg[ai] > 0 && (srcReg[ai] & RC_BORDER_REG) == 0)
+				{
+					if ((int)srcDist[ai]+2 < (int)d2)
+					{
+						r = srcReg[ai];
+						d2 = srcDist[ai]+2;
+					}
+				}
+			}
+			if (r)
+			{
+				stack[j+2] = -1; // mark as used
+				dstReg[i] = r;
+				dstDist[i] = d2;
+			}
+			else
+			{
+				failed++;
+			}
+		}
+		
+		// rcSwap source and dest.
+		rcSwap(srcReg, dstReg);
+		rcSwap(srcDist, dstDist);
+		
+		if (failed*3 == stack.size())
+			break;
+		
+		if (level > 0)
+		{
+			++iter;
+			if (iter >= maxIter)
+				break;
+		}
+	}
+	
+	return srcReg;
+}
+
+
+struct rcRegion
+{
+	inline rcRegion(unsigned short i) :
+		spanCount(0),
+		id(i),
+		areaType(0),
+		remap(false),
+		visited(false)
+	{}
+	
+	int spanCount;					// Number of spans belonging to this region
+	unsigned short id;				// ID of the region
+	unsigned char areaType;			// Are type.
+	bool remap;
+	bool visited;
+	rcIntArray connections;
+	rcIntArray floors;
+};
+
+static void removeAdjacentNeighbours(rcRegion& reg)
+{
+	// Remove adjacent duplicates.
+	for (int i = 0; i < reg.connections.size() && reg.connections.size() > 1; )
+	{
+		int ni = (i+1) % reg.connections.size();
+		if (reg.connections[i] == reg.connections[ni])
+		{
+			// Remove duplicate
+			for (int j = i; j < reg.connections.size()-1; ++j)
+				reg.connections[j] = reg.connections[j+1];
+			reg.connections.pop();
+		}
+		else
+			++i;
+	}
+}
+
+static void replaceNeighbour(rcRegion& reg, unsigned short oldId, unsigned short newId)
+{
+	bool neiChanged = false;
+	for (int i = 0; i < reg.connections.size(); ++i)
+	{
+		if (reg.connections[i] == oldId)
+		{
+			reg.connections[i] = newId;
+			neiChanged = true;
+		}
+	}
+	for (int i = 0; i < reg.floors.size(); ++i)
+	{
+		if (reg.floors[i] == oldId)
+			reg.floors[i] = newId;
+	}
+	if (neiChanged)
+		removeAdjacentNeighbours(reg);
+}
+
+static bool canMergeWithRegion(const rcRegion& rega, const rcRegion& regb)
+{
+	if (rega.areaType != regb.areaType)
+		return false;
+	int n = 0;
+	for (int i = 0; i < rega.connections.size(); ++i)
+	{
+		if (rega.connections[i] == regb.id)
+			n++;
+	}
+	if (n > 1)
+		return false;
+	for (int i = 0; i < rega.floors.size(); ++i)
+	{
+		if (rega.floors[i] == regb.id)
+			return false;
+	}
+	return true;
+}
+
+static void addUniqueFloorRegion(rcRegion& reg, int n)
+{
+	for (int i = 0; i < reg.floors.size(); ++i)
+		if (reg.floors[i] == n)
+			return;
+	reg.floors.push(n);
+}
+
+static bool mergeRegions(rcRegion& rega, rcRegion& regb)
+{
+	unsigned short aid = rega.id;
+	unsigned short bid = regb.id;
+	
+	// Duplicate current neighbourhood.
+	rcIntArray acon;
+	acon.resize(rega.connections.size());
+	for (int i = 0; i < rega.connections.size(); ++i)
+		acon[i] = rega.connections[i];
+	rcIntArray& bcon = regb.connections;
+	
+	// Find insertion point on A.
+	int insa = -1;
+	for (int i = 0; i < acon.size(); ++i)
+	{
+		if (acon[i] == bid)
+		{
+			insa = i;
+			break;
+		}
+	}
+	if (insa == -1)
+		return false;
+	
+	// Find insertion point on B.
+	int insb = -1;
+	for (int i = 0; i < bcon.size(); ++i)
+	{
+		if (bcon[i] == aid)
+		{
+			insb = i;
+			break;
+		}
+	}
+	if (insb == -1)
+		return false;
+	
+	// Merge neighbours.
+	rega.connections.resize(0);
+	for (int i = 0, ni = acon.size(); i < ni-1; ++i)
+		rega.connections.push(acon[(insa+1+i) % ni]);
+		
+	for (int i = 0, ni = bcon.size(); i < ni-1; ++i)
+		rega.connections.push(bcon[(insb+1+i) % ni]);
+	
+	removeAdjacentNeighbours(rega);
+	
+	for (int j = 0; j < regb.floors.size(); ++j)
+		addUniqueFloorRegion(rega, regb.floors[j]);
+	rega.spanCount += regb.spanCount;
+	regb.spanCount = 0;
+	regb.connections.resize(0);
+
+	return true;
+}
+
+static bool isRegionConnectedToBorder(const rcRegion& reg)
+{
+	// Region is connected to border if
+	// one of the neighbours is null id.
+	for (int i = 0; i < reg.connections.size(); ++i)
+	{
+		if (reg.connections[i] == 0)
+			return true;
+	}
+	return false;
+}
+
+static bool isSolidEdge(rcCompactHeightfield& chf, unsigned short* srcReg,
+						int x, int y, int i, int dir)
+{
+	const rcCompactSpan& s = chf.spans[i];
+	unsigned short r = 0;
+	if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
+	{
+		const int ax = x + rcGetDirOffsetX(dir);
+		const int ay = y + rcGetDirOffsetY(dir);
+		const int ai = (int)chf.cells[ax+ay*chf.width].index + rcGetCon(s, dir);
+		r = srcReg[ai];
+	}
+	if (r == srcReg[i])
+		return false;
+	return true;
+}
+
+static void walkContour(int x, int y, int i, int dir,
+						rcCompactHeightfield& chf,
+						unsigned short* srcReg,
+						rcIntArray& cont)
+{
+	int startDir = dir;
+	int starti = i;
+
+	const rcCompactSpan& ss = chf.spans[i];
+	unsigned short curReg = 0;
+	if (rcGetCon(ss, dir) != RC_NOT_CONNECTED)
+	{
+		const int ax = x + rcGetDirOffsetX(dir);
+		const int ay = y + rcGetDirOffsetY(dir);
+		const int ai = (int)chf.cells[ax+ay*chf.width].index + rcGetCon(ss, dir);
+		curReg = srcReg[ai];
+	}
+	cont.push(curReg);
+			
+	int iter = 0;
+	while (++iter < 40000)
+	{
+		const rcCompactSpan& s = chf.spans[i];
+		
+		if (isSolidEdge(chf, srcReg, x, y, i, dir))
+		{
+			// Choose the edge corner
+			unsigned short r = 0;
+			if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
+			{
+				const int ax = x + rcGetDirOffsetX(dir);
+				const int ay = y + rcGetDirOffsetY(dir);
+				const int ai = (int)chf.cells[ax+ay*chf.width].index + rcGetCon(s, dir);
+				r = srcReg[ai];
+			}
+			if (r != curReg)
+			{
+				curReg = r;
+				cont.push(curReg);
+			}
+			
+			dir = (dir+1) & 0x3;  // Rotate CW
+		}
+		else
+		{
+			int ni = -1;
+			const int nx = x + rcGetDirOffsetX(dir);
+			const int ny = y + rcGetDirOffsetY(dir);
+			if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
+			{
+				const rcCompactCell& nc = chf.cells[nx+ny*chf.width];
+				ni = (int)nc.index + rcGetCon(s, dir);
+			}
+			if (ni == -1)
+			{
+				// Should not happen.
+				return;
+			}
+			x = nx;
+			y = ny;
+			i = ni;
+			dir = (dir+3) & 0x3;	// Rotate CCW
+		}
+		
+		if (starti == i && startDir == dir)
+		{
+			break;
+		}
+	}
+
+	// Remove adjacent duplicates.
+	if (cont.size() > 1)
+	{
+		for (int j = 0; j < cont.size(); )
+		{
+			int nj = (j+1) % cont.size();
+			if (cont[j] == cont[nj])
+			{
+				for (int k = j; k < cont.size()-1; ++k)
+					cont[k] = cont[k+1];
+				cont.pop();
+			}
+			else
+				++j;
+		}
+	}
+}
+
+static bool filterSmallRegions(rcContext* ctx, int minRegionArea, int mergeRegionSize,
+							   unsigned short& maxRegionId,
+							   rcCompactHeightfield& chf,
+							   unsigned short* srcReg)
+{
+	const int w = chf.width;
+	const int h = chf.height;
+	
+	const int nreg = maxRegionId+1;
+	rcRegion* regions = (rcRegion*)rcAlloc(sizeof(rcRegion)*nreg, RC_ALLOC_TEMP);
+	if (!regions)
+	{
+		ctx->log(RC_LOG_ERROR, "filterSmallRegions: Out of memory 'regions' (%d).", nreg);
+		return false;
+	}
+
+	// Construct regions
+	for (int i = 0; i < nreg; ++i)
+		new(&regions[i]) rcRegion((unsigned short)i);
+	
+	// Find edge of a region and find connections around the contour.
+	for (int y = 0; y < h; ++y)
+	{
+		for (int x = 0; x < w; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+y*w];
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				unsigned short r = srcReg[i];
+				if (r == 0 || r >= nreg)
+					continue;
+				
+				rcRegion& reg = regions[r];
+				reg.spanCount++;
+				
+				
+				// Update floors.
+				for (int j = (int)c.index; j < ni; ++j)
+				{
+					if (i == j) continue;
+					unsigned short floorId = srcReg[j];
+					if (floorId == 0 || floorId >= nreg)
+						continue;
+					addUniqueFloorRegion(reg, floorId);
+				}
+				
+				// Have found contour
+				if (reg.connections.size() > 0)
+					continue;
+				
+				reg.areaType = chf.areas[i];
+				
+				// Check if this cell is next to a border.
+				int ndir = -1;
+				for (int dir = 0; dir < 4; ++dir)
+				{
+					if (isSolidEdge(chf, srcReg, x, y, i, dir))
+					{
+						ndir = dir;
+						break;
+					}
+				}
+				
+				if (ndir != -1)
+				{
+					// The cell is at border.
+					// Walk around the contour to find all the neighbours.
+					walkContour(x, y, i, ndir, chf, srcReg, reg.connections);
+				}
+			}
+		}
+	}
+
+	// Remove too small regions.
+	rcIntArray stack(32);
+	rcIntArray trace(32);
+	for (int i = 0; i < nreg; ++i)
+	{
+		rcRegion& reg = regions[i];
+		if (reg.id == 0 || (reg.id & RC_BORDER_REG))
+			continue;                       
+		if (reg.spanCount == 0)
+			continue;
+		if (reg.visited)
+			continue;
+		
+		// Count the total size of all the connected regions.
+		// Also keep track of the regions connects to a tile border.
+		bool connectsToBorder = false;
+		int spanCount = 0;
+		stack.resize(0);
+		trace.resize(0);
+
+		reg.visited = true;
+		stack.push(i);
+		
+		while (stack.size())
+		{
+			// Pop
+			int ri = stack.pop();
+			
+			rcRegion& creg = regions[ri];
+
+			spanCount += creg.spanCount;
+			trace.push(ri);
+
+			for (int j = 0; j < creg.connections.size(); ++j)
+			{
+				if (creg.connections[j] & RC_BORDER_REG)
+				{
+					connectsToBorder = true;
+					continue;
+				}
+				rcRegion& neireg = regions[creg.connections[j]];
+				if (neireg.visited)
+					continue;
+				if (neireg.id == 0 || (neireg.id & RC_BORDER_REG))
+					continue;
+				// Visit
+				stack.push(neireg.id);
+				neireg.visited = true;
+			}
+		}
+		
+		// If the accumulated regions size is too small, remove it.
+		// Do not remove areas which connect to tile borders
+		// as their size cannot be estimated correctly and removing them
+		// can potentially remove necessary areas.
+		if (spanCount < minRegionArea && !connectsToBorder)
+		{
+			// Kill all visited regions.
+			for (int j = 0; j < trace.size(); ++j)
+			{
+				regions[trace[j]].spanCount = 0;
+				regions[trace[j]].id = 0;
+			}
+		}
+	}
+		
+	// Merge too small regions to neighbour regions.
+	int mergeCount = 0 ;
+	do
+	{
+		mergeCount = 0;
+		for (int i = 0; i < nreg; ++i)
+		{
+			rcRegion& reg = regions[i];
+			if (reg.id == 0 || (reg.id & RC_BORDER_REG))
+				continue;                       
+			if (reg.spanCount == 0)
+				continue;
+			
+			// Check to see if the region should be merged.
+			if (reg.spanCount > mergeRegionSize && isRegionConnectedToBorder(reg))
+				continue;
+			
+			// Small region with more than 1 connection.
+			// Or region which is not connected to a border at all.
+			// Find smallest neighbour region that connects to this one.
+			int smallest = 0xfffffff;
+			unsigned short mergeId = reg.id;
+			for (int j = 0; j < reg.connections.size(); ++j)
+			{
+				if (reg.connections[j] & RC_BORDER_REG) continue;
+				rcRegion& mreg = regions[reg.connections[j]];
+				if (mreg.id == 0 || (mreg.id & RC_BORDER_REG)) continue;
+				if (mreg.spanCount < smallest &&
+					canMergeWithRegion(reg, mreg) &&
+					canMergeWithRegion(mreg, reg))
+				{
+					smallest = mreg.spanCount;
+					mergeId = mreg.id;
+				}
+			}
+			// Found new id.
+			if (mergeId != reg.id)
+			{
+				unsigned short oldId = reg.id;
+				rcRegion& target = regions[mergeId];
+				
+				// Merge neighbours.
+				if (mergeRegions(target, reg))
+				{
+					// Fixup regions pointing to current region.
+					for (int j = 0; j < nreg; ++j)
+					{
+						if (regions[j].id == 0 || (regions[j].id & RC_BORDER_REG)) continue;
+						// If another region was already merged into current region
+						// change the nid of the previous region too.
+						if (regions[j].id == oldId)
+							regions[j].id = mergeId;
+						// Replace the current region with the new one if the
+						// current regions is neighbour.
+						replaceNeighbour(regions[j], oldId, mergeId);
+					}
+					mergeCount++;
+				}
+			}
+		}
+	}
+	while (mergeCount > 0);
+	
+	// Compress region Ids.
+	for (int i = 0; i < nreg; ++i)
+	{
+		regions[i].remap = false;
+		if (regions[i].id == 0) continue;       // Skip nil regions.
+		if (regions[i].id & RC_BORDER_REG) continue;    // Skip external regions.
+		regions[i].remap = true;
+	}
+	
+	unsigned short regIdGen = 0;
+	for (int i = 0; i < nreg; ++i)
+	{
+		if (!regions[i].remap)
+			continue;
+		unsigned short oldId = regions[i].id;
+		unsigned short newId = ++regIdGen;
+		for (int j = i; j < nreg; ++j)
+		{
+			if (regions[j].id == oldId)
+			{
+				regions[j].id = newId;
+				regions[j].remap = false;
+			}
+		}
+	}
+	maxRegionId = regIdGen;
+	
+	// Remap regions.
+	for (int i = 0; i < chf.spanCount; ++i)
+	{
+		if ((srcReg[i] & RC_BORDER_REG) == 0)
+			srcReg[i] = regions[srcReg[i]].id;
+	}
+	
+	for (int i = 0; i < nreg; ++i)
+		regions[i].~rcRegion();
+	rcFree(regions);
+	
+	return true;
+}
+
+/// @par
+/// 
+/// This is usually the second to the last step in creating a fully built
+/// compact heightfield.  This step is required before regions are built
+/// using #rcBuildRegions or #rcBuildRegionsMonotone.
+/// 
+/// After this step, the distance data is available via the rcCompactHeightfield::maxDistance
+/// and rcCompactHeightfield::dist fields.
+///
+/// @see rcCompactHeightfield, rcBuildRegions, rcBuildRegionsMonotone
+bool rcBuildDistanceField(rcContext* ctx, rcCompactHeightfield& chf)
+{
+	rcAssert(ctx);
+	
+	ctx->startTimer(RC_TIMER_BUILD_DISTANCEFIELD);
+	
+	if (chf.dist)
+	{
+		rcFree(chf.dist);
+		chf.dist = 0;
+	}
+	
+	unsigned short* src = (unsigned short*)rcAlloc(sizeof(unsigned short)*chf.spanCount, RC_ALLOC_TEMP);
+	if (!src)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildDistanceField: Out of memory 'src' (%d).", chf.spanCount);
+		return false;
+	}
+	unsigned short* dst = (unsigned short*)rcAlloc(sizeof(unsigned short)*chf.spanCount, RC_ALLOC_TEMP);
+	if (!dst)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildDistanceField: Out of memory 'dst' (%d).", chf.spanCount);
+		rcFree(src);
+		return false;
+	}
+	
+	unsigned short maxDist = 0;
+
+	ctx->startTimer(RC_TIMER_BUILD_DISTANCEFIELD_DIST);
+	
+	calculateDistanceField(chf, src, maxDist);
+	chf.maxDistance = maxDist;
+	
+	ctx->stopTimer(RC_TIMER_BUILD_DISTANCEFIELD_DIST);
+	
+	ctx->startTimer(RC_TIMER_BUILD_DISTANCEFIELD_BLUR);
+	
+	// Blur
+	if (boxBlur(chf, 1, src, dst) != src)
+		rcSwap(src, dst);
+	
+	// Store distance.
+	chf.dist = src;
+	
+	ctx->stopTimer(RC_TIMER_BUILD_DISTANCEFIELD_BLUR);
+
+	ctx->stopTimer(RC_TIMER_BUILD_DISTANCEFIELD);
+	
+	rcFree(dst);
+	
+	return true;
+}
+
+static void paintRectRegion(int minx, int maxx, int miny, int maxy, unsigned short regId,
+							rcCompactHeightfield& chf, unsigned short* srcReg)
+{
+	const int w = chf.width;	
+	for (int y = miny; y < maxy; ++y)
+	{
+		for (int x = minx; x < maxx; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+y*w];
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				if (chf.areas[i] != RC_NULL_AREA)
+					srcReg[i] = regId;
+			}
+		}
+	}
+}
+
+
+static const unsigned short RC_NULL_NEI = 0xffff;
+
+struct rcSweepSpan
+{
+	unsigned short rid;	// row id
+	unsigned short id;	// region id
+	unsigned short ns;	// number samples
+	unsigned short nei;	// neighbour id
+};
+
+/// @par
+/// 
+/// Non-null regions will consist of connected, non-overlapping walkable spans that form a single contour.
+/// Contours will form simple polygons.
+/// 
+/// If multiple regions form an area that is smaller than @p minRegionArea, then all spans will be
+/// re-assigned to the zero (null) region.
+/// 
+/// Partitioning can result in smaller than necessary regions. @p mergeRegionArea helps 
+/// reduce unecessarily small regions.
+/// 
+/// See the #rcConfig documentation for more information on the configuration parameters.
+/// 
+/// The region data will be available via the rcCompactHeightfield::maxRegions
+/// and rcCompactSpan::reg fields.
+/// 
+/// @warning The distance field must be created using #rcBuildDistanceField before attempting to build regions.
+/// 
+/// @see rcCompactHeightfield, rcCompactSpan, rcBuildDistanceField, rcBuildRegionsMonotone, rcConfig
+bool rcBuildRegionsMonotone(rcContext* ctx, rcCompactHeightfield& chf,
+							const int borderSize, const int minRegionArea, const int mergeRegionArea)
+{
+	rcAssert(ctx);
+	
+	ctx->startTimer(RC_TIMER_BUILD_REGIONS);
+	
+	const int w = chf.width;
+	const int h = chf.height;
+	unsigned short id = 1;
+	
+	rcScopedDelete<unsigned short> srcReg = (unsigned short*)rcAlloc(sizeof(unsigned short)*chf.spanCount, RC_ALLOC_TEMP);
+	if (!srcReg)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildRegionsMonotone: Out of memory 'src' (%d).", chf.spanCount);
+		return false;
+	}
+	memset(srcReg,0,sizeof(unsigned short)*chf.spanCount);
+
+	const int nsweeps = rcMax(chf.width,chf.height);
+	rcScopedDelete<rcSweepSpan> sweeps = (rcSweepSpan*)rcAlloc(sizeof(rcSweepSpan)*nsweeps, RC_ALLOC_TEMP);
+	if (!sweeps)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildRegionsMonotone: Out of memory 'sweeps' (%d).", nsweeps);
+		return false;
+	}
+	
+	
+	// Mark border regions.
+	if (borderSize > 0)
+	{
+		// Make sure border will not overflow.
+		const int bw = rcMin(w, borderSize);
+		const int bh = rcMin(h, borderSize);
+		// Paint regions
+		paintRectRegion(0, bw, 0, h, id|RC_BORDER_REG, chf, srcReg); id++;
+		paintRectRegion(w-bw, w, 0, h, id|RC_BORDER_REG, chf, srcReg); id++;
+		paintRectRegion(0, w, 0, bh, id|RC_BORDER_REG, chf, srcReg); id++;
+		paintRectRegion(0, w, h-bh, h, id|RC_BORDER_REG, chf, srcReg); id++;
+		
+		chf.borderSize = borderSize;
+	}
+	
+	rcIntArray prev(256);
+
+	// Sweep one line at a time.
+	for (int y = borderSize; y < h-borderSize; ++y)
+	{
+		// Collect spans from this row.
+		prev.resize(id+1);
+		memset(&prev[0],0,sizeof(int)*id);
+		unsigned short rid = 1;
+		
+		for (int x = borderSize; x < w-borderSize; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+y*w];
+			
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				const rcCompactSpan& s = chf.spans[i];
+				if (chf.areas[i] == RC_NULL_AREA) continue;
+				
+				// -x
+				unsigned short previd = 0;
+				if (rcGetCon(s, 0) != RC_NOT_CONNECTED)
+				{
+					const int ax = x + rcGetDirOffsetX(0);
+					const int ay = y + rcGetDirOffsetY(0);
+					const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 0);
+					if ((srcReg[ai] & RC_BORDER_REG) == 0 && chf.areas[i] == chf.areas[ai])
+						previd = srcReg[ai];
+				}
+				
+				if (!previd)
+				{
+					previd = rid++;
+					sweeps[previd].rid = previd;
+					sweeps[previd].ns = 0;
+					sweeps[previd].nei = 0;
+				}
+
+				// -y
+				if (rcGetCon(s,3) != RC_NOT_CONNECTED)
+				{
+					const int ax = x + rcGetDirOffsetX(3);
+					const int ay = y + rcGetDirOffsetY(3);
+					const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 3);
+					if (srcReg[ai] && (srcReg[ai] & RC_BORDER_REG) == 0 && chf.areas[i] == chf.areas[ai])
+					{
+						unsigned short nr = srcReg[ai];
+						if (!sweeps[previd].nei || sweeps[previd].nei == nr)
+						{
+							sweeps[previd].nei = nr;
+							sweeps[previd].ns++;
+							prev[nr]++;
+						}
+						else
+						{
+							sweeps[previd].nei = RC_NULL_NEI;
+						}
+					}
+				}
+
+				srcReg[i] = previd;
+			}
+		}
+		
+		// Create unique ID.
+		for (int i = 1; i < rid; ++i)
+		{
+			if (sweeps[i].nei != RC_NULL_NEI && sweeps[i].nei != 0 &&
+				prev[sweeps[i].nei] == (int)sweeps[i].ns)
+			{
+				sweeps[i].id = sweeps[i].nei;
+			}
+			else
+			{
+				sweeps[i].id = id++;
+			}
+		}
+		
+		// Remap IDs
+		for (int x = borderSize; x < w-borderSize; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+y*w];
+			
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				if (srcReg[i] > 0 && srcReg[i] < rid)
+					srcReg[i] = sweeps[srcReg[i]].id;
+			}
+		}
+	}
+
+	ctx->startTimer(RC_TIMER_BUILD_REGIONS_FILTER);
+
+	// Filter out small regions.
+	chf.maxRegions = id;
+	if (!filterSmallRegions(ctx, minRegionArea, mergeRegionArea, chf.maxRegions, chf, srcReg))
+		return false;
+
+	ctx->stopTimer(RC_TIMER_BUILD_REGIONS_FILTER);
+	
+	// Store the result out.
+	for (int i = 0; i < chf.spanCount; ++i)
+		chf.spans[i].reg = srcReg[i];
+	
+	ctx->stopTimer(RC_TIMER_BUILD_REGIONS);
+
+	return true;
+}
+
+/// @par
+/// 
+/// Non-null regions will consist of connected, non-overlapping walkable spans that form a single contour.
+/// Contours will form simple polygons.
+/// 
+/// If multiple regions form an area that is smaller than @p minRegionArea, then all spans will be
+/// re-assigned to the zero (null) region.
+/// 
+/// Watershed partitioning can result in smaller than necessary regions, especially in diagonal corridors. 
+/// @p mergeRegionArea helps reduce unecessarily small regions.
+/// 
+/// See the #rcConfig documentation for more information on the configuration parameters.
+/// 
+/// The region data will be available via the rcCompactHeightfield::maxRegions
+/// and rcCompactSpan::reg fields.
+/// 
+/// @warning The distance field must be created using #rcBuildDistanceField before attempting to build regions.
+/// 
+/// @see rcCompactHeightfield, rcCompactSpan, rcBuildDistanceField, rcBuildRegionsMonotone, rcConfig
+bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf,
+					const int borderSize, const int minRegionArea, const int mergeRegionArea)
+{
+	rcAssert(ctx);
+	
+	ctx->startTimer(RC_TIMER_BUILD_REGIONS);
+	
+	const int w = chf.width;
+	const int h = chf.height;
+	
+	rcScopedDelete<unsigned short> buf = (unsigned short*)rcAlloc(sizeof(unsigned short)*chf.spanCount*4, RC_ALLOC_TEMP);
+	if (!buf)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildRegions: Out of memory 'tmp' (%d).", chf.spanCount*4);
+		return false;
+	}
+	
+	ctx->startTimer(RC_TIMER_BUILD_REGIONS_WATERSHED);
+	
+	rcIntArray stack(1024);
+	rcIntArray visited(1024);
+	
+	unsigned short* srcReg = buf;
+	unsigned short* srcDist = buf+chf.spanCount;
+	unsigned short* dstReg = buf+chf.spanCount*2;
+	unsigned short* dstDist = buf+chf.spanCount*3;
+	
+	memset(srcReg, 0, sizeof(unsigned short)*chf.spanCount);
+	memset(srcDist, 0, sizeof(unsigned short)*chf.spanCount);
+	
+	unsigned short regionId = 1;
+	unsigned short level = (chf.maxDistance+1) & ~1;
+
+	// TODO: Figure better formula, expandIters defines how much the 
+	// watershed "overflows" and simplifies the regions. Tying it to
+	// agent radius was usually good indication how greedy it could be.
+//	const int expandIters = 4 + walkableRadius * 2;
+	const int expandIters = 8;
+
+	if (borderSize > 0)
+	{
+		// Make sure border will not overflow.
+		const int bw = rcMin(w, borderSize);
+		const int bh = rcMin(h, borderSize);
+		// Paint regions
+		paintRectRegion(0, bw, 0, h, regionId|RC_BORDER_REG, chf, srcReg); regionId++;
+		paintRectRegion(w-bw, w, 0, h, regionId|RC_BORDER_REG, chf, srcReg); regionId++;
+		paintRectRegion(0, w, 0, bh, regionId|RC_BORDER_REG, chf, srcReg); regionId++;
+		paintRectRegion(0, w, h-bh, h, regionId|RC_BORDER_REG, chf, srcReg); regionId++;
+
+		chf.borderSize = borderSize;
+	}
+	
+	while (level > 0)
+	{
+		level = level >= 2 ? level-2 : 0;
+		
+		ctx->startTimer(RC_TIMER_BUILD_REGIONS_EXPAND);
+		
+		// Expand current regions until no empty connected cells found.
+		if (expandRegions(expandIters, level, chf, srcReg, srcDist, dstReg, dstDist, stack) != srcReg)
+		{
+			rcSwap(srcReg, dstReg);
+			rcSwap(srcDist, dstDist);
+		}
+		
+		ctx->stopTimer(RC_TIMER_BUILD_REGIONS_EXPAND);
+		
+		ctx->startTimer(RC_TIMER_BUILD_REGIONS_FLOOD);
+		
+		// Mark new regions with IDs.
+		for (int y = 0; y < h; ++y)
+		{
+			for (int x = 0; x < w; ++x)
+			{
+				const rcCompactCell& c = chf.cells[x+y*w];
+				for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+				{
+					if (chf.dist[i] < level || srcReg[i] != 0 || chf.areas[i] == RC_NULL_AREA)
+						continue;
+					if (floodRegion(x, y, i, level, regionId, chf, srcReg, srcDist, stack))
+						regionId++;
+				}
+			}
+		}
+		
+		ctx->stopTimer(RC_TIMER_BUILD_REGIONS_FLOOD);
+	}
+	
+	// Expand current regions until no empty connected cells found.
+	if (expandRegions(expandIters*8, 0, chf, srcReg, srcDist, dstReg, dstDist, stack) != srcReg)
+	{
+		rcSwap(srcReg, dstReg);
+		rcSwap(srcDist, dstDist);
+	}
+	
+	ctx->stopTimer(RC_TIMER_BUILD_REGIONS_WATERSHED);
+	
+	ctx->startTimer(RC_TIMER_BUILD_REGIONS_FILTER);
+	
+	// Filter out small regions.
+	chf.maxRegions = regionId;
+	if (!filterSmallRegions(ctx, minRegionArea, mergeRegionArea, chf.maxRegions, chf, srcReg))
+		return false;
+	
+	ctx->stopTimer(RC_TIMER_BUILD_REGIONS_FILTER);
+		
+	// Write the result out.
+	for (int i = 0; i < chf.spanCount; ++i)
+		chf.spans[i].reg = srcReg[i];
+	
+	ctx->stopTimer(RC_TIMER_BUILD_REGIONS);
+	
+	return true;
+}
+
+

ThirdParty/Recast/TODO.txt

@@ -0,0 +1,20 @@
+TODO/Roadmap
+
+Summer/Autumn 2009
+
+- Off mesh links (jump links)
+- Area annotations
+- Embed extra data per polygon
+- Height conforming navmesh
+
+
+Autumn/Winter 2009/2010
+
+- Detour path following
+- More dynamic example with tile navmesh
+- Faster small tile process
+
+
+More info at http://digestingduck.blogspot.com/2009/07/recast-and-detour-roadmap.html
+
+-