Added lean heighfield to store minimal, easy to compress representation of the heightfield. Added temporary obstacle demo.

2011-01-14 10:55:37 +00:00 · 2011-01-14 10:55:37 +00:00 · 2f47c29336
commit 2f47c29336
parent ebd5358010
34 changed files with 12011 additions and 35 deletions
--- a/DebugUtils/Include/RecastDebugDraw.h
+++ b/DebugUtils/Include/RecastDebugDraw.h
@ -29,6 +29,8 @@ void duDebugDrawCompactHeightfieldSolid(struct duDebugDraw* dd, const struct rcC
 void duDebugDrawCompactHeightfieldRegions(struct duDebugDraw* dd, const struct rcCompactHeightfield& chf);
 void duDebugDrawCompactHeightfieldDistance(struct duDebugDraw* dd, const struct rcCompactHeightfield& chf);

+void duDebugDrawLeanHeightfieldSolid(duDebugDraw* dd, const struct rcLeanHeightfield& lhf);
+
 void duDebugDrawRegionConnections(struct duDebugDraw* dd, const struct rcContourSet& cset, const float alpha = 1.0f);
 void duDebugDrawRawContours(struct duDebugDraw* dd, const struct rcContourSet& cset, const float alpha = 1.0f);
 void duDebugDrawContours(struct duDebugDraw* dd, const struct rcContourSet& cset, const float alpha = 1.0f);
--- a/DebugUtils/Source/RecastDebugDraw.cpp
+++ b/DebugUtils/Source/RecastDebugDraw.cpp
@ -268,6 +268,61 @@ void duDebugDrawCompactHeightfieldDistance(duDebugDraw* dd, const rcCompactHeigh
 	dd->end();
 }

+void duDebugDrawLeanHeightfieldSolid(duDebugDraw* dd, const rcLeanHeightfield& lhf)
+{
+	if (!dd) return;
+	
+	const float cs = lhf.cs;
+	const float ch = lhf.ch;
+	
+	const int headerSize = rcAlign4(sizeof(rcLeanHeightfield));
+	const int countsSize = rcAlign4(sizeof(unsigned char)*lhf.width*lhf.height);
+	const int floorsSize = rcAlign4(sizeof(unsigned short)*lhf.spanCount);
+	const unsigned char* data = (const unsigned char*)&lhf;
+	const unsigned char* counts = (const unsigned char*)&data[headerSize];
+	const unsigned short* floors = (const unsigned short*)&data[headerSize+countsSize];
+	const unsigned char* areas = (const unsigned char*)&data[headerSize+countsSize+floorsSize];
+	
+	
+	dd->begin(DU_DRAW_QUADS);
+	
+	unsigned short mask = (1<<RC_SPAN_HEIGHT_BITS)-1;
+	
+	int idx = 0;
+	
+	for (int y = 0; y < lhf.height; ++y)
+	{
+		for (int x = 0; x < lhf.width; ++x)
+		{
+			const float fx = lhf.bmin[0] + x*cs;
+			const float fz = lhf.bmin[2] + y*cs;
+			const int count = counts[x+y*lhf.width];
+			
+			for (int i = idx, ni = idx+count; i < ni; ++i)
+			{
+				const int y = floors[i] & mask;
+				unsigned char area = areas[i];
+				
+				unsigned int color;
+				if (area == RC_WALKABLE_AREA)
+					color = duRGBA(0,192,255,64);
+				else if (area == RC_NULL_AREA)
+					color = duRGBA(0,0,0,64);
+				else
+					color = duIntToCol(area, 255);
+				
+				const float fy = lhf.bmin[1] + (y+1)*ch;
+				dd->vertex(fx, fy, fz, color);
+				dd->vertex(fx, fy, fz+cs, color);
+				dd->vertex(fx+cs, fy, fz+cs, color);
+				dd->vertex(fx+cs, fy, fz, color);
+			}
+			idx += count;
+		}
+	}
+	dd->end();
+}
+
 static void getContourCenter(const rcContour* cont, const float* orig, float cs, float ch, float* center)
 {
 	center[0] = 0;
--- a/DebugUtils/Source/RecastDump.cpp
+++ b/DebugUtils/Source/RecastDump.cpp
@ -412,6 +412,7 @@ void duLogBuildTimes(rcContext& ctx, const int totalTimeUsec)
 
 	ctx.log(RC_LOG_PROGRESS, "Build Times");
 	logLine(ctx, RC_TIMER_RASTERIZE_TRIANGLES,		"- Rasterize", pc);
+	logLine(ctx, RC_TIMER_BUILD_LEANHEIGHTFIELD,	"- Build Lean", pc);
 	logLine(ctx, RC_TIMER_BUILD_COMPACTHEIGHTFIELD,	"- Build Compact", pc);
 	logLine(ctx, RC_TIMER_FILTER_BORDER,				"- Filter Border", pc);
 	logLine(ctx, RC_TIMER_FILTER_WALKABLE,			"- Filter Walkable", pc);
@ -419,6 +420,7 @@ void duLogBuildTimes(rcContext& ctx, const int totalTimeUsec)
 	logLine(ctx, RC_TIMER_MEDIAN_AREA,				"- Median Area", pc);
 	logLine(ctx, RC_TIMER_MARK_BOX_AREA,				"- Mark Box Area", pc);
 	logLine(ctx, RC_TIMER_MARK_CONVEXPOLY_AREA,		"- Mark Convex Area", pc);
+	logLine(ctx, RC_TIMER_MARK_CYLINDER_AREA,		"- Mark Cylinder Area", pc);
 	logLine(ctx, RC_TIMER_BUILD_DISTANCEFIELD,		"- Build Disntace Field", pc);
 	logLine(ctx, RC_TIMER_BUILD_DISTANCEFIELD_DIST,	"    - Distance", pc);
 	logLine(ctx, RC_TIMER_BUILD_DISTANCEFIELD_BLUR,	"    - Blur", pc);
--- a/Recast/Include/Recast.h
+++ b/Recast/Include/Recast.h
@ -34,6 +34,7 @@ enum rcTimerLabel
 	RC_TIMER_TOTAL,
 	RC_TIMER_TEMP,
 	RC_TIMER_RASTERIZE_TRIANGLES,
+	RC_TIMER_BUILD_LEANHEIGHTFIELD,
 	RC_TIMER_BUILD_COMPACTHEIGHTFIELD,
 	RC_TIMER_BUILD_CONTOURS,
 	RC_TIMER_BUILD_CONTOURS_TRACE,
@ -46,6 +47,7 @@ enum rcTimerLabel
 	RC_TIMER_MERGE_POLYMESH,
 	RC_TIMER_ERODE_AREA,
 	RC_TIMER_MARK_BOX_AREA,
+	RC_TIMER_MARK_CYLINDER_AREA,
 	RC_TIMER_MARK_CONVEXPOLY_AREA,
 	RC_TIMER_BUILD_DISTANCEFIELD,
 	RC_TIMER_BUILD_DISTANCEFIELD_DIST,
@ -195,6 +197,29 @@ rcCompactHeightfield* rcAllocCompactHeightfield();
 void rcFreeCompactHeightfield(rcCompactHeightfield* chf);


+// Lean heightfield stores minimal information to create rcCompactNeighfield
+// in one continuous chunk of memory. The header and data are both laid out
+// in the memory one after each other. The data is accessed as follows:
+//		const int headerSize = rcAlign4(sizeof(rcLeanHeightfield));
+//		const int countsSize = rcAlign4(sizeof(unsigned char)*lhf.width*lhf.height);
+//		const int floorsSize = rcAlign4(sizeof(unsigned short)*lhf.spanCount);
+//		const unsigned char* data = (const unsigned char*)&lhf;
+//		const unsigned char* counts = (const unsigned char*)&data[headerSize];
+//		const unsigned short* floors = (const unsigned short*)&data[headerSize+countsSize];
+//		const unsigned char* areas = (const unsigned char*)&data[headerSize+countsSize+floorsSize];
+// This allows the heighfield to be read and written or compressed as one chunk, i.e.:
+//		fwrite(lhf, lhf->size, 1, fp);
+// Use rcFree() to free the memory occupied by rcLeanHeightfield.
+struct rcLeanHeightfield
+{
+	int width, height;					// Width and height of the heightfield.
+	int spanCount;						// Number of spans in the heightfield.
+	float bmin[3], bmax[3];				// Bounding box of the heightfield.
+	float cs, ch;						// Cell size and height.
+	int size;							// Memory required by the heighfield.
+};
+
+
 struct rcContour
 {
 	int* verts;			// Vertex coordinates, each vertex contains 4 components.
@ -338,6 +363,7 @@ template<class T> inline T rcAbs(T a) { return a < 0 ? -a : a; }
 template<class T> inline T rcSqr(T a) { return a*a; }
 template<class T> inline T rcClamp(T v, T mn, T mx) { return v < mn ? mn : (v > mx ? mx : v); }
 float rcSqrt(float x);
+inline int rcAlign4(int x) { return (x+3) & ~3; }

 // Common vector helper functions.
 inline void rcVcross(float* dest, const float* v1, const float* v2)
@ -567,17 +593,33 @@ void rcFilterWalkableLowHeightSpans(rcContext* ctx, int walkableHeight, rcHeight
 // Returns number of spans.
 int rcGetHeightFieldSpanCount(rcContext* ctx, rcHeightfield& hf);

+// Builds minimal representation of the heighfield.
+// Params:
+//	hf - (in) heightfield to be compacted
+//	chf - (out) lean heightfield representing the open space.
+// Returns pointer to the created lean heighfield.
+rcLeanHeightfield* rcBuildLeanHeightfield(rcContext* ctx, rcHeightfield& hf, const int walkableHeight);
+
 // Builds compact representation of the heightfield.
 // Params:
 //	walkableHeight - (in) minimum height where the agent can still walk
 //	walkableClimb - (in) maximum height between grid cells the agent can climb
-//  flags - (in) require flags for a cell to be included in the compact heightfield.
 //	hf - (in) heightfield to be compacted
 //	chf - (out) compact heightfield representing the open space.
 // Returns false if operation ran out of memory.
 bool rcBuildCompactHeightfield(rcContext* ctx, const int walkableHeight, const int walkableClimb,
 							   rcHeightfield& hf, rcCompactHeightfield& chf);

+// Builds compact representation of the heightfield from lean data.
+// Params:
+//	walkableHeight - (in) minimum height where the agent can still walk
+//	walkableClimb - (in) maximum height between grid cells the agent can climb
+//	lhf - (in) lean heightfield to be used as input
+//	chf - (out) compact heightfield representing the open space.
+// Returns false if operation ran out of memory.
+bool rcBuildCompactHeightfield(rcContext* ctx, const int walkableHeight, const int walkableClimb,
+							   rcLeanHeightfield& lhf, rcCompactHeightfield& chf);
+
 // Erodes walkable area.
 // Params:
 //  radius - (in) radius of erosion (max 255).
@ -610,6 +652,17 @@ void rcMarkConvexPolyArea(rcContext* ctx, const float* verts, const int nverts,
 						  const float hmin, const float hmax, unsigned char areaId,
 						  rcCompactHeightfield& chf);

+// Marks the area of the cylinder into the area type of the compact heightfield.
+// Params:
+//  pos - (in) center bottom location of hte cylinder.
+//  r - (in) radius of the cylinder.
+//  h - (in) height of the cylinder.
+//  areaId - (in) area ID to mark.
+//	chf - (in/out) compact heightfield to mark.
+void rcMarkCylinderArea(rcContext* ctx, const float* pos,
+						const float r, const float h, unsigned char areaId,
+						rcCompactHeightfield& chf);
+
 // Builds distance field and stores it into the combat heightfield.
 // Params:
 //	chf - (in/out) compact heightfield representing the open space.
@ -676,7 +729,7 @@ bool rcMergePolyMeshes(rcContext* ctx, rcPolyMesh** meshes, const int nmeshes, r
 //	chf - (in) compact height field, used to query height for new vertices.
 //  sampleDist - (in) spacing between height samples used to generate more detail into mesh.
 //  sampleMaxError - (in) maximum allowed distance between simplified detail mesh and height sample.
-//	pmdtl - (out) detail mesh.
+//	dmesh - (out) detail mesh.
 // Returns false if operation ran out of memory.
 bool rcBuildPolyMeshDetail(rcContext* ctx, const rcPolyMesh& mesh, const rcCompactHeightfield& chf,
 						   const float sampleDist, const float sampleMaxError,
--- a/Recast/Source/Recast.cpp
+++ b/Recast/Source/Recast.cpp
@ -396,6 +396,237 @@ bool rcBuildCompactHeightfield(rcContext* ctx, const int walkableHeight, const i
 	return true;
 }

+
+rcLeanHeightfield* rcBuildLeanHeightfield(rcContext* ctx, rcHeightfield& hf, const int walkableHeight)
+{
+	rcAssert(ctx);
+	
+	ctx->startTimer(RC_TIMER_BUILD_LEANHEIGHTFIELD);
+	
+	const int w = hf.width;
+	const int h = hf.height;
+	const int spanCount = rcGetHeightFieldSpanCount(ctx, hf);
+	
+	const int headerSize = rcAlign4(sizeof(rcLeanHeightfield));
+	const int countsSize = rcAlign4(sizeof(unsigned char)*w*h);
+	const int floorsSize = rcAlign4(sizeof(unsigned short)*spanCount);
+	const int areasSize = rcAlign4(sizeof(unsigned char)*spanCount);
+	const int dataSize = headerSize + countsSize + floorsSize + areasSize;
+	
+	unsigned char* data = (unsigned char*)rcAlloc(dataSize, RC_ALLOC_PERM);
+	if (!data)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildLeanHeightfield: Out of memory (%d)", dataSize);
+		return 0;
+	}
+	
+	rcLeanHeightfield* lhf = (rcLeanHeightfield*)&data[0];
+	unsigned char* counts = (unsigned char*)&data[headerSize];
+	unsigned short* floors = (unsigned short*)&data[headerSize+countsSize];
+	unsigned char* areas = (unsigned char*)&data[headerSize+countsSize+floorsSize];
+	
+	// Fill in header.
+	lhf->width = w;
+	lhf->height = h;
+	lhf->spanCount = spanCount;
+	rcVcopy(lhf->bmin, hf.bmin);
+	rcVcopy(lhf->bmax, hf.bmax);
+	lhf->cs = hf.cs;
+	lhf->ch = hf.ch;
+	lhf->size = dataSize;
+	
+	memset(counts, 0, w*h);
+	memset(floors, 0, sizeof(unsigned short)*spanCount);
+	memset(areas, RC_NULL_AREA, sizeof(unsigned char)*spanCount);
+	
+	const int MAX_HEIGHT = 0xffff;
+	const int MAX_Y = (1<<RC_SPAN_HEIGHT_BITS)-1;
+	const int MAX_H = (1<<(16-RC_SPAN_HEIGHT_BITS))-1;
+	
+	// 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];
+			
+			unsigned char& count = counts[x+y*w];
+			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;
+					const int space = top - bot;
+					unsigned short y = (unsigned short)rcClamp(bot, 0, MAX_Y);
+					// TODO: Make sure 'h' can encode at least walkableClimb worth of values. 
+					unsigned short h = 0; // Height stores the space above the walkable height.
+					if (space >= walkableHeight)
+						h = (unsigned short)rcClamp(1+(space - walkableHeight)/2, 0, MAX_H);
+					
+					floors[idx] = y | (h << RC_SPAN_HEIGHT_BITS);
+					areas[idx] = s->area;
+					idx++;
+					count++;
+				}
+				s = s->next;
+			}
+		}
+	}
+	
+	ctx->stopTimer(RC_TIMER_BUILD_LEANHEIGHTFIELD);
+	
+	return lhf;
+}
+
+bool rcBuildCompactHeightfield(rcContext* ctx, const int walkableHeight, const int walkableClimb,
+							   rcLeanHeightfield& lhf, rcCompactHeightfield& chf)
+{
+	rcAssert(ctx);
+	
+	ctx->startTimer(RC_TIMER_BUILD_COMPACTHEIGHTFIELD);
+	
+	const int w = lhf.width;
+	const int h = lhf.height;
+	const int spanCount = lhf.spanCount;
+	
+	// Fill in header.
+	chf.width = w;
+	chf.height = h;
+	chf.spanCount = spanCount;
+	chf.walkableHeight = walkableHeight;
+	chf.walkableClimb = walkableClimb;
+	chf.maxRegions = 0;
+	rcVcopy(chf.bmin, lhf.bmin);
+	rcVcopy(chf.bmax, lhf.bmax);
+	chf.bmax[1] += walkableHeight*lhf.ch;
+	chf.cs = lhf.cs;
+	chf.ch = lhf.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 headerSize = rcAlign4(sizeof(rcLeanHeightfield));
+	const int countsSize = rcAlign4(sizeof(unsigned char)*lhf.width*lhf.height);
+	const int floorsSize = rcAlign4(sizeof(unsigned short)*lhf.spanCount);
+	const unsigned char* data = (const unsigned char*)&lhf;
+	const unsigned char* counts = (const unsigned char*)&data[headerSize];
+	const unsigned short* floors = (const unsigned short*)&data[headerSize+countsSize];
+	const unsigned char* areas = (const unsigned char*)&data[headerSize+countsSize+floorsSize];
+	
+	const unsigned short MASK_Y = (1<<RC_SPAN_HEIGHT_BITS)-1;
+	const unsigned short MASK_H = (1<<(16-RC_SPAN_HEIGHT_BITS))-1;
+	
+	// Fill in cells and spans.
+	int idx = 0;
+	for (int y = 0; y < chf.height; ++y)
+	{
+		for (int x = 0; x < chf.width; ++x)
+		{
+			const int count = counts[x+y*chf.width];
+			
+			rcCompactCell& c = chf.cells[x+y*w];
+			c.index = idx;
+			c.count = count;
+			
+			for (int i = idx, ni = idx+count; i < ni; ++i)
+			{
+				unsigned short y = (unsigned short)(floors[i] & MASK_Y);
+				unsigned char h = (unsigned char)((floors[i]>>RC_SPAN_HEIGHT_BITS) & MASK_H);
+				chf.spans[i].y = y;
+				chf.spans[i].h = h == 0 ? 0 : (unsigned char)(walkableHeight + (h-1)*2);
+				chf.areas[i] = areas[i];
+			}
+			
+			idx += count;
+		}
+	}
+	
+	// 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 idx = k - (int)nc.index;
+							if (idx < 0 || idx > MAX_LAYERS)
+							{
+								tooHighNeighbour = rcMax(tooHighNeighbour, idx);
+								continue;
+							}
+							rcSetCon(s, dir, idx);
+							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)
 {
--- a/Recast/Source/RecastArea.cpp
+++ b/Recast/Source/RecastArea.cpp
@ -54,15 +54,27 @@ bool rcErodeWalkableArea(rcContext* ctx, int radius, rcCompactHeightfield& chf)
 			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)
+				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 ni = (int)chf.cells[nx+ny*w].index + rcGetCon(s, dir);
+							if (chf.areas[ni] != RC_NULL_AREA)
+							{
 								nc++;
 							}
+						}
+					}
 					// At least one missing neighbour.
 					if (nc != 4)
 						dist[i] = 0;
@ -414,3 +426,69 @@ void rcMarkConvexPolyArea(rcContext* ctx, const float* verts, const int nverts,

 	ctx->stopTimer(RC_TIMER_MARK_CONVEXPOLY_AREA);
 }
+
+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);
+}
--- a/RecastDemo/Build/Xcode/Recast.xcodeproj/project.pbxproj
+++ b/RecastDemo/Build/Xcode/Recast.xcodeproj/project.pbxproj
@ -25,11 +25,14 @@
 		6B2AEC530FFB8958005BE9CC /* Sample_TileMesh.cpp in Sources */ = {isa = PBXBuildFile; fileRef = 6B2AEC520FFB8958005BE9CC /* Sample_TileMesh.cpp */; };
 		6B324C66111C5D9A00EBD2FD /* ConvexVolumeTool.cpp in Sources */ = {isa = PBXBuildFile; fileRef = 6B324C65111C5D9A00EBD2FD /* ConvexVolumeTool.cpp */; };
 		6B555DB1100B212E00247EA3 /* imguiRenderGL.cpp in Sources */ = {isa = PBXBuildFile; fileRef = 6B555DB0100B212E00247EA3 /* imguiRenderGL.cpp */; };
+		6B5683B812D9E7D3000B9960 /* Sample_TempObstacles.cpp in Sources */ = {isa = PBXBuildFile; fileRef = 6B5683B712D9E7D3000B9960 /* Sample_TempObstacles.cpp */; };
 		6B62416A103434880002E346 /* RecastMeshDetail.cpp in Sources */ = {isa = PBXBuildFile; fileRef = 6B624169103434880002E346 /* RecastMeshDetail.cpp */; };
 		6B8036AE113BAABE005ED67B /* Sample_Debug.cpp in Sources */ = {isa = PBXBuildFile; fileRef = 6B8036AD113BAABE005ED67B /* Sample_Debug.cpp */; };
 		6B847777122D221D00ADF63D /* ValueHistory.cpp in Sources */ = {isa = PBXBuildFile; fileRef = 6B847776122D221C00ADF63D /* ValueHistory.cpp */; };
 		6B8632DA0F78122C00E2684A /* SDL.framework in Frameworks */ = {isa = PBXBuildFile; fileRef = 6B8632D90F78122C00E2684A /* SDL.framework */; };
 		6B8632DC0F78123E00E2684A /* OpenGL.framework in Frameworks */ = {isa = PBXBuildFile; fileRef = 6B8632DB0F78123E00E2684A /* OpenGL.framework */; };
+		6B8BA92812DAE1DF00EE6EFF /* lzf_c.c in Sources */ = {isa = PBXBuildFile; fileRef = 6B8BA92612DAE1DF00EE6EFF /* lzf_c.c */; };
+		6B8BA92912DAE1DF00EE6EFF /* lzf_d.c in Sources */ = {isa = PBXBuildFile; fileRef = 6B8BA92712DAE1DF00EE6EFF /* lzf_d.c */; };
 		6B8DE88910B69E3E00DF20FB /* DetourNavMesh.cpp in Sources */ = {isa = PBXBuildFile; fileRef = 6B8DE88710B69E3E00DF20FB /* DetourNavMesh.cpp */; };
 		6B8DE88A10B69E3E00DF20FB /* DetourNavMeshBuilder.cpp in Sources */ = {isa = PBXBuildFile; fileRef = 6B8DE88810B69E3E00DF20FB /* DetourNavMeshBuilder.cpp */; };
 		6B98463311E6144400FA177B /* Sample_SoloMeshTiled.cpp in Sources */ = {isa = PBXBuildFile; fileRef = 6B98463211E6144400FA177B /* Sample_SoloMeshTiled.cpp */; };
@ -94,6 +97,9 @@
 		6B555DAE100B211D00247EA3 /* imguiRenderGL.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = imguiRenderGL.h; path = ../../Include/imguiRenderGL.h; sourceTree = SOURCE_ROOT; };
 		6B555DB0100B212E00247EA3 /* imguiRenderGL.cpp */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.cpp.cpp; name = imguiRenderGL.cpp; path = ../../Source/imguiRenderGL.cpp; sourceTree = SOURCE_ROOT; };
 		6B555DF6100B273500247EA3 /* stb_truetype.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = stb_truetype.h; path = ../../Contrib/stb_truetype.h; sourceTree = SOURCE_ROOT; };
+		6B5683B612D9E7D3000B9960 /* Sample_TempObstacles.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = Sample_TempObstacles.h; path = ../../Include/Sample_TempObstacles.h; sourceTree = SOURCE_ROOT; };
+		6B5683B712D9E7D3000B9960 /* Sample_TempObstacles.cpp */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.cpp.cpp; name = Sample_TempObstacles.cpp; path = ../../Source/Sample_TempObstacles.cpp; sourceTree = SOURCE_ROOT; };
+		6B56847412DA05F2000B9960 /* lzf.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = lzf.h; path = "../../Contrib/liblzf-3.5/lzf.h"; sourceTree = SOURCE_ROOT; };
 		6B624169103434880002E346 /* RecastMeshDetail.cpp */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.cpp.cpp; name = RecastMeshDetail.cpp; path = ../../../Recast/Source/RecastMeshDetail.cpp; sourceTree = SOURCE_ROOT; };
 		6B8036AC113BAABE005ED67B /* Sample_Debug.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = Sample_Debug.h; path = ../../Include/Sample_Debug.h; sourceTree = SOURCE_ROOT; };
 		6B8036AD113BAABE005ED67B /* Sample_Debug.cpp */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.cpp.cpp; name = Sample_Debug.cpp; path = ../../Source/Sample_Debug.cpp; sourceTree = SOURCE_ROOT; };
@ -101,6 +107,9 @@
 		6B847776122D221C00ADF63D /* ValueHistory.cpp */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.cpp.cpp; name = ValueHistory.cpp; path = ../../Source/ValueHistory.cpp; sourceTree = SOURCE_ROOT; };
 		6B8632D90F78122C00E2684A /* SDL.framework */ = {isa = PBXFileReference; lastKnownFileType = wrapper.framework; name = SDL.framework; path = Library/Frameworks/SDL.framework; sourceTree = SDKROOT; };
 		6B8632DB0F78123E00E2684A /* OpenGL.framework */ = {isa = PBXFileReference; lastKnownFileType = wrapper.framework; name = OpenGL.framework; path = System/Library/Frameworks/OpenGL.framework; sourceTree = SDKROOT; };
+		6B8BA92612DAE1DF00EE6EFF /* lzf_c.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = lzf_c.c; path = "../../Contrib/liblzf-3.5/lzf_c.c"; sourceTree = SOURCE_ROOT; };
+		6B8BA92712DAE1DF00EE6EFF /* lzf_d.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = lzf_d.c; path = "../../Contrib/liblzf-3.5/lzf_d.c"; sourceTree = SOURCE_ROOT; };
+		6B8BA93912DAE5CC00EE6EFF /* lzfP.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = lzfP.h; path = "../../Contrib/liblzf-3.5/lzfP.h"; sourceTree = SOURCE_ROOT; };
 		6B8DE88710B69E3E00DF20FB /* DetourNavMesh.cpp */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.cpp.cpp; name = DetourNavMesh.cpp; path = ../../../Detour/Source/DetourNavMesh.cpp; sourceTree = SOURCE_ROOT; };
 		6B8DE88810B69E3E00DF20FB /* DetourNavMeshBuilder.cpp */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.cpp.cpp; name = DetourNavMeshBuilder.cpp; path = ../../../Detour/Source/DetourNavMeshBuilder.cpp; sourceTree = SOURCE_ROOT; };
 		6B8DE88B10B69E4C00DF20FB /* DetourNavMesh.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = DetourNavMesh.h; path = ../../../Detour/Include/DetourNavMesh.h; sourceTree = SOURCE_ROOT; };
@ -172,6 +181,10 @@
 		080E96DDFE201D6D7F000001 /* Classes */ = {
 			isa = PBXGroup;
 			children = (
+				6B56847412DA05F2000B9960 /* lzf.h */,
+				6B8BA93912DAE5CC00EE6EFF /* lzfP.h */,
+				6B8BA92612DAE1DF00EE6EFF /* lzf_c.c */,
+				6B8BA92712DAE1DF00EE6EFF /* lzf_d.c */,
 				6BB93C7610CFE1BD00F74F2B /* DebugUtils */,
 				6BDD9E030F91110C00904EEF /* Detour */,
 				6B137C7D0F7FCBE800459200 /* Recast */,
@ -310,6 +323,8 @@
 				6B2AEC520FFB8958005BE9CC /* Sample_TileMesh.cpp */,
 				6B8036AC113BAABE005ED67B /* Sample_Debug.h */,
 				6B8036AD113BAABE005ED67B /* Sample_Debug.cpp */,
+				6B5683B612D9E7D3000B9960 /* Sample_TempObstacles.h */,
+				6B5683B712D9E7D3000B9960 /* Sample_TempObstacles.cpp */,
 			);
 			name = Samples;
 			sourceTree = "<group>";
@ -465,6 +480,9 @@
 				6B9EFF0912281C3E00535FF1 /* DetourObstacleAvoidance.cpp in Sources */,
 				6B847777122D221D00ADF63D /* ValueHistory.cpp in Sources */,
 				6BD667DA123D28100021A7A4 /* CrowdManager.cpp in Sources */,
+				6B5683B812D9E7D3000B9960 /* Sample_TempObstacles.cpp in Sources */,
+				6B8BA92812DAE1DF00EE6EFF /* lzf_c.c in Sources */,
+				6B8BA92912DAE1DF00EE6EFF /* lzf_d.c in Sources */,
 			);
 			runOnlyForDeploymentPostprocessing = 0;
 		};
--- a/RecastDemo/Contrib/liblzf-3.5/Changes
+++ b/RecastDemo/Contrib/liblzf-3.5/Changes
@ -0,0 +1,125 @@
+3.5  Fri May  1 02:28:42 CEST 2009
+	- lzf_compress did sometimes write one octet past the given output
+          buffer (analyzed and nice testcase by Salvatore Sanfilippo).
+
+3.4  Tue Sep  2 06:45:00 CEST 2008
+	- the fix from 3.3 introduced a compression bug, which is fixed in
+          this release (which explains the mysterious prerelease...). Thanks
+          once more to Clément Calmels.
+
+3.3  Mon Aug 25 03:17:42 CEST 2008
+	- lzf_compress could access memory after the given input buffer
+          when outputting back references. reported with nice testcase
+          by Clément Calmels.
+
+3.2  Fri May  9 18:52:23 CEST 2008
+	- include a workaround for failing POSIX and real-world compliance
+          on 64 bit windows (microsoft claims to support POSIX, but is far
+          from it). (bug found and analysed nicely by John Lilley).
+
+3.1  Fri Nov 30 11:33:04 CET 2007
+	- IMPORTANT BUGFIX: a too long final literal run would corrupt data
+          in the encoder (this was introduced in 3.0 only, earlier versions
+          are safe).
+
+3.0  Tue Nov 13 22:13:09 CET 2007
+	- switched to 2-clause bsd with "GPL v2 or any later version" option.
+        - speed up compression by ~10-15% in common cases
+          by some manual unrolling.
+        - import some compiler tricks from JSON::XS, for further speed-ups.
+        - tune hash functions depending on ULTRA_FAST or VERY_FAST settings.
+        - for typical binary data (e.g. /bin/bash, memory dumps,
+          canterbury corpus etc.), speed is now comparable to fastlz, but
+          with better compression ratio. with ULTRA_FAST, it's typically
+          3-15% faster than fastlz while still maintaining a similar ratio.
+          (amd64 and core 2 duo, ymmv). thanks a lot for the competition :)
+        - undo inline assembly in compressor, it is no longer helpful.
+        - no changes to the decompressor.
+        - use a HLOG of 16 by default now (formerly 15).
+
+2.1  Fri Nov  2 13:34:42 CET 2007
+	- switched to a 2-clause bsd license with GPL exception.
+	- get rid of memcpy.
+        - tentatively use rep movsb on x86 and x86_64 (gcc only) for a
+          moderate speed improvement.
+        - applied patch by Kein-Hong Man to maske lzf.c compile under
+          the crippled mingw32 environment.
+
+2.0  Fri Feb 16 23:11:18 CET 2007
+	- replaced lzf demo by industrial-strength lzf utility with behaviour
+          similar other compression utilities. Thanks for Stefan Traby for
+          rewriting it!
+        - fix state arg prototype.
+
+1.7  Wed Sep 27 17:29:15 CEST 2006
+	- remove bogus "unlzf" patch.
+          note to self: never accept well-meant patches.
+	- make lzf more robust in presence of padding bytes or sudden eof.
+
+1.6  Fri Jul  7 17:31:26 CEST 2006
+	- the lzf example utility will now uncompress if invoked
+          as "unlzf" (patch by Scott Feeney).
+        - add CHECK_INPUT option that adds more checks for input
+          data validity.
+        - help applications that do not pass in the correct length
+          (such as php) by returning either EINVAL or E2BIG.
+        - default HLOG size is now 15 (cpu caches have increased).
+        - documentation fixes.
+
+1.51 Thu Apr 14 22:15:46 CEST 2005
+	- incorporated C♯ implementation of both the en- and decoder,
+          written by "Oren J. Maurice".
+          You can find it in the cs/ subdirectory.
+        - make FRST, NEXT IDX overridable if lzf_c.c is directly included
+          in the code.
+
+1.5  Tue Mar  8 20:23:23 CET 2005
+	- incorporated improvements by Adam D. Moss,
+          which includes a new VERY_FAST mode which is
+          a bit slower than ULTRA_FAST but much better,
+          and enabled it as default.
+
+1.401 Thu Mar  3 18:00:52 CET 2005
+	- use cstring in c++, not string.h.
+        - change of contact address.
+
+1.4  Wed Dec 15 08:08:49 CET 2004
+	- very very slight tuning of the hashing function.
+
+1.3  Thu Mar 25 15:41:17 CET 2004
+	- changed license of lzf core code to explicitly allow
+          relicensing under the GPLv2.
+	- added VPATH support as suggested by Björn Eriksson.
+
+1.2  Mon Dec 29 13:47:28 CET 2003
+	- avoid spurious memory accesses after the to-be-compressed
+          memory region. originally reported by Michal Zalewski.
+        - flip LZF_STACK_ARG meaning (to be correct).
+
+1.1  Tue Dec 23 05:48:32 CET 2003
+	- removed #warn directive, it's not worth the hassle.
+        - add LZF_STACK_ARG and AVOID_ERRNO configurations
+          for embedded systems.
+        - make it compile cleanly as c++.
+        - some small documentation and code fixes.
+
+1.0  Sun Nov 17 12:37:37 CET 2002
+	- slightly better compression ratio, almost unmeasurably
+          slower.
+        - some documentation fixes.
+
+0.4  Thu Jun 13 14:11:10 CEST 2002
+	- typoe fix.
+        - lzf demo program now properly decompresses small files.
+        - fix another 64 bit issue, found by Laurent Deniel.
+
+0.3  Tue Jan 16 13:21:14 CET 2001
+	- fix silly beginners 32/64 bit mistake.
+
+0.2  Thu Jan  4 05:56:42 CET 2001
+	- now totally independent of autoconfig, for
+          easy inclusion into other programs.
+        - much better fine-tuning, faster and better than 0.1.
+
+0.1  2000
+	- initial release.
--- a/RecastDemo/Contrib/liblzf-3.5/LICENSE
+++ b/RecastDemo/Contrib/liblzf-3.5/LICENSE
@ -0,0 +1,27 @@
+Copyright (c) 2000-2007 Marc Alexander Lehmann <schmorp@schmorp.de>
+
+Redistribution and use in source and binary forms, with or without modifica-
+tion, are permitted provided that the following conditions are met:
+
+  1.  Redistributions of source code must retain the above copyright notice,
+      this list of conditions and the following disclaimer.
+
+  2.  Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED
+WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MER-
+CHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.  IN NO
+EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPE-
+CIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
+OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTH-
+ERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
+OF THE POSSIBILITY OF SUCH DAMAGE.
+
+Alternatively, the following files carry an additional notice that
+explicitly allows relicensing under the GPLv2: lzf.c lzf.h lzfP.h lzf_c.c
+lzf_d.c
+
--- a/RecastDemo/Contrib/liblzf-3.5/Makefile
+++ b/RecastDemo/Contrib/liblzf-3.5/Makefile
@ -0,0 +1,66 @@
+VERSION = 3.5
+
+prefix = /usr/local
+exec_prefix = ${prefix}
+libdir = ${exec_prefix}/lib
+bindir = ${exec_prefix}/bin
+includedir = ${prefix}/include
+
+
+
+CC = gcc
+CPPFLAGS = -I. 
+CFLAGS = -g -O2 -O3 -funroll-all-loops
+LDFLAGS = 
+RANLIB = ranlib
+INSTALL = /usr/bin/install -c
+INSTALL_DATA = ${INSTALL} -m 644
+
+all: Makefile lzf
+
+clean:
+	-rm -f *.o *.a lzf bench
+
+lzf_c.o: lzf_c.c lzfP.h
+
+lzf_d.o: lzf_d.c lzfP.h
+
+lzf.o: lzf.c
+
+lzf: lzf.o liblzf.a
+
+lzfP.h: lzf.h config.h
+
+liblzf.a: lzf_c.o lzf_d.o
+	rm -f $@
+	$(AR) rc $@ $^
+	$(RANLIB) $@
+
+install: all
+	$(INSTALL) -d $(bindir)
+	$(INSTALL) -m 755 lzf $(bindir)
+	$(INSTALL) -d $(includedir)
+	$(INSTALL_DATA) lzf.h $(includedir)
+	$(INSTALL) -d $(libdir)
+	$(INSTALL_DATA) liblzf.a $(libdir)
+
+dist:
+	mkdir liblzf-$(VERSION)
+	tar c LICENSE README Makefile.in config.h.in \
+              configure configure.ac install-sh \
+	      cs/README cs/CLZF.cs \
+              lzf.h lzfP.h lzf_c.c lzf_d.c \
+              crc32.h lzf.c Changes \
+              | tar xpC liblzf-$(VERSION)
+	-chown -R root.root liblzf-$(VERSION)
+	chmod -R u=rwX,go=rX liblzf-$(VERSION)
+	tar cvf - liblzf-$(VERSION) | gzip -9 >liblzf-$(VERSION).tar.gz
+	rm -rf liblzf-$(VERSION)
+	ls -l liblzf-$(VERSION).tar.gz
+
+Makefile: Makefile.in
+	./config.status
+
+bench: Makefile liblzf.a bench.c
+	$(CC) $(CPPFLAGS) $(CFLAGS) -g -o bench bench.c -L. -llzf
+
--- a/RecastDemo/Contrib/liblzf-3.5/Makefile.in
+++ b/RecastDemo/Contrib/liblzf-3.5/Makefile.in
@ -0,0 +1,66 @@
+VERSION = 3.5
+
+prefix = @prefix@
+exec_prefix = @exec_prefix@
+libdir = @libdir@
+bindir = @bindir@
+includedir = @includedir@
+
+VPATH = @srcdir@
+
+CC = @CC@
+CPPFLAGS = -I. @CPPFLAGS@
+CFLAGS = @CFLAGS@
+LDFLAGS = @LDFLAGS@
+RANLIB = @RANLIB@
+INSTALL = @INSTALL@
+INSTALL_DATA = @INSTALL_DATA@
+
+all: Makefile lzf
+
+clean:
+	-rm -f *.o *.a lzf bench
+
+lzf_c.o: lzf_c.c lzfP.h
+
+lzf_d.o: lzf_d.c lzfP.h
+
+lzf.o: lzf.c
+
+lzf: lzf.o liblzf.a
+
+lzfP.h: lzf.h config.h
+
+liblzf.a: lzf_c.o lzf_d.o
+	rm -f $@
+	$(AR) rc $@ $^
+	$(RANLIB) $@
+
+install: all
+	$(INSTALL) -d $(bindir)
+	$(INSTALL) -m 755 lzf $(bindir)
+	$(INSTALL) -d $(includedir)
+	$(INSTALL_DATA) lzf.h $(includedir)
+	$(INSTALL) -d $(libdir)
+	$(INSTALL_DATA) liblzf.a $(libdir)
+
+dist:
+	mkdir liblzf-$(VERSION)
+	tar c LICENSE README Makefile.in config.h.in \
+              configure configure.ac install-sh \
+	      cs/README cs/CLZF.cs \
+              lzf.h lzfP.h lzf_c.c lzf_d.c \
+              crc32.h lzf.c Changes \
+              | tar xpC liblzf-$(VERSION)
+	-chown -R root.root liblzf-$(VERSION)
+	chmod -R u=rwX,go=rX liblzf-$(VERSION)
+	tar cvf - liblzf-$(VERSION) | gzip -9 >liblzf-$(VERSION).tar.gz
+	rm -rf liblzf-$(VERSION)
+	ls -l liblzf-$(VERSION).tar.gz
+
+Makefile: Makefile.in
+	./config.status
+
+bench: Makefile liblzf.a bench.c
+	$(CC) $(CPPFLAGS) $(CFLAGS) -g -o bench bench.c -L. -llzf
+
--- a/RecastDemo/Contrib/liblzf-3.5/README
+++ b/RecastDemo/Contrib/liblzf-3.5/README
@ -0,0 +1,29 @@
+DESCRIPTION
+    LZF is an extremely fast (not that much slower than a pure memcpy)
+    compression algorithm. It is ideal for applications where you want to
+    save *some* space but not at the cost of speed. It is ideal for
+    repetitive data as well. The module is self-contained and very small.
+
+    It's written in ISO-C with no external dependencies other than what
+    C provides and can easily be #include'd into your code, no makefile
+    changes or library builds requires.
+
+    A C♯ implementation without external dependencies is available, too.
+
+    I do not know for certain wether any patents in any countries apply
+    to this algorithm, but at the moment it is believed that it is free
+    from any patents. More importantly, it is also free to use in every
+    software package (see LICENSE).
+
+    See the lzf.h file for details on how the functions in this
+    mini-library are to be used.
+
+    NOTE: This package contains a very bare-bones command-line utility
+    which is neither optimized for speed nor for compression. This library
+    is really intented to be used inside larger programs.
+
+AUTHOR
+    This library was written by Marc Lehmann <schmorp@schmorp.de> (See also
+    http://software.schmorp.de/pkg/liblzf).
+
+
--- a/RecastDemo/Contrib/liblzf-3.5/config.h
+++ b/RecastDemo/Contrib/liblzf-3.5/config.h
@ -0,0 +1,17 @@
+/* config.h.  Generated from config.h.in by configure.  */
+/* config.h.in.  Generated automatically from configure.in by autoheader 2.13.  */
+
+/* Define to empty if the keyword does not work.  */
+/* #undef const */
+
+/* Define if you have the ANSI C header files.  */
+#define STDC_HEADERS 1
+
+/* The number of bytes in a int.  */
+#define SIZEOF_INT 4
+
+/* The number of bytes in a long.  */
+#define SIZEOF_LONG 8
+
+/* The number of bytes in a short.  */
+#define SIZEOF_SHORT 2
--- a/RecastDemo/Contrib/liblzf-3.5/config.h.in
+++ b/RecastDemo/Contrib/liblzf-3.5/config.h.in
@ -0,0 +1,16 @@
+/* config.h.in.  Generated automatically from configure.in by autoheader 2.13.  */
+
+/* Define to empty if the keyword does not work.  */
+#undef const
+
+/* Define if you have the ANSI C header files.  */
+#undef STDC_HEADERS
+
+/* The number of bytes in a int.  */
+#undef SIZEOF_INT
+
+/* The number of bytes in a long.  */
+#undef SIZEOF_LONG
+
+/* The number of bytes in a short.  */
+#undef SIZEOF_SHORT
--- a/RecastDemo/Contrib/liblzf-3.5/config.log
+++ b/RecastDemo/Contrib/liblzf-3.5/config.log
@ -0,0 +1,520 @@
+This file contains any messages produced by compilers while
+running configure, to aid debugging if configure makes a mistake.
+
+It was created by configure, which was
+generated by GNU Autoconf 2.60.  Invocation command line was
+
+  $ ./configure 
+
+## --------- ##
+## Platform. ##
+## --------- ##
+
+hostname = Mikko-Mononens-MacBook.local
+uname -m = i386
+uname -r = 10.6.0
+uname -s = Darwin
+uname -v = Darwin Kernel Version 10.6.0: Wed Nov 10 18:13:17 PST 2010; root:xnu-1504.9.26~3/RELEASE_I386
+
+/usr/bin/uname -p = i386
+/bin/uname -X     = unknown
+
+/bin/arch              = unknown
+/usr/bin/arch -k       = unknown
+/usr/convex/getsysinfo = unknown
+/usr/bin/hostinfo      = Mach kernel version:
+	 Darwin Kernel Version 10.6.0: Wed Nov 10 18:13:17 PST 2010; root:xnu-1504.9.26~3/RELEASE_I386
+Kernel configured for up to 2 processors.
+2 processors are physically available.
+2 processors are logically available.
+Processor type: i486 (Intel 80486)
+Processors active: 0 1
+Primary memory available: 2.00 gigabytes
+Default processor set: 63 tasks, 303 threads, 2 processors
+Load average: 0.87, Mach factor: 1.12
+/bin/machine           = unknown
+/usr/bin/oslevel       = unknown
+/bin/universe          = unknown
+
+PATH: /usr/bin
+PATH: /bin
+PATH: /usr/sbin
+PATH: /sbin
+PATH: /usr/local/bin
+PATH: /usr/X11/bin
+
+
+## ----------- ##
+## Core tests. ##
+## ----------- ##
+
+configure:1723: checking for gcc
+configure:1739: found /usr/bin/gcc
+configure:1750: result: gcc
+configure:1988: checking for C compiler version
+configure:1995: gcc --version >&5
+i686-apple-darwin10-gcc-4.2.1 (GCC) 4.2.1 (Apple Inc. build 5664)
+Copyright (C) 2007 Free Software Foundation, Inc.
+This is free software; see the source for copying conditions.  There is NO
+warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+
+configure:1998: $? = 0
+configure:2005: gcc -v >&5
+Using built-in specs.
+Target: i686-apple-darwin10
+Configured with: /var/tmp/gcc/gcc-5664~38/src/configure --disable-checking --enable-werror --prefix=/usr --mandir=/share/man --enable-languages=c,objc,c++,obj-c++ --program-transform-name=/^[cg][^.-]*$/s/$/-4.2/ --with-slibdir=/usr/lib --build=i686-apple-darwin10 --program-prefix=i686-apple-darwin10- --host=x86_64-apple-darwin10 --target=i686-apple-darwin10 --with-gxx-include-dir=/include/c++/4.2.1
+Thread model: posix
+gcc version 4.2.1 (Apple Inc. build 5664)
+configure:2008: $? = 0
+configure:2015: gcc -V >&5
+gcc-4.2: argument to `-V' is missing
+configure:2018: $? = 1
+configure:2041: checking for C compiler default output file name
+configure:2068: gcc    conftest.c  >&5
+configure:2071: $? = 0
+configure:2117: result: a.out
+configure:2122: checking whether the C compiler works
+configure:2132: ./a.out
+configure:2135: $? = 0
+configure:2152: result: yes
+configure:2159: checking whether we are cross compiling
+configure:2161: result: no
+configure:2164: checking for suffix of executables
+configure:2171: gcc -o conftest    conftest.c  >&5
+configure:2174: $? = 0
+configure:2198: result: 
+configure:2204: checking for suffix of object files
+configure:2230: gcc -c   conftest.c >&5
+configure:2233: $? = 0
+configure:2256: result: o
+configure:2260: checking whether we are using the GNU C compiler
+configure:2289: gcc -c   conftest.c >&5
+configure:2295: $? = 0
+configure:2302: test -z "$ac_c_werror_flag" || test ! -s conftest.err
+configure:2305: $? = 0
+configure:2312: test -s conftest.o
+configure:2315: $? = 0
+configure:2329: result: yes
+configure:2334: checking whether gcc accepts -g
+configure:2364: gcc -c -g  conftest.c >&5
+configure:2370: $? = 0
+configure:2377: test -z "$ac_c_werror_flag" || test ! -s conftest.err
+configure:2380: $? = 0
+configure:2387: test -s conftest.o
+configure:2390: $? = 0
+configure:2520: result: yes
+configure:2537: checking for gcc option to accept ISO C89
+configure:2611: gcc  -c -g -O2  conftest.c >&5
+configure:2617: $? = 0
+configure:2624: test -z "$ac_c_werror_flag" || test ! -s conftest.err
+configure:2627: $? = 0
+configure:2634: test -s conftest.o
+configure:2637: $? = 0
+configure:2657: result: none needed
+configure:2683: checking for special C compiler options needed for large files
+configure:2810: result: no
+configure:2816: checking for _FILE_OFFSET_BITS value needed for large files
+configure:2852: gcc -c -g -O2  conftest.c >&5
+configure:2858: $? = 0
+configure:2865: test -z "$ac_c_werror_flag" || test ! -s conftest.err
+configure:2868: $? = 0
+configure:2875: test -s conftest.o
+configure:2878: $? = 0
+configure:2959: result: no
+configure:2969: checking for _LARGE_FILES value needed for large files
+configure:3005: gcc -c -g -O2  conftest.c >&5
+configure:3011: $? = 0
+configure:3018: test -z "$ac_c_werror_flag" || test ! -s conftest.err
+configure:3021: $? = 0
+configure:3028: test -s conftest.o
+configure:3031: $? = 0
+configure:3112: result: no
+configure:3172: checking for gcc
+configure:3199: result: gcc
+configure:3437: checking for C compiler version
+configure:3444: gcc --version >&5
+i686-apple-darwin10-gcc-4.2.1 (GCC) 4.2.1 (Apple Inc. build 5664)
+Copyright (C) 2007 Free Software Foundation, Inc.
+This is free software; see the source for copying conditions.  There is NO
+warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+
+configure:3447: $? = 0
+configure:3454: gcc -v >&5
+Using built-in specs.
+Target: i686-apple-darwin10
+Configured with: /var/tmp/gcc/gcc-5664~38/src/configure --disable-checking --enable-werror --prefix=/usr --mandir=/share/man --enable-languages=c,objc,c++,obj-c++ --program-transform-name=/^[cg][^.-]*$/s/$/-4.2/ --with-slibdir=/usr/lib --build=i686-apple-darwin10 --program-prefix=i686-apple-darwin10- --host=x86_64-apple-darwin10 --target=i686-apple-darwin10 --with-gxx-include-dir=/include/c++/4.2.1
+Thread model: posix
+gcc version 4.2.1 (Apple Inc. build 5664)
+configure:3457: $? = 0
+configure:3464: gcc -V >&5
+gcc-4.2: argument to `-V' is missing
+configure:3467: $? = 1
+configure:3470: checking whether we are using the GNU C compiler
+configure:3539: result: yes
+configure:3544: checking whether gcc accepts -g
+configure:3730: result: yes
+configure:3747: checking for gcc option to accept ISO C89
+configure:3867: result: none needed
+configure:3928: checking for ranlib
+configure:3944: found /usr/bin/ranlib
+configure:3955: result: ranlib
+configure:4025: checking for a BSD-compatible install
+configure:4081: result: /usr/bin/install -c
+configure:4097: checking how to run the C preprocessor
+configure:4137: gcc -E  conftest.c
+configure:4143: $? = 0
+configure:4181: gcc -E  conftest.c
+conftest.c:9:28: error: ac_nonexistent.h: No such file or directory
+configure:4187: $? = 1
+configure: failed program was:
+| /* confdefs.h.  */
+| #define PACKAGE_NAME ""
+| #define PACKAGE_TARNAME ""
+| #define PACKAGE_VERSION ""
+| #define PACKAGE_STRING ""
+| #define PACKAGE_BUGREPORT ""
+| #define _GNU_SOURCE 1
+| /* end confdefs.h.  */
+| #include <ac_nonexistent.h>
+configure:4227: result: gcc -E
+configure:4256: gcc -E  conftest.c
+configure:4262: $? = 0
+configure:4300: gcc -E  conftest.c
+conftest.c:9:28: error: ac_nonexistent.h: No such file or directory
+configure:4306: $? = 1
+configure: failed program was:
+| /* confdefs.h.  */
+| #define PACKAGE_NAME ""
+| #define PACKAGE_TARNAME ""
+| #define PACKAGE_VERSION ""
+| #define PACKAGE_STRING ""
+| #define PACKAGE_BUGREPORT ""
+| #define _GNU_SOURCE 1
+| /* end confdefs.h.  */
+| #include <ac_nonexistent.h>
+configure:4351: checking for grep that handles long lines and -e
+configure:4425: result: /usr/bin/grep
+configure:4430: checking for egrep
+configure:4508: result: /usr/bin/grep -E
+configure:4513: checking for ANSI C header files
+configure:4543: gcc -c -g -O2  conftest.c >&5
+configure:4549: $? = 0
+configure:4556: test -z "$ac_c_werror_flag" || test ! -s conftest.err
+configure:4559: $? = 0
+configure:4566: test -s conftest.o
+configure:4569: $? = 0
+configure:4665: gcc -o conftest -g -O2   conftest.c  >&5
+configure:4668: $? = 0
+configure:4674: ./conftest
+configure:4677: $? = 0
+configure:4694: result: yes
+configure:4719: checking for sys/types.h
+configure:4740: gcc -c -g -O2  conftest.c >&5
+configure:4746: $? = 0
+configure:4753: test -z "$ac_c_werror_flag" || test ! -s conftest.err
+configure:4756: $? = 0
+configure:4763: test -s conftest.o
+configure:4766: $? = 0
+configure:4779: result: yes
+configure:4719: checking for sys/stat.h
+configure:4740: gcc -c -g -O2  conftest.c >&5
+configure:4746: $? = 0
+configure:4753: test -z "$ac_c_werror_flag" || test ! -s conftest.err
+configure:4756: $? = 0
+configure:4763: test -s conftest.o
+configure:4766: $? = 0
+configure:4779: result: yes
+configure:4719: checking for stdlib.h
+configure:4740: gcc -c -g -O2  conftest.c >&5
+configure:4746: $? = 0
+configure:4753: test -z "$ac_c_werror_flag" || test ! -s conftest.err
+configure:4756: $? = 0
+configure:4763: test -s conftest.o
+configure:4766: $? = 0
+configure:4779: result: yes
+configure:4719: checking for string.h
+configure:4740: gcc -c -g -O2  conftest.c >&5
+configure:4746: $? = 0
+configure:4753: test -z "$ac_c_werror_flag" || test ! -s conftest.err
+configure:4756: $? = 0
+configure:4763: test -s conftest.o
+configure:4766: $? = 0
+configure:4779: result: yes
+configure:4719: checking for memory.h
+configure:4740: gcc -c -g -O2  conftest.c >&5
+configure:4746: $? = 0
+configure:4753: test -z "$ac_c_werror_flag" || test ! -s conftest.err
+configure:4756: $? = 0
+configure:4763: test -s conftest.o
+configure:4766: $? = 0
+configure:4779: result: yes
+configure:4719: checking for strings.h
+configure:4740: gcc -c -g -O2  conftest.c >&5
+configure:4746: $? = 0
+configure:4753: test -z "$ac_c_werror_flag" || test ! -s conftest.err
+configure:4756: $? = 0
+configure:4763: test -s conftest.o
+configure:4766: $? = 0
+configure:4779: result: yes
+configure:4719: checking for inttypes.h
+configure:4740: gcc -c -g -O2  conftest.c >&5
+configure:4746: $? = 0
+configure:4753: test -z "$ac_c_werror_flag" || test ! -s conftest.err
+configure:4756: $? = 0
+configure:4763: test -s conftest.o
+configure:4766: $? = 0
+configure:4779: result: yes
+configure:4719: checking for stdint.h
+configure:4740: gcc -c -g -O2  conftest.c >&5
+configure:4746: $? = 0
+configure:4753: test -z "$ac_c_werror_flag" || test ! -s conftest.err
+configure:4756: $? = 0
+configure:4763: test -s conftest.o
+configure:4766: $? = 0
+configure:4779: result: yes
+configure:4719: checking for unistd.h
+configure:4740: gcc -c -g -O2  conftest.c >&5
+configure:4746: $? = 0
+configure:4753: test -z "$ac_c_werror_flag" || test ! -s conftest.err
+configure:4756: $? = 0
+configure:4763: test -s conftest.o
+configure:4766: $? = 0
+configure:4779: result: yes
+configure:4791: checking for short
+configure:4821: gcc -c -g -O2  conftest.c >&5
+configure:4827: $? = 0
+configure:4834: test -z "$ac_c_werror_flag" || test ! -s conftest.err
+configure:4837: $? = 0
+configure:4844: test -s conftest.o
+configure:4847: $? = 0
+configure:4859: result: yes
+configure:4862: checking size of short
+configure:5250: gcc -o conftest -g -O2   conftest.c  >&5
+configure:5253: $? = 0
+configure:5259: ./conftest
+configure:5262: $? = 0
+configure:5284: result: 2
+configure:5291: checking for int
+configure:5321: gcc -c -g -O2  conftest.c >&5
+configure:5327: $? = 0
+configure:5334: test -z "$ac_c_werror_flag" || test ! -s conftest.err
+configure:5337: $? = 0
+configure:5344: test -s conftest.o
+configure:5347: $? = 0
+configure:5359: result: yes
+configure:5362: checking size of int
+configure:5750: gcc -o conftest -g -O2   conftest.c  >&5
+configure:5753: $? = 0
+configure:5759: ./conftest
+configure:5762: $? = 0
+configure:5784: result: 4
+configure:5791: checking for long
+configure:5821: gcc -c -g -O2  conftest.c >&5
+configure:5827: $? = 0
+configure:5834: test -z "$ac_c_werror_flag" || test ! -s conftest.err
+configure:5837: $? = 0
+configure:5844: test -s conftest.o
+configure:5847: $? = 0
+configure:5859: result: yes
+configure:5862: checking size of long
+configure:6250: gcc -o conftest -g -O2   conftest.c  >&5
+configure:6253: $? = 0
+configure:6259: ./conftest
+configure:6262: $? = 0
+configure:6284: result: 8
+configure:6292: checking for an ANSI C-conforming const
+configure:6367: gcc -c -g -O2  conftest.c >&5
+configure:6373: $? = 0
+configure:6380: test -z "$ac_c_werror_flag" || test ! -s conftest.err
+configure:6383: $? = 0
+configure:6390: test -s conftest.o
+configure:6393: $? = 0
+configure:6405: result: yes
+configure:6415: checking for inline
+configure:6441: gcc -c -g -O2  conftest.c >&5
+configure:6447: $? = 0
+configure:6454: test -z "$ac_c_werror_flag" || test ! -s conftest.err
+configure:6457: $? = 0
+configure:6464: test -s conftest.o
+configure:6467: $? = 0
+configure:6482: result: inline
+configure:6516: checking getopt.h usability
+configure:6533: gcc -c -g -O2  conftest.c >&5
+configure:6539: $? = 0
+configure:6546: test -z "$ac_c_werror_flag" || test ! -s conftest.err
+configure:6549: $? = 0
+configure:6556: test -s conftest.o
+configure:6559: $? = 0
+configure:6570: result: yes
+configure:6574: checking getopt.h presence
+configure:6589: gcc -E  conftest.c
+configure:6595: $? = 0
+configure:6616: result: yes
+configure:6644: checking for getopt.h
+configure:6652: result: yes
+configure:6669: checking for getopt_long
+configure:6725: gcc -o conftest -g -O2   conftest.c  >&5
+configure:6731: $? = 0
+configure:6738: test -z "$ac_c_werror_flag" || test ! -s conftest.err
+configure:6741: $? = 0
+configure:6748: test -s conftest
+configure:6751: $? = 0
+configure:6765: result: yes
+configure:6885: creating ./config.status
+
+## ---------------------- ##
+## Running config.status. ##
+## ---------------------- ##
+
+This file was extended by config.status, which was
+generated by GNU Autoconf 2.60.  Invocation command line was
+
+  CONFIG_FILES    = 
+  CONFIG_HEADERS  = 
+  CONFIG_LINKS    = 
+  CONFIG_COMMANDS = 
+  $ ./config.status 
+
+on Mikko-Mononens-MacBook.local
+
+config.status:583: creating Makefile
+config.status:583: creating config.h
+
+## ---------------- ##
+## Cache variables. ##
+## ---------------- ##
+
+ac_cv_c_compiler_gnu=yes
+ac_cv_c_const=yes
+ac_cv_c_inline=inline
+ac_cv_env_CC_set=
+ac_cv_env_CC_value=
+ac_cv_env_CFLAGS_set=
+ac_cv_env_CFLAGS_value=
+ac_cv_env_CPPFLAGS_set=
+ac_cv_env_CPPFLAGS_value=
+ac_cv_env_CPP_set=
+ac_cv_env_CPP_value=
+ac_cv_env_LDFLAGS_set=
+ac_cv_env_LDFLAGS_value=
+ac_cv_env_build_alias_set=
+ac_cv_env_build_alias_value=
+ac_cv_env_host_alias_set=
+ac_cv_env_host_alias_value=
+ac_cv_env_target_alias_set=
+ac_cv_env_target_alias_value=
+ac_cv_func_getopt_long=yes
+ac_cv_header_getopt_h=yes
+ac_cv_header_inttypes_h=yes
+ac_cv_header_memory_h=yes
+ac_cv_header_stdc=yes
+ac_cv_header_stdint_h=yes
+ac_cv_header_stdlib_h=yes
+ac_cv_header_string_h=yes
+ac_cv_header_strings_h=yes
+ac_cv_header_sys_stat_h=yes
+ac_cv_header_sys_types_h=yes
+ac_cv_header_unistd_h=yes
+ac_cv_objext=o
+ac_cv_path_EGREP='/usr/bin/grep -E'
+ac_cv_path_GREP=/usr/bin/grep
+ac_cv_path_install='/usr/bin/install -c'
+ac_cv_prog_CPP='gcc -E'
+ac_cv_prog_ac_ct_CC=gcc
+ac_cv_prog_ac_ct_RANLIB=ranlib
+ac_cv_prog_cc_c89=
+ac_cv_prog_cc_g=yes
+ac_cv_sizeof_int=4
+ac_cv_sizeof_long=8
+ac_cv_sizeof_short=2
+ac_cv_sys_file_offset_bits=no
+ac_cv_sys_large_files=no
+ac_cv_sys_largefile_CC=no
+ac_cv_type_int=yes
+ac_cv_type_long=yes
+ac_cv_type_short=yes
+
+## ----------------- ##
+## Output variables. ##
+## ----------------- ##
+
+CC='gcc'
+CFLAGS='-g -O2 -O3 -funroll-all-loops'
+CPP='gcc -E'
+CPPFLAGS=''
+DEFS='-DHAVE_CONFIG_H'
+ECHO_C='ECHO_N=''
+ECHO_T=''
+EGREP='/usr/bin/grep -E'
+EXEEXT=''
+GREP='/usr/bin/grep'
+INSTALL_DATA='${INSTALL} -m 644'
+INSTALL_PROGRAM='${INSTALL}'
+INSTALL_SCRIPT='${INSTALL}'
+LDFLAGS=''
+LIBOBJS=''
+LIBS=''
+LTLIBOBJS=''
+OBJEXT='o'
+PACKAGE_BUGREPORT=''
+PACKAGE_NAME=''
+PACKAGE_STRING=''
+PACKAGE_TARNAME=''
+PACKAGE_VERSION=''
+PATH_SEPARATOR=':'
+RANLIB='ranlib'
+SHELL='/bin/sh'
+ac_ct_CC='gcc'
+bindir='${exec_prefix}/bin'
+build_alias=''
+datadir='${datarootdir}'
+datarootdir='${prefix}/share'
+docdir='${datarootdir}/doc/${PACKAGE}'
+dvidir='${docdir}'
+exec_prefix='${prefix}'
+host_alias=''
+htmldir='${docdir}'
+includedir='${prefix}/include'
+infodir='${datarootdir}/info'
+libdir='${exec_prefix}/lib'
+libexecdir='${exec_prefix}/libexec'
+localedir='${datarootdir}/locale'
+localstatedir='${prefix}/var'
+mandir='${datarootdir}/man'
+oldincludedir='/usr/include'
+pdfdir='${docdir}'
+prefix='/usr/local'
+program_transform_name='s,x,x,'
+psdir='${docdir}'
+sbindir='${exec_prefix}/sbin'
+sharedstatedir='${prefix}/com'
+sysconfdir='${prefix}/etc'
+target_alias=''
+
+## ----------- ##
+## confdefs.h. ##
+## ----------- ##
+
+#define PACKAGE_NAME ""
+#define PACKAGE_TARNAME ""
+#define PACKAGE_VERSION ""
+#define PACKAGE_STRING ""
+#define PACKAGE_BUGREPORT ""
+#define _GNU_SOURCE 1
+#define STDC_HEADERS 1
+#define HAVE_SYS_TYPES_H 1
+#define HAVE_SYS_STAT_H 1
+#define HAVE_STDLIB_H 1
+#define HAVE_STRING_H 1
+#define HAVE_MEMORY_H 1
+#define HAVE_STRINGS_H 1
+#define HAVE_INTTYPES_H 1
+#define HAVE_STDINT_H 1
+#define HAVE_UNISTD_H 1
+#define SIZEOF_SHORT 2
+#define SIZEOF_INT 4
+#define SIZEOF_LONG 8
+#define HAVE_GETOPT_H 1
+#define HAVE_GETOPT_LONG 1
+
+configure: exit 0
--- a/RecastDemo/Contrib/liblzf-3.5/config.status
+++ b/RecastDemo/Contrib/liblzf-3.5/config.status
@ -0,0 +1,826 @@
+#! /bin/sh
+# Generated by configure.
+# Run this file to recreate the current configuration.
+# Compiler output produced by configure, useful for debugging
+# configure, is in config.log if it exists.
+
+debug=false
+ac_cs_recheck=false
+ac_cs_silent=false
+SHELL=${CONFIG_SHELL-/bin/sh}
+## --------------------- ##
+## M4sh Initialization.  ##
+## --------------------- ##
+
+# Be Bourne compatible
+if test -n "${ZSH_VERSION+set}" && (emulate sh) >/dev/null 2>&1; then
+  emulate sh
+  NULLCMD=:
+  # Zsh 3.x and 4.x performs word splitting on ${1+"$@"}, which
+  # is contrary to our usage.  Disable this feature.
+  alias -g '${1+"$@"}'='"$@"'
+  setopt NO_GLOB_SUBST
+else
+  case `(set -o) 2>/dev/null` in *posix*) set -o posix;; esac
+fi
+BIN_SH=xpg4; export BIN_SH # for Tru64
+DUALCASE=1; export DUALCASE # for MKS sh
+
+
+# PATH needs CR
+# Avoid depending upon Character Ranges.
+as_cr_letters='abcdefghijklmnopqrstuvwxyz'
+as_cr_LETTERS='ABCDEFGHIJKLMNOPQRSTUVWXYZ'
+as_cr_Letters=$as_cr_letters$as_cr_LETTERS
+as_cr_digits='0123456789'
+as_cr_alnum=$as_cr_Letters$as_cr_digits
+
+# The user is always right.
+if test "${PATH_SEPARATOR+set}" != set; then
+  echo "#! /bin/sh" >conf$$.sh
+  echo  "exit 0"   >>conf$$.sh
+  chmod +x conf$$.sh
+  if (PATH="/nonexistent;."; conf$$.sh) >/dev/null 2>&1; then
+    PATH_SEPARATOR=';'
+  else
+    PATH_SEPARATOR=:
+  fi
+  rm -f conf$$.sh
+fi
+
+# Support unset when possible.
+if ( (MAIL=60; unset MAIL) || exit) >/dev/null 2>&1; then
+  as_unset=unset
+else
+  as_unset=false
+fi
+
+
+# IFS
+# We need space, tab and new line, in precisely that order.  Quoting is
+# there to prevent editors from complaining about space-tab.
+# (If _AS_PATH_WALK were called with IFS unset, it would disable word
+# splitting by setting IFS to empty value.)
+as_nl='
+'
+IFS=" ""	$as_nl"
+
+# Find who we are.  Look in the path if we contain no directory separator.
+case $0 in
+  *[\\/]* ) as_myself=$0 ;;
+  *) as_save_IFS=$IFS; IFS=$PATH_SEPARATOR
+for as_dir in $PATH
+do
+  IFS=$as_save_IFS
+  test -z "$as_dir" && as_dir=.
+  test -r "$as_dir/$0" && as_myself=$as_dir/$0 && break
+done
+IFS=$as_save_IFS
+
+     ;;
+esac
+# We did not find ourselves, most probably we were run as `sh COMMAND'
+# in which case we are not to be found in the path.
+if test "x$as_myself" = x; then
+  as_myself=$0
+fi
+if test ! -f "$as_myself"; then
+  echo "$as_myself: error: cannot find myself; rerun with an absolute file name" >&2
+  { (exit 1); exit 1; }
+fi
+
+# Work around bugs in pre-3.0 UWIN ksh.
+for as_var in ENV MAIL MAILPATH
+do ($as_unset $as_var) >/dev/null 2>&1 && $as_unset $as_var
+done
+PS1='$ '
+PS2='> '
+PS4='+ '
+
+# NLS nuisances.
+for as_var in \
+  LANG LANGUAGE LC_ADDRESS LC_ALL LC_COLLATE LC_CTYPE LC_IDENTIFICATION \
+  LC_MEASUREMENT LC_MESSAGES LC_MONETARY LC_NAME LC_NUMERIC LC_PAPER \
+  LC_TELEPHONE LC_TIME
+do
+  if (set +x; test -z "`(eval $as_var=C; export $as_var) 2>&1`"); then
+    eval $as_var=C; export $as_var
+  else
+    ($as_unset $as_var) >/dev/null 2>&1 && $as_unset $as_var
+  fi
+done
+
+# Required to use basename.
+if expr a : '\(a\)' >/dev/null 2>&1 &&
+   test "X`expr 00001 : '.*\(...\)'`" = X001; then
+  as_expr=expr
+else
+  as_expr=false
+fi
+
+if (basename -- /) >/dev/null 2>&1 && test "X`basename -- / 2>&1`" = "X/"; then
+  as_basename=basename
+else
+  as_basename=false
+fi
+
+
+# Name of the executable.
+as_me=`$as_basename -- "$0" ||
+$as_expr X/"$0" : '.*/\([^/][^/]*\)/*$' \| \
+	 X"$0" : 'X\(//\)$' \| \
+	 X"$0" : 'X\(/\)' \| . 2>/dev/null ||
+echo X/"$0" |
+    sed '/^.*\/\([^/][^/]*\)\/*$/{
+	    s//\1/
+	    q
+	  }
+	  /^X\/\(\/\/\)$/{
+	    s//\1/
+	    q
+	  }
+	  /^X\/\(\/\).*/{
+	    s//\1/
+	    q
+	  }
+	  s/.*/./; q'`
+
+# CDPATH.
+$as_unset CDPATH
+
+
+
+  as_lineno_1=$LINENO
+  as_lineno_2=$LINENO
+  test "x$as_lineno_1" != "x$as_lineno_2" &&
+  test "x`expr $as_lineno_1 + 1`" = "x$as_lineno_2" || {
+
+  # Create $as_me.lineno as a copy of $as_myself, but with $LINENO
+  # uniformly replaced by the line number.  The first 'sed' inserts a
+  # line-number line after each line using $LINENO; the second 'sed'
+  # does the real work.  The second script uses 'N' to pair each
+  # line-number line with the line containing $LINENO, and appends
+  # trailing '-' during substitution so that $LINENO is not a special
+  # case at line end.
+  # (Raja R Harinath suggested sed '=', and Paul Eggert wrote the
+  # scripts with optimization help from Paolo Bonzini.  Blame Lee
+  # E. McMahon (1931-1989) for sed's syntax.  :-)
+  sed -n '
+    p
+    /[$]LINENO/=
+  ' <$as_myself |
+    sed '
+      s/[$]LINENO.*/&-/
+      t lineno
+      b
+      :lineno
+      N
+      :loop
+      s/[$]LINENO\([^'$as_cr_alnum'_].*\n\)\(.*\)/\2\1\2/
+      t loop
+      s/-\n.*//
+    ' >$as_me.lineno &&
+  chmod +x "$as_me.lineno" ||
+    { echo "$as_me: error: cannot create $as_me.lineno; rerun with a POSIX shell" >&2
+   { (exit 1); exit 1; }; }
+
+  # Don't try to exec as it changes $[0], causing all sort of problems
+  # (the dirname of $[0] is not the place where we might find the
+  # original and so on.  Autoconf is especially sensitive to this).
+  . "./$as_me.lineno"
+  # Exit status is that of the last command.
+  exit
+}
+
+
+if (as_dir=`dirname -- /` && test "X$as_dir" = X/) >/dev/null 2>&1; then
+  as_dirname=dirname
+else
+  as_dirname=false
+fi
+
+ECHO_C= ECHO_N= ECHO_T=
+case `echo -n x` in
+-n*)
+  case `echo 'x\c'` in
+  *c*) ECHO_T='	';;	# ECHO_T is single tab character.
+  *)   ECHO_C='\c';;
+  esac;;
+*)
+  ECHO_N='-n';;
+esac
+
+if expr a : '\(a\)' >/dev/null 2>&1 &&
+   test "X`expr 00001 : '.*\(...\)'`" = X001; then
+  as_expr=expr
+else
+  as_expr=false
+fi
+
+rm -f conf$$ conf$$.exe conf$$.file
+if test -d conf$$.dir; then
+  rm -f conf$$.dir/conf$$.file
+else
+  rm -f conf$$.dir
+  mkdir conf$$.dir
+fi
+echo >conf$$.file
+if ln -s conf$$.file conf$$ 2>/dev/null; then
+  as_ln_s='ln -s'
+  # ... but there are two gotchas:
+  # 1) On MSYS, both `ln -s file dir' and `ln file dir' fail.
+  # 2) DJGPP < 2.04 has no symlinks; `ln -s' creates a wrapper executable.
+  # In both cases, we have to default to `cp -p'.
+  ln -s conf$$.file conf$$.dir 2>/dev/null && test ! -f conf$$.exe ||
+    as_ln_s='cp -p'
+elif ln conf$$.file conf$$ 2>/dev/null; then
+  as_ln_s=ln
+else
+  as_ln_s='cp -p'
+fi
+rm -f conf$$ conf$$.exe conf$$.dir/conf$$.file conf$$.file
+rmdir conf$$.dir 2>/dev/null
+
+if mkdir -p . 2>/dev/null; then
+  as_mkdir_p=:
+else
+  test -d ./-p && rmdir ./-p
+  as_mkdir_p=false
+fi
+
+# Find out whether ``test -x'' works.  Don't use a zero-byte file, as
+# systems may use methods other than mode bits to determine executability.
+cat >conf$$.file <<_ASEOF
+#! /bin/sh
+exit 0
+_ASEOF
+chmod +x conf$$.file
+if test -x conf$$.file >/dev/null 2>&1; then
+  as_executable_p="test -x"
+else
+  as_executable_p=:
+fi
+rm -f conf$$.file
+
+# Sed expression to map a string onto a valid CPP name.
+as_tr_cpp="eval sed 'y%*$as_cr_letters%P$as_cr_LETTERS%;s%[^_$as_cr_alnum]%_%g'"
+
+# Sed expression to map a string onto a valid variable name.
+as_tr_sh="eval sed 'y%*+%pp%;s%[^_$as_cr_alnum]%_%g'"
+
+
+exec 6>&1
+
+# Save the log message, to keep $[0] and so on meaningful, and to
+# report actual input values of CONFIG_FILES etc. instead of their
+# values after options handling.
+ac_log="
+This file was extended by $as_me, which was
+generated by GNU Autoconf 2.60.  Invocation command line was
+
+  CONFIG_FILES    = $CONFIG_FILES
+  CONFIG_HEADERS  = $CONFIG_HEADERS
+  CONFIG_LINKS    = $CONFIG_LINKS
+  CONFIG_COMMANDS = $CONFIG_COMMANDS
+  $ $0 $@
+
+on `(hostname || uname -n) 2>/dev/null | sed 1q`
+"
+
+# Files that config.status was made for.
+config_files=" Makefile"
+config_headers=" config.h"
+
+ac_cs_usage="\
+\`$as_me' instantiates files from templates according to the
+current configuration.
+
+Usage: $0 [OPTIONS] [FILE]...
+
+  -h, --help       print this help, then exit
+  -V, --version    print version number, then exit
+  -q, --quiet      do not print progress messages
+  -d, --debug      don't remove temporary files
+      --recheck    update $as_me by reconfiguring in the same conditions
+  --file=FILE[:TEMPLATE]
+		   instantiate the configuration file FILE
+  --header=FILE[:TEMPLATE]
+		   instantiate the configuration header FILE
+
+Configuration files:
+$config_files
+
+Configuration headers:
+$config_headers
+
+Report bugs to <bug-autoconf@gnu.org>."
+
+ac_cs_version="\
+config.status
+configured by ./configure, generated by GNU Autoconf 2.60,
+  with options \"\"
+
+Copyright (C) 2006 Free Software Foundation, Inc.
+This config.status script is free software; the Free Software Foundation
+gives unlimited permission to copy, distribute and modify it."
+
+ac_pwd='/Users/memon/Code/recastnavigation/RecastDemo/Contrib/liblzf-3.5'
+srcdir='.'
+INSTALL='/usr/bin/install -c'
+# If no file are specified by the user, then we need to provide default
+# value.  By we need to know if files were specified by the user.
+ac_need_defaults=:
+while test $# != 0
+do
+  case $1 in
+  --*=*)
+    ac_option=`expr "X$1" : 'X\([^=]*\)='`
+    ac_optarg=`expr "X$1" : 'X[^=]*=\(.*\)'`
+    ac_shift=:
+    ;;
+  *)
+    ac_option=$1
+    ac_optarg=$2
+    ac_shift=shift
+    ;;
+  esac
+
+  case $ac_option in
+  # Handling of the options.
+  -recheck | --recheck | --rechec | --reche | --rech | --rec | --re | --r)
+    ac_cs_recheck=: ;;
+  --version | --versio | --versi | --vers | --ver | --ve | --v | -V )
+    echo "$ac_cs_version"; exit ;;
+  --debug | --debu | --deb | --de | --d | -d )
+    debug=: ;;
+  --file | --fil | --fi | --f )
+    $ac_shift
+    CONFIG_FILES="$CONFIG_FILES $ac_optarg"
+    ac_need_defaults=false;;
+  --header | --heade | --head | --hea )
+    $ac_shift
+    CONFIG_HEADERS="$CONFIG_HEADERS $ac_optarg"
+    ac_need_defaults=false;;
+  --he | --h)
+    # Conflict between --help and --header
+    { echo "$as_me: error: ambiguous option: $1
+Try \`$0 --help' for more information." >&2
+   { (exit 1); exit 1; }; };;
+  --help | --hel | -h )
+    echo "$ac_cs_usage"; exit ;;
+  -q | -quiet | --quiet | --quie | --qui | --qu | --q \
+  | -silent | --silent | --silen | --sile | --sil | --si | --s)
+    ac_cs_silent=: ;;
+
+  # This is an error.
+  -*) { echo "$as_me: error: unrecognized option: $1
+Try \`$0 --help' for more information." >&2
+   { (exit 1); exit 1; }; } ;;
+
+  *) ac_config_targets="$ac_config_targets $1"
+     ac_need_defaults=false ;;
+
+  esac
+  shift
+done
+
+ac_configure_extra_args=
+
+if $ac_cs_silent; then
+  exec 6>/dev/null
+  ac_configure_extra_args="$ac_configure_extra_args --silent"
+fi
+
+if $ac_cs_recheck; then
+  echo "running CONFIG_SHELL=/bin/sh /bin/sh ./configure " $ac_configure_extra_args " --no-create --no-recursion" >&6
+  CONFIG_SHELL=/bin/sh
+  export CONFIG_SHELL
+  exec /bin/sh "./configure" $ac_configure_extra_args --no-create --no-recursion
+fi
+
+exec 5>>config.log
+{
+  echo
+  sed 'h;s/./-/g;s/^.../## /;s/...$/ ##/;p;x;p;x' <<_ASBOX
+## Running $as_me. ##
+_ASBOX
+  echo "$ac_log"
+} >&5
+
+
+# Handling of arguments.
+for ac_config_target in $ac_config_targets
+do
+  case $ac_config_target in
+    "config.h") CONFIG_HEADERS="$CONFIG_HEADERS config.h" ;;
+    "Makefile") CONFIG_FILES="$CONFIG_FILES Makefile" ;;
+
+  *) { { echo "$as_me:$LINENO: error: invalid argument: $ac_config_target" >&5
+echo "$as_me: error: invalid argument: $ac_config_target" >&2;}
+   { (exit 1); exit 1; }; };;
+  esac
+done
+
+
+# If the user did not use the arguments to specify the items to instantiate,
+# then the envvar interface is used.  Set only those that are not.
+# We use the long form for the default assignment because of an extremely
+# bizarre bug on SunOS 4.1.3.
+if $ac_need_defaults; then
+  test "${CONFIG_FILES+set}" = set || CONFIG_FILES=$config_files
+  test "${CONFIG_HEADERS+set}" = set || CONFIG_HEADERS=$config_headers
+fi
+
+# Have a temporary directory for convenience.  Make it in the build tree
+# simply because there is no reason against having it here, and in addition,
+# creating and moving files from /tmp can sometimes cause problems.
+# Hook for its removal unless debugging.
+# Note that there is a small window in which the directory will not be cleaned:
+# after its creation but before its name has been assigned to `$tmp'.
+$debug ||
+{
+  tmp=
+  trap 'exit_status=$?
+  { test -z "$tmp" || test ! -d "$tmp" || rm -fr "$tmp"; } && exit $exit_status
+' 0
+  trap '{ (exit 1); exit 1; }' 1 2 13 15
+}
+# Create a (secure) tmp directory for tmp files.
+
+{
+  tmp=`(umask 077 && mktemp -d "./confXXXXXX") 2>/dev/null` &&
+  test -n "$tmp" && test -d "$tmp"
+}  ||
+{
+  tmp=./conf$$-$RANDOM
+  (umask 077 && mkdir "$tmp")
+} ||
+{
+   echo "$me: cannot create a temporary directory in ." >&2
+   { (exit 1); exit 1; }
+}
+
+#
+# Set up the sed scripts for CONFIG_FILES section.
+#
+
+# No need to generate the scripts if there are no CONFIG_FILES.
+# This happens for instance when ./config.status config.h
+if test -n "$CONFIG_FILES"; then
+
+cat >"$tmp/subs-1.sed" <<\CEOF
+/@[a-zA-Z_][a-zA-Z_0-9]*@/!b end
+s,@SHELL@,|#_!!_#|/bin/sh,g
+s,@PATH_SEPARATOR@,|#_!!_#|:,g
+s,@PACKAGE_NAME@,|#_!!_#|,g
+s,@PACKAGE_TARNAME@,|#_!!_#|,g
+s,@PACKAGE_VERSION@,|#_!!_#|,g
+s,@PACKAGE_STRING@,|#_!!_#|,g
+s,@PACKAGE_BUGREPORT@,|#_!!_#|,g
+s,@exec_prefix@,|#_!!_#|${prefix},g
+s,@prefix@,|#_!!_#|/usr/local,g
+s,@program_transform_name@,|#_!!_#|s\,x\,x\,,g
+s,@bindir@,|#_!!_#|${exec_prefix}/bin,g
+s,@sbindir@,|#_!!_#|${exec_prefix}/sbin,g
+s,@libexecdir@,|#_!!_#|${exec_prefix}/libexec,g
+s,@datarootdir@,|#_!!_#|${prefix}/share,g
+s,@datadir@,|#_!!_#|${datarootdir},g
+s,@sysconfdir@,|#_!!_#|${prefix}/etc,g
+s,@sharedstatedir@,|#_!!_#|${prefix}/com,g
+s,@localstatedir@,|#_!!_#|${prefix}/var,g
+s,@includedir@,|#_!!_#|${prefix}/include,g
+s,@oldincludedir@,|#_!!_#|/usr/include,g
+s,@docdir@,|#_!!_#|${datarootdir}/doc/${PACKAGE},g
+s,@infodir@,|#_!!_#|${datarootdir}/info,g
+s,@htmldir@,|#_!!_#|${docdir},g
+s,@dvidir@,|#_!!_#|${docdir},g
+s,@pdfdir@,|#_!!_#|${docdir},g
+s,@psdir@,|#_!!_#|${docdir},g
+s,@libdir@,|#_!!_#|${exec_prefix}/lib,g
+s,@localedir@,|#_!!_#|${datarootdir}/locale,g
+s,@mandir@,|#_!!_#|${datarootdir}/man,g
+s,@DEFS@,|#_!!_#|-DHAVE_CONFIG_H,g
+s,@ECHO_C@,|#_!!_#|\\c,g
+s,@ECHO_N@,|#_!!_#|,g
+s,@ECHO_T@,|#_!!_#|,g
+s,@LIBS@,|#_!!_#|,g
+s,@build_alias@,|#_!!_#|,g
+s,@host_alias@,|#_!!_#|,g
+s,@target_alias@,|#_!!_#|,g
+s,@CC@,|#_!!_#|gcc,g
+s,@CFLAGS@,|#_!!_#|-g -O2 -O3 -funroll-all-loops,g
+s,@LDFLAGS@,|#_!!_#|,g
+s,@CPPFLAGS@,|#_!!_#|,g
+s,@ac_ct_CC@,|#_!!_#|gcc,g
+s,@EXEEXT@,|#_!!_#|,g
+s,@OBJEXT@,|#_!!_#|o,g
+s,@RANLIB@,|#_!!_#|ranlib,g
+s,@INSTALL_PROGRAM@,|#_!!_#|${INSTALL},g
+s,@INSTALL_SCRIPT@,|#_!!_#|${INSTALL},g
+s,@INSTALL_DATA@,|#_!!_#|${INSTALL} -m 644,g
+s,@CPP@,|#_!!_#|gcc -E,g
+s,@GREP@,|#_!!_#|/usr/bin/grep,g
+s,@EGREP@,|#_!!_#|/usr/bin/grep -E,g
+s,@LIBOBJS@,|#_!!_#|,g
+s,@LTLIBOBJS@,|#_!!_#|,g
+:end
+s/|#_!!_#|//g
+CEOF
+fi # test -n "$CONFIG_FILES"
+
+
+for ac_tag in  :F $CONFIG_FILES  :H $CONFIG_HEADERS
+do
+  case $ac_tag in
+  :[FHLC]) ac_mode=$ac_tag; continue;;
+  esac
+  case $ac_mode$ac_tag in
+  :[FHL]*:*);;
+  :L* | :C*:*) { { echo "$as_me:$LINENO: error: Invalid tag $ac_tag." >&5
+echo "$as_me: error: Invalid tag $ac_tag." >&2;}
+   { (exit 1); exit 1; }; };;
+  :[FH]-) ac_tag=-:-;;
+  :[FH]*) ac_tag=$ac_tag:$ac_tag.in;;
+  esac
+  ac_save_IFS=$IFS
+  IFS=:
+  set x $ac_tag
+  IFS=$ac_save_IFS
+  shift
+  ac_file=$1
+  shift
+
+  case $ac_mode in
+  :L) ac_source=$1;;
+  :[FH])
+    ac_file_inputs=
+    for ac_f
+    do
+      case $ac_f in
+      -) ac_f="$tmp/stdin";;
+      *) # Look for the file first in the build tree, then in the source tree
+	 # (if the path is not absolute).  The absolute path cannot be DOS-style,
+	 # because $ac_f cannot contain `:'.
+	 test -f "$ac_f" ||
+	   case $ac_f in
+	   [\\/$]*) false;;
+	   *) test -f "$srcdir/$ac_f" && ac_f="$srcdir/$ac_f";;
+	   esac ||
+	   { { echo "$as_me:$LINENO: error: cannot find input file: $ac_f" >&5
+echo "$as_me: error: cannot find input file: $ac_f" >&2;}
+   { (exit 1); exit 1; }; };;
+      esac
+      ac_file_inputs="$ac_file_inputs $ac_f"
+    done
+
+    # Let's still pretend it is `configure' which instantiates (i.e., don't
+    # use $as_me), people would be surprised to read:
+    #    /* config.h.  Generated by config.status.  */
+    configure_input="Generated from "`IFS=:
+	  echo $* | sed 's|^[^:]*/||;s|:[^:]*/|, |g'`" by configure."
+    if test x"$ac_file" != x-; then
+      configure_input="$ac_file.  $configure_input"
+      { echo "$as_me:$LINENO: creating $ac_file" >&5
+echo "$as_me: creating $ac_file" >&6;}
+    fi
+
+    case $ac_tag in
+    *:-:* | *:-) cat >"$tmp/stdin";;
+    esac
+    ;;
+  esac
+
+  ac_dir=`$as_dirname -- "$ac_file" ||
+$as_expr X"$ac_file" : 'X\(.*[^/]\)//*[^/][^/]*/*$' \| \
+	 X"$ac_file" : 'X\(//\)[^/]' \| \
+	 X"$ac_file" : 'X\(//\)$' \| \
+	 X"$ac_file" : 'X\(/\)' \| . 2>/dev/null ||
+echo X"$ac_file" |
+    sed '/^X\(.*[^/]\)\/\/*[^/][^/]*\/*$/{
+	    s//\1/
+	    q
+	  }
+	  /^X\(\/\/\)[^/].*/{
+	    s//\1/
+	    q
+	  }
+	  /^X\(\/\/\)$/{
+	    s//\1/
+	    q
+	  }
+	  /^X\(\/\).*/{
+	    s//\1/
+	    q
+	  }
+	  s/.*/./; q'`
+  { as_dir="$ac_dir"
+  case $as_dir in #(
+  -*) as_dir=./$as_dir;;
+  esac
+  test -d "$as_dir" || { $as_mkdir_p && mkdir -p "$as_dir"; } || {
+    as_dirs=
+    while :; do
+      case $as_dir in #(
+      *\'*) as_qdir=`echo "$as_dir" | sed "s/'/'\\\\\\\\''/g"`;; #(
+      *) as_qdir=$as_dir;;
+      esac
+      as_dirs="'$as_qdir' $as_dirs"
+      as_dir=`$as_dirname -- "$as_dir" ||
+$as_expr X"$as_dir" : 'X\(.*[^/]\)//*[^/][^/]*/*$' \| \
+	 X"$as_dir" : 'X\(//\)[^/]' \| \
+	 X"$as_dir" : 'X\(//\)$' \| \
+	 X"$as_dir" : 'X\(/\)' \| . 2>/dev/null ||
+echo X"$as_dir" |
+    sed '/^X\(.*[^/]\)\/\/*[^/][^/]*\/*$/{
+	    s//\1/
+	    q
+	  }
+	  /^X\(\/\/\)[^/].*/{
+	    s//\1/
+	    q
+	  }
+	  /^X\(\/\/\)$/{
+	    s//\1/
+	    q
+	  }
+	  /^X\(\/\).*/{
+	    s//\1/
+	    q
+	  }
+	  s/.*/./; q'`
+      test -d "$as_dir" && break
+    done
+    test -z "$as_dirs" || eval "mkdir $as_dirs"
+  } || test -d "$as_dir" || { { echo "$as_me:$LINENO: error: cannot create directory $as_dir" >&5
+echo "$as_me: error: cannot create directory $as_dir" >&2;}
+   { (exit 1); exit 1; }; }; }
+  ac_builddir=.
+
+case "$ac_dir" in
+.) ac_dir_suffix= ac_top_builddir_sub=. ac_top_build_prefix= ;;
+*)
+  ac_dir_suffix=/`echo "$ac_dir" | sed 's,^\.[\\/],,'`
+  # A ".." for each directory in $ac_dir_suffix.
+  ac_top_builddir_sub=`echo "$ac_dir_suffix" | sed 's,/[^\\/]*,/..,g;s,/,,'`
+  case $ac_top_builddir_sub in
+  "") ac_top_builddir_sub=. ac_top_build_prefix= ;;
+  *)  ac_top_build_prefix=$ac_top_builddir_sub/ ;;
+  esac ;;
+esac
+ac_abs_top_builddir=$ac_pwd
+ac_abs_builddir=$ac_pwd$ac_dir_suffix
+# for backward compatibility:
+ac_top_builddir=$ac_top_build_prefix
+
+case $srcdir in
+  .)  # We are building in place.
+    ac_srcdir=.
+    ac_top_srcdir=$ac_top_builddir_sub
+    ac_abs_top_srcdir=$ac_pwd ;;
+  [\\/]* | ?:[\\/]* )  # Absolute name.
+    ac_srcdir=$srcdir$ac_dir_suffix;
+    ac_top_srcdir=$srcdir
+    ac_abs_top_srcdir=$srcdir ;;
+  *) # Relative name.
+    ac_srcdir=$ac_top_build_prefix$srcdir$ac_dir_suffix
+    ac_top_srcdir=$ac_top_build_prefix$srcdir
+    ac_abs_top_srcdir=$ac_pwd/$srcdir ;;
+esac
+ac_abs_srcdir=$ac_abs_top_srcdir$ac_dir_suffix
+
+
+  case $ac_mode in
+  :F)
+  #
+  # CONFIG_FILE
+  #
+
+  case $INSTALL in
+  [\\/$]* | ?:[\\/]* ) ac_INSTALL=$INSTALL ;;
+  *) ac_INSTALL=$ac_top_build_prefix$INSTALL ;;
+  esac
+# If the template does not know about datarootdir, expand it.
+# FIXME: This hack should be removed a few years after 2.60.
+ac_datarootdir_hack=; ac_datarootdir_seen=
+
+case `sed -n '/datarootdir/ {
+  p
+  q
+}
+/@datadir@/p
+/@docdir@/p
+/@infodir@/p
+/@localedir@/p
+/@mandir@/p
+' $ac_file_inputs` in
+*datarootdir*) ac_datarootdir_seen=yes;;
+*@datadir@*|*@docdir@*|*@infodir@*|*@localedir@*|*@mandir@*)
+  { echo "$as_me:$LINENO: WARNING: $ac_file_inputs seems to ignore the --datarootdir setting" >&5
+echo "$as_me: WARNING: $ac_file_inputs seems to ignore the --datarootdir setting" >&2;}
+  ac_datarootdir_hack='
+  s&@datadir@&${datarootdir}&g
+  s&@docdir@&${datarootdir}/doc/${PACKAGE}&g
+  s&@infodir@&${datarootdir}/info&g
+  s&@localedir@&${datarootdir}/locale&g
+  s&@mandir@&${datarootdir}/man&g
+    s&\${datarootdir}&${prefix}/share&g' ;;
+esac
+  sed "/^[	 ]*VPATH[	 ]*=/{
+s/:*\$(srcdir):*/:/
+s/:*\${srcdir}:*/:/
+s/:*@srcdir@:*/:/
+s/^\([^=]*=[	 ]*\):*/\1/
+s/:*$//
+s/^[^=]*=[	 ]*$//
+}
+
+:t
+/@[a-zA-Z_][a-zA-Z_0-9]*@/!b
+s&@configure_input@&$configure_input&;t t
+s&@top_builddir@&$ac_top_builddir_sub&;t t
+s&@srcdir@&$ac_srcdir&;t t
+s&@abs_srcdir@&$ac_abs_srcdir&;t t
+s&@top_srcdir@&$ac_top_srcdir&;t t
+s&@abs_top_srcdir@&$ac_abs_top_srcdir&;t t
+s&@builddir@&$ac_builddir&;t t
+s&@abs_builddir@&$ac_abs_builddir&;t t
+s&@abs_top_builddir@&$ac_abs_top_builddir&;t t
+s&@INSTALL@&$ac_INSTALL&;t t
+$ac_datarootdir_hack
+" $ac_file_inputs | sed -f "$tmp/subs-1.sed" >$tmp/out
+
+test -z "$ac_datarootdir_hack$ac_datarootdir_seen" &&
+  { ac_out=`sed -n '/\${datarootdir}/p' "$tmp/out"`; test -n "$ac_out"; } &&
+  { ac_out=`sed -n '/^[	 ]*datarootdir[	 ]*:*=/p' "$tmp/out"`; test -z "$ac_out"; } &&
+  { echo "$as_me:$LINENO: WARNING: $ac_file contains a reference to the variable \`datarootdir'
+which seems to be undefined.  Please make sure it is defined." >&5
+echo "$as_me: WARNING: $ac_file contains a reference to the variable \`datarootdir'
+which seems to be undefined.  Please make sure it is defined." >&2;}
+
+  rm -f "$tmp/stdin"
+  case $ac_file in
+  -) cat "$tmp/out"; rm -f "$tmp/out";;
+  *) rm -f "$ac_file"; mv "$tmp/out" $ac_file;;
+  esac
+ ;;
+  :H)
+  #
+  # CONFIG_HEADER
+  #
+    # First, check the format of the line:
+    cat >"$tmp/defines.sed" <<\CEOF
+/^[	 ]*#[	 ]*undef[	 ][	 ]*[_abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ][_abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ0123456789]*[	 ]*$/b def
+/^[	 ]*#[	 ]*define[	 ][	 ]*[_abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ][_abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ0123456789]*[(	 ]/b def
+b
+:def
+s/$/ /
+s,^\([	 #]*\)[^	 ]*\([	 ]*PACKAGE_NAME\)[	 (].*,\1define\2 "" ,
+s,^\([	 #]*\)[^	 ]*\([	 ]*PACKAGE_TARNAME\)[	 (].*,\1define\2 "" ,
+s,^\([	 #]*\)[^	 ]*\([	 ]*PACKAGE_VERSION\)[	 (].*,\1define\2 "" ,
+s,^\([	 #]*\)[^	 ]*\([	 ]*PACKAGE_STRING\)[	 (].*,\1define\2 "" ,
+s,^\([	 #]*\)[^	 ]*\([	 ]*PACKAGE_BUGREPORT\)[	 (].*,\1define\2 "" ,
+s,^\([	 #]*\)[^	 ]*\([	 ]*_GNU_SOURCE\)[	 (].*,\1define\2 1 ,
+s,^\([	 #]*\)[^	 ]*\([	 ]*STDC_HEADERS\)[	 (].*,\1define\2 1 ,
+s,^\([	 #]*\)[^	 ]*\([	 ]*HAVE_SYS_TYPES_H\)[	 (].*,\1define\2 1 ,
+s,^\([	 #]*\)[^	 ]*\([	 ]*HAVE_SYS_STAT_H\)[	 (].*,\1define\2 1 ,
+s,^\([	 #]*\)[^	 ]*\([	 ]*HAVE_STDLIB_H\)[	 (].*,\1define\2 1 ,
+s,^\([	 #]*\)[^	 ]*\([	 ]*HAVE_STRING_H\)[	 (].*,\1define\2 1 ,
+s,^\([	 #]*\)[^	 ]*\([	 ]*HAVE_MEMORY_H\)[	 (].*,\1define\2 1 ,
+s,^\([	 #]*\)[^	 ]*\([	 ]*HAVE_STRINGS_H\)[	 (].*,\1define\2 1 ,
+s,^\([	 #]*\)[^	 ]*\([	 ]*HAVE_INTTYPES_H\)[	 (].*,\1define\2 1 ,
+s,^\([	 #]*\)[^	 ]*\([	 ]*HAVE_STDINT_H\)[	 (].*,\1define\2 1 ,
+s,^\([	 #]*\)[^	 ]*\([	 ]*HAVE_UNISTD_H\)[	 (].*,\1define\2 1 ,
+s,^\([	 #]*\)[^	 ]*\([	 ]*SIZEOF_SHORT\)[	 (].*,\1define\2 2 ,
+s,^\([	 #]*\)[^	 ]*\([	 ]*SIZEOF_INT\)[	 (].*,\1define\2 4 ,
+s,^\([	 #]*\)[^	 ]*\([	 ]*SIZEOF_LONG\)[	 (].*,\1define\2 8 ,
+s,^\([	 #]*\)[^	 ]*\([	 ]*HAVE_GETOPT_H\)[	 (].*,\1define\2 1 ,
+s,^\([	 #]*\)[^	 ]*\([	 ]*HAVE_GETOPT_LONG\)[	 (].*,\1define\2 1 ,
+s/ $//
+s,^[	 #]*u.*,/* & */,
+CEOF
+    sed -f "$tmp/defines.sed" $ac_file_inputs >"$tmp/out1"
+ac_result="$tmp/out1"
+  if test x"$ac_file" != x-; then
+    echo "/* $configure_input  */" >"$tmp/config.h"
+    cat "$ac_result" >>"$tmp/config.h"
+    if diff $ac_file "$tmp/config.h" >/dev/null 2>&1; then
+      { echo "$as_me:$LINENO: $ac_file is unchanged" >&5
+echo "$as_me: $ac_file is unchanged" >&6;}
+    else
+      rm -f $ac_file
+      mv "$tmp/config.h" $ac_file
+    fi
+  else
+    echo "/* $configure_input  */"
+    cat "$ac_result"
+  fi
+  rm -f "$tmp/out12"
+ ;;
+
+
+  esac
+
+done # for ac_tag
+
+
+{ (exit 0); exit 0; }
--- a/RecastDemo/Contrib/liblzf-3.5/configure
+++ b/RecastDemo/Contrib/liblzf-3.5/configure
--- a/RecastDemo/Contrib/liblzf-3.5/configure.ac
+++ b/RecastDemo/Contrib/liblzf-3.5/configure.ac
@ -0,0 +1,25 @@
+AC_INIT
+AC_CONFIG_SRCDIR([lzfP.h])
+
+AC_CONFIG_HEADER(config.h)
+
+AC_GNU_SOURCE
+AC_SYS_LARGEFILE
+AC_PROG_CC
+AC_PROG_RANLIB
+AC_PROG_INSTALL
+AC_HEADER_STDC
+
+AC_C_CONST
+AC_C_INLINE
+AC_CHECK_HEADERS(getopt.h)
+AC_CHECK_FUNCS(getopt_long)
+
+if test "$GCC" = yes; then
+   CFLAGS="$CFLAGS -O3 -funroll-all-loops"
+else
+   AC_MSG_RESULT(no gcc)
+fi
+
+AC_CONFIG_FILES([Makefile])
+AC_OUTPUT
--- a/RecastDemo/Contrib/liblzf-3.5/crc32.h
+++ b/RecastDemo/Contrib/liblzf-3.5/crc32.h
@ -0,0 +1,65 @@
+#ifndef CRC32_H
+#define CRC32_H
+
+/* crc32 0xdebb20e3 table and supplementary functions.  */
+
+static const u32 crc_32_tab[] =
+{
+    0x00000000UL, 0x77073096UL, 0xee0e612cUL, 0x990951baUL, 0x076dc419UL,
+    0x706af48fUL, 0xe963a535UL, 0x9e6495a3UL, 0x0edb8832UL, 0x79dcb8a4UL,
+    0xe0d5e91eUL, 0x97d2d988UL, 0x09b64c2bUL, 0x7eb17cbdUL, 0xe7b82d07UL,
+    0x90bf1d91UL, 0x1db71064UL, 0x6ab020f2UL, 0xf3b97148UL, 0x84be41deUL,
+    0x1adad47dUL, 0x6ddde4ebUL, 0xf4d4b551UL, 0x83d385c7UL, 0x136c9856UL,
+    0x646ba8c0UL, 0xfd62f97aUL, 0x8a65c9ecUL, 0x14015c4fUL, 0x63066cd9UL,
+    0xfa0f3d63UL, 0x8d080df5UL, 0x3b6e20c8UL, 0x4c69105eUL, 0xd56041e4UL,
+    0xa2677172UL, 0x3c03e4d1UL, 0x4b04d447UL, 0xd20d85fdUL, 0xa50ab56bUL,
+    0x35b5a8faUL, 0x42b2986cUL, 0xdbbbc9d6UL, 0xacbcf940UL, 0x32d86ce3UL,
+    0x45df5c75UL, 0xdcd60dcfUL, 0xabd13d59UL, 0x26d930acUL, 0x51de003aUL,
+    0xc8d75180UL, 0xbfd06116UL, 0x21b4f4b5UL, 0x56b3c423UL, 0xcfba9599UL,
+    0xb8bda50fUL, 0x2802b89eUL, 0x5f058808UL, 0xc60cd9b2UL, 0xb10be924UL,
+    0x2f6f7c87UL, 0x58684c11UL, 0xc1611dabUL, 0xb6662d3dUL, 0x76dc4190UL,
+    0x01db7106UL, 0x98d220bcUL, 0xefd5102aUL, 0x71b18589UL, 0x06b6b51fUL,
+    0x9fbfe4a5UL, 0xe8b8d433UL, 0x7807c9a2UL, 0x0f00f934UL, 0x9609a88eUL,
+    0xe10e9818UL, 0x7f6a0dbbUL, 0x086d3d2dUL, 0x91646c97UL, 0xe6635c01UL,
+    0x6b6b51f4UL, 0x1c6c6162UL, 0x856530d8UL, 0xf262004eUL, 0x6c0695edUL,
+    0x1b01a57bUL, 0x8208f4c1UL, 0xf50fc457UL, 0x65b0d9c6UL, 0x12b7e950UL,
+    0x8bbeb8eaUL, 0xfcb9887cUL, 0x62dd1ddfUL, 0x15da2d49UL, 0x8cd37cf3UL,
+    0xfbd44c65UL, 0x4db26158UL, 0x3ab551ceUL, 0xa3bc0074UL, 0xd4bb30e2UL,
+    0x4adfa541UL, 0x3dd895d7UL, 0xa4d1c46dUL, 0xd3d6f4fbUL, 0x4369e96aUL,
+    0x346ed9fcUL, 0xad678846UL, 0xda60b8d0UL, 0x44042d73UL, 0x33031de5UL,
+    0xaa0a4c5fUL, 0xdd0d7cc9UL, 0x5005713cUL, 0x270241aaUL, 0xbe0b1010UL,
+    0xc90c2086UL, 0x5768b525UL, 0x206f85b3UL, 0xb966d409UL, 0xce61e49fUL,
+    0x5edef90eUL, 0x29d9c998UL, 0xb0d09822UL, 0xc7d7a8b4UL, 0x59b33d17UL,
+    0x2eb40d81UL, 0xb7bd5c3bUL, 0xc0ba6cadUL, 0xedb88320UL, 0x9abfb3b6UL,
+    0x03b6e20cUL, 0x74b1d29aUL, 0xead54739UL, 0x9dd277afUL, 0x04db2615UL,
+    0x73dc1683UL, 0xe3630b12UL, 0x94643b84UL, 0x0d6d6a3eUL, 0x7a6a5aa8UL,
+    0xe40ecf0bUL, 0x9309ff9dUL, 0x0a00ae27UL, 0x7d079eb1UL, 0xf00f9344UL,
+    0x8708a3d2UL, 0x1e01f268UL, 0x6906c2feUL, 0xf762575dUL, 0x806567cbUL,
+    0x196c3671UL, 0x6e6b06e7UL, 0xfed41b76UL, 0x89d32be0UL, 0x10da7a5aUL,
+    0x67dd4accUL, 0xf9b9df6fUL, 0x8ebeeff9UL, 0x17b7be43UL, 0x60b08ed5UL,
+    0xd6d6a3e8UL, 0xa1d1937eUL, 0x38d8c2c4UL, 0x4fdff252UL, 0xd1bb67f1UL,
+    0xa6bc5767UL, 0x3fb506ddUL, 0x48b2364bUL, 0xd80d2bdaUL, 0xaf0a1b4cUL,
+    0x36034af6UL, 0x41047a60UL, 0xdf60efc3UL, 0xa867df55UL, 0x316e8eefUL,
+    0x4669be79UL, 0xcb61b38cUL, 0xbc66831aUL, 0x256fd2a0UL, 0x5268e236UL,
+    0xcc0c7795UL, 0xbb0b4703UL, 0x220216b9UL, 0x5505262fUL, 0xc5ba3bbeUL,
+    0xb2bd0b28UL, 0x2bb45a92UL, 0x5cb36a04UL, 0xc2d7ffa7UL, 0xb5d0cf31UL,
+    0x2cd99e8bUL, 0x5bdeae1dUL, 0x9b64c2b0UL, 0xec63f226UL, 0x756aa39cUL,
+    0x026d930aUL, 0x9c0906a9UL, 0xeb0e363fUL, 0x72076785UL, 0x05005713UL,
+    0x95bf4a82UL, 0xe2b87a14UL, 0x7bb12baeUL, 0x0cb61b38UL, 0x92d28e9bUL,
+    0xe5d5be0dUL, 0x7cdcefb7UL, 0x0bdbdf21UL, 0x86d3d2d4UL, 0xf1d4e242UL,
+    0x68ddb3f8UL, 0x1fda836eUL, 0x81be16cdUL, 0xf6b9265bUL, 0x6fb077e1UL,
+    0x18b74777UL, 0x88085ae6UL, 0xff0f6a70UL, 0x66063bcaUL, 0x11010b5cUL,
+    0x8f659effUL, 0xf862ae69UL, 0x616bffd3UL, 0x166ccf45UL, 0xa00ae278UL,
+    0xd70dd2eeUL, 0x4e048354UL, 0x3903b3c2UL, 0xa7672661UL, 0xd06016f7UL,
+    0x4969474dUL, 0x3e6e77dbUL, 0xaed16a4aUL, 0xd9d65adcUL, 0x40df0b66UL,
+    0x37d83bf0UL, 0xa9bcae53UL, 0xdebb9ec5UL, 0x47b2cf7fUL, 0x30b5ffe9UL,
+    0xbdbdf21cUL, 0xcabac28aUL, 0x53b39330UL, 0x24b4a3a6UL, 0xbad03605UL,
+    0xcdd70693UL, 0x54de5729UL, 0x23d967bfUL, 0xb3667a2eUL, 0xc4614ab8UL,
+    0x5d681b02UL, 0x2a6f2b94UL, 0xb40bbe37UL, 0xc30c8ea1UL, 0x5a05df1bUL,
+    0x2d02ef8dL
+};
+
+#define crc32(crc,byte) (crc_32_tab[(u8)(crc) ^ (u8)(byte)] ^ ((crc) >> 8))
+
+#endif
+
--- a/RecastDemo/Contrib/liblzf-3.5/cs/CLZF.cs
+++ b/RecastDemo/Contrib/liblzf-3.5/cs/CLZF.cs
@ -0,0 +1,344 @@
+/*
+ * Copyright (c) 2005 Oren J. Maurice <oymaurice@hazorea.org.il>
+ * 
+ * Redistribution and use in source and binary forms, with or without modifica-
+ * tion, are permitted provided that the following conditions are met:
+ * 
+ *   1.  Redistributions of source code must retain the above copyright notice,
+ *       this list of conditions and the following disclaimer.
+ * 
+ *   2.  Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ * 
+ *   3.  The name of the author may not be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ * 
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED
+ * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MER-
+ * CHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.  IN NO
+ * EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPE-
+ * CIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
+ * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTH-
+ * ERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
+ * OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ * Alternatively, the contents of this file may be used under the terms of
+ * the GNU General Public License version 2 (the "GPL"), in which case the
+ * provisions of the GPL are applicable instead of the above. If you wish to
+ * allow the use of your version of this file only under the terms of the
+ * GPL and not to allow others to use your version of this file under the
+ * BSD license, indicate your decision by deleting the provisions above and
+ * replace them with the notice and other provisions required by the GPL. If
+ * you do not delete the provisions above, a recipient may use your version
+ * of this file under either the BSD or the GPL.
+ */
+
+using System;
+
+namespace LZF.NET
+{
+	
+	/// <summary>
+	/// Summary description for CLZF.
+	/// </summary>
+	public class CLZF
+	{
+		// CRC32 data & function
+		UInt32 []crc_32_tab = new UInt32[256]
+		{
+			0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419,
+			0x706af48f, 0xe963a535, 0x9e6495a3, 0x0edb8832, 0x79dcb8a4,
+			0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07,
+			0x90bf1d91, 0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de,
+			0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7, 0x136c9856,
+			0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9,
+			0xfa0f3d63, 0x8d080df5, 0x3b6e20c8, 0x4c69105e, 0xd56041e4,
+			0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
+			0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3,
+			0x45df5c75, 0xdcd60dcf, 0xabd13d59, 0x26d930ac, 0x51de003a,
+			0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599,
+			0xb8bda50f, 0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924,
+			0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d, 0x76dc4190,
+			0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f,
+			0x9fbfe4a5, 0xe8b8d433, 0x7807c9a2, 0x0f00f934, 0x9609a88e,
+			0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,
+			0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed,
+			0x1b01a57b, 0x8208f4c1, 0xf50fc457, 0x65b0d9c6, 0x12b7e950,
+			0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3,
+			0xfbd44c65, 0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2,
+			0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb, 0x4369e96a,
+			0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5,
+			0xaa0a4c5f, 0xdd0d7cc9, 0x5005713c, 0x270241aa, 0xbe0b1010,
+			0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
+			0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17,
+			0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad, 0xedb88320, 0x9abfb3b6,
+			0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615,
+			0x73dc1683, 0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8,
+			0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1, 0xf00f9344,
+			0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb,
+			0x196c3671, 0x6e6b06e7, 0xfed41b76, 0x89d32be0, 0x10da7a5a,
+			0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
+			0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1,
+			0xa6bc5767, 0x3fb506dd, 0x48b2364b, 0xd80d2bda, 0xaf0a1b4c,
+			0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef,
+			0x4669be79, 0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236,
+			0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f, 0xc5ba3bbe,
+			0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31,
+			0x2cd99e8b, 0x5bdeae1d, 0x9b64c2b0, 0xec63f226, 0x756aa39c,
+			0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,
+			0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b,
+			0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21, 0x86d3d2d4, 0xf1d4e242,
+			0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1,
+			0x18b74777, 0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c,
+			0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45, 0xa00ae278,
+			0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7,
+			0x4969474d, 0x3e6e77db, 0xaed16a4a, 0xd9d65adc, 0x40df0b66,
+			0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
+			0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605,
+			0xcdd70693, 0x54de5729, 0x23d967bf, 0xb3667a2e, 0xc4614ab8,
+			0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b,
+			0x2d02ef8d
+		};
+
+		public UInt32 crc32(UInt32 OldCRC,byte NewData) 
+		{
+			return crc_32_tab[(OldCRC & 0xff) ^ NewData] ^ (OldCRC >> 8);
+		}
+
+
+		/// <summary>
+		/// LZF Compressor
+		/// </summary>
+
+		UInt32 HLOG=14;
+		UInt32 HSIZE=(1<<14);
+
+		/*
+		* don't play with this unless you benchmark!
+		* decompression is not dependent on the hash function
+		* the hashing function might seem strange, just believe me
+		* it works ;)
+		*/
+		UInt32 MAX_LIT=(1 <<  5);
+		UInt32 MAX_OFF=(1 << 13);
+		UInt32 MAX_REF=((1 <<  8) + (1 << 3));
+
+		UInt32 FRST(byte[] Array,UInt32 ptr) 
+		{
+			return (UInt32)(((Array[ptr]) << 8) | Array[ptr+1]);
+		}
+
+		UInt32 NEXT(UInt32 v,byte[] Array,UInt32 ptr)
+		{
+			return ((v) << 8) | Array[ptr+2];
+		}
+
+		UInt32 IDX(UInt32 h) 
+		{
+			return ((h ^ (h << 5)) >> (int)(((3*8 - HLOG)) - h*5) & (HSIZE - 1));
+		}
+
+		/*
+		* compressed format
+		*
+		* 000LLLLL <L+1>    ; literal
+		* LLLOOOOO oooooooo ; backref L
+		* 111OOOOO LLLLLLLL oooooooo ; backref L+7
+		*
+		*/
+
+		public int lzf_compress (byte[] in_data, int in_len,byte[] out_data, int out_len)
+		{
+			int c;
+			long []htab=new long[1<<14];
+			for (c=0;c<1<<14;c++)
+			{
+				htab[c]=0;
+			}
+
+			long hslot;
+			UInt32 iidx = 0;
+			UInt32 oidx = 0;
+			//byte *in_end  = ip + in_len;
+			//byte *out_end = op + out_len;
+			long reference;
+
+			UInt32 hval = FRST (in_data,iidx);
+			long off;
+			int lit = 0;
+
+			for (;;)
+				{
+				if (iidx < in_len - 2)
+					{
+					hval = NEXT (hval, in_data,iidx);
+					hslot = IDX (hval);
+					reference = htab[hslot]; 
+					htab[hslot] = (long)iidx;
+
+					if ((off = iidx - reference - 1) < MAX_OFF 
+						&& iidx + 4 < in_len 
+						&& reference > 0
+						&& in_data[reference+0] == in_data[iidx+0]
+						&& in_data[reference+1] == in_data[iidx+1]
+						&& in_data[reference+2] == in_data[iidx+2]
+						)
+						{
+						/* match found at *reference++ */
+						UInt32 len = 2;
+						UInt32 maxlen = (UInt32)in_len - iidx - len;
+						maxlen = maxlen > MAX_REF ? MAX_REF : maxlen;
+
+						if (oidx + lit + 1 + 3 >= out_len)
+							return 0;
+
+						do
+							len++;
+						while (len < maxlen && in_data[reference+len] == in_data[iidx+len]);
+
+						if (lit!=0)
+							{
+							out_data[oidx++] = (byte)(lit - 1);
+							lit = -lit;
+							do
+								out_data[oidx++] = in_data[iidx+lit];
+							while ((++lit)!=0);
+							}
+
+						len -= 2;
+						iidx++;
+
+						if (len < 7)
+							{
+							out_data[oidx++] = (byte)((off >> 8) + (len << 5));
+							}
+						else
+							{
+							out_data[oidx++] = (byte)((off >> 8) + (  7 << 5));
+							out_data[oidx++] = (byte)(len - 7);
+							}
+
+						out_data[oidx++] = (byte)off;
+
+						iidx += len-1;
+						hval = FRST (in_data,iidx);
+
+						hval = NEXT (hval,in_data, iidx);
+						htab[IDX (hval)] = iidx;
+						iidx++;
+
+						hval = NEXT (hval, in_data,iidx);
+						htab[IDX (hval)] = iidx;
+						iidx++;
+						continue;
+						}
+					}
+				else if (iidx == in_len)
+					break;
+
+				/* one more literal byte we must copy */
+				lit++;
+				iidx++;
+
+				if (lit == MAX_LIT)
+					{
+					if (oidx + 1 + MAX_LIT >= out_len)
+						return 0;
+
+					out_data[oidx++] = (byte)(MAX_LIT - 1);
+					lit = -lit;
+					do
+						out_data[oidx++] = in_data[iidx+lit];
+					while ((++lit)!=0);
+					}
+				}
+
+			if (lit!=0)
+				{
+				if (oidx + lit + 1 >= out_len)
+					return 0;
+
+				out_data[oidx++] = (byte)(lit - 1);
+				lit = -lit;
+				do
+					out_data[oidx++] = in_data[iidx+lit];
+				while ((++lit)!=0);
+				}
+
+			return (int)oidx;
+		}
+
+		/// <summary>
+		/// LZF Decompressor
+		/// </summary>
+		public int lzf_decompress ( byte[] in_data, int in_len, byte[] out_data, int out_len)
+		{
+			UInt32 iidx=0;
+			UInt32 oidx=0;
+
+			do
+				{
+				UInt32 ctrl = in_data[iidx++];
+
+				if (ctrl < (1 << 5)) /* literal run */
+					{
+					ctrl++;
+
+					if (oidx + ctrl > out_len)
+						{
+						//SET_ERRNO (E2BIG);
+						return 0;
+						}
+
+					do
+						out_data[oidx++] = in_data[iidx++];
+					while ((--ctrl)!=0);
+					}
+				else /* back reference */
+					{
+					UInt32 len = ctrl >> 5;
+
+					int reference = (int)(oidx - ((ctrl & 0x1f) << 8) - 1);
+
+					if (len == 7)
+						len += in_data[iidx++];
+			          
+					reference -= in_data[iidx++];
+
+					if (oidx + len + 2 > out_len)
+						{
+						//SET_ERRNO (E2BIG);
+						return 0;
+						}
+
+					if (reference < 0)
+						{
+						//SET_ERRNO (EINVAL);
+						return 0;
+						}
+
+					out_data[oidx++]=out_data[reference++];
+					out_data[oidx++]=out_data[reference++];
+
+					do
+						out_data[oidx++]=out_data[reference++];
+					while ((--len)!=0);
+					}
+				}
+			while (iidx < in_len);
+
+			return (int)oidx;
+		}
+
+		public CLZF()
+		{
+			//
+			// TODO: Add ructor logic here
+			//
+		}
+	}
+}
+
--- a/RecastDemo/Contrib/liblzf-3.5/cs/README
+++ b/RecastDemo/Contrib/liblzf-3.5/cs/README
@ -0,0 +1,7 @@
+The C♯ implementation of the LZF en-/decoder functions in this
+directory was written (and is maintained) by
+
+    Oren J. Maurice <oymaurice@hazorea.org.il>.
+
+If you have any questions or improvements, you should contact the
+original author (and maybe CC me, Marc Lehmann <liblzf@schmorp.de>).
--- a/RecastDemo/Contrib/liblzf-3.5/install-sh
+++ b/RecastDemo/Contrib/liblzf-3.5/install-sh
@ -0,0 +1,251 @@
+#!/bin/sh
+#
+# install - install a program, script, or datafile
+# This comes from X11R5 (mit/util/scripts/install.sh).
+#
+# Copyright 1991 by the Massachusetts Institute of Technology
+#
+# Permission to use, copy, modify, distribute, and sell this software and its
+# documentation for any purpose is hereby granted without fee, provided that
+# the above copyright notice appear in all copies and that both that
+# copyright notice and this permission notice appear in supporting
+# documentation, and that the name of M.I.T. not be used in advertising or
+# publicity pertaining to distribution of the software without specific,
+# written prior permission.  M.I.T. makes no representations about the
+# suitability of this software for any purpose.  It is provided "as is"
+# without express or implied warranty.
+#
+# Calling this script install-sh is preferred over install.sh, to prevent
+# `make' implicit rules from creating a file called install from it
+# when there is no Makefile.
+#
+# This script is compatible with the BSD install script, but was written
+# from scratch.  It can only install one file at a time, a restriction
+# shared with many OS's install programs.
+
+
+# set DOITPROG to echo to test this script
+
+# Don't use :- since 4.3BSD and earlier shells don't like it.
+doit="${DOITPROG-}"
+
+
+# put in absolute paths if you don't have them in your path; or use env. vars.
+
+mvprog="${MVPROG-mv}"
+cpprog="${CPPROG-cp}"
+chmodprog="${CHMODPROG-chmod}"
+chownprog="${CHOWNPROG-chown}"
+chgrpprog="${CHGRPPROG-chgrp}"
+stripprog="${STRIPPROG-strip}"
+rmprog="${RMPROG-rm}"
+mkdirprog="${MKDIRPROG-mkdir}"
+
+transformbasename=""
+transform_arg=""
+instcmd="$mvprog"
+chmodcmd="$chmodprog 0755"
+chowncmd=""
+chgrpcmd=""
+stripcmd=""
+rmcmd="$rmprog -f"
+mvcmd="$mvprog"
+src=""
+dst=""
+dir_arg=""
+
+while [ x"$1" != x ]; do
+    case $1 in
+	-c) instcmd="$cpprog"
+	    shift
+	    continue;;
+
+	-d) dir_arg=true
+	    shift
+	    continue;;
+
+	-m) chmodcmd="$chmodprog $2"
+	    shift
+	    shift
+	    continue;;
+
+	-o) chowncmd="$chownprog $2"
+	    shift
+	    shift
+	    continue;;
+
+	-g) chgrpcmd="$chgrpprog $2"
+	    shift
+	    shift
+	    continue;;
+
+	-s) stripcmd="$stripprog"
+	    shift
+	    continue;;
+
+	-t=*) transformarg=`echo $1 | sed 's/-t=//'`
+	    shift
+	    continue;;
+
+	-b=*) transformbasename=`echo $1 | sed 's/-b=//'`
+	    shift
+	    continue;;
+
+	*)  if [ x"$src" = x ]
+	    then
+		src=$1
+	    else
+		# this colon is to work around a 386BSD /bin/sh bug
+		:
+		dst=$1
+	    fi
+	    shift
+	    continue;;
+    esac
+done
+
+if [ x"$src" = x ]
+then
+	echo "install:	no input file specified"
+	exit 1
+else
+	true
+fi
+
+if [ x"$dir_arg" != x ]; then
+	dst=$src
+	src=""
+	
+	if [ -d $dst ]; then
+		instcmd=:
+		chmodcmd=""
+	else
+		instcmd=mkdir
+	fi
+else
+
+# Waiting for this to be detected by the "$instcmd $src $dsttmp" command
+# might cause directories to be created, which would be especially bad 
+# if $src (and thus $dsttmp) contains '*'.
+
+	if [ -f $src -o -d $src ]
+	then
+		true
+	else
+		echo "install:  $src does not exist"
+		exit 1
+	fi
+	
+	if [ x"$dst" = x ]
+	then
+		echo "install:	no destination specified"
+		exit 1
+	else
+		true
+	fi
+
+# If destination is a directory, append the input filename; if your system
+# does not like double slashes in filenames, you may need to add some logic
+
+	if [ -d $dst ]
+	then
+		dst="$dst"/`basename $src`
+	else
+		true
+	fi
+fi
+
+## this sed command emulates the dirname command
+dstdir=`echo $dst | sed -e 's,[^/]*$,,;s,/$,,;s,^$,.,'`
+
+# Make sure that the destination directory exists.
+#  this part is taken from Noah Friedman's mkinstalldirs script
+
+# Skip lots of stat calls in the usual case.
+if [ ! -d "$dstdir" ]; then
+defaultIFS='	
+'
+IFS="${IFS-${defaultIFS}}"
+
+oIFS="${IFS}"
+# Some sh's can't handle IFS=/ for some reason.
+IFS='%'
+set - `echo ${dstdir} | sed -e 's@/@%@g' -e 's@^%@/@'`
+IFS="${oIFS}"
+
+pathcomp=''
+
+while [ $# -ne 0 ] ; do
+	pathcomp="${pathcomp}${1}"
+	shift
+
+	if [ ! -d "${pathcomp}" ] ;
+        then
+		$mkdirprog "${pathcomp}"
+	else
+		true
+	fi
+
+	pathcomp="${pathcomp}/"
+done
+fi
+
+if [ x"$dir_arg" != x ]
+then
+	$doit $instcmd $dst &&
+
+	if [ x"$chowncmd" != x ]; then $doit $chowncmd $dst; else true ; fi &&
+	if [ x"$chgrpcmd" != x ]; then $doit $chgrpcmd $dst; else true ; fi &&
+	if [ x"$stripcmd" != x ]; then $doit $stripcmd $dst; else true ; fi &&
+	if [ x"$chmodcmd" != x ]; then $doit $chmodcmd $dst; else true ; fi
+else
+
+# If we're going to rename the final executable, determine the name now.
+
+	if [ x"$transformarg" = x ] 
+	then
+		dstfile=`basename $dst`
+	else
+		dstfile=`basename $dst $transformbasename | 
+			sed $transformarg`$transformbasename
+	fi
+
+# don't allow the sed command to completely eliminate the filename
+
+	if [ x"$dstfile" = x ] 
+	then
+		dstfile=`basename $dst`
+	else
+		true
+	fi
+
+# Make a temp file name in the proper directory.
+
+	dsttmp=$dstdir/#inst.$$#
+
+# Move or copy the file name to the temp name
+
+	$doit $instcmd $src $dsttmp &&
+
+	trap "rm -f ${dsttmp}" 0 &&
+
+# and set any options; do chmod last to preserve setuid bits
+
+# If any of these fail, we abort the whole thing.  If we want to
+# ignore errors from any of these, just make sure not to ignore
+# errors from the above "$doit $instcmd $src $dsttmp" command.
+
+	if [ x"$chowncmd" != x ]; then $doit $chowncmd $dsttmp; else true;fi &&
+	if [ x"$chgrpcmd" != x ]; then $doit $chgrpcmd $dsttmp; else true;fi &&
+	if [ x"$stripcmd" != x ]; then $doit $stripcmd $dsttmp; else true;fi &&
+	if [ x"$chmodcmd" != x ]; then $doit $chmodcmd $dsttmp; else true;fi &&
+
+# Now rename the file to the real destination.
+
+	$doit $rmcmd -f $dstdir/$dstfile &&
+	$doit $mvcmd $dsttmp $dstdir/$dstfile 
+
+fi &&
+
+
+exit 0
--- a/RecastDemo/Contrib/liblzf-3.5/lzf.c
+++ b/RecastDemo/Contrib/liblzf-3.5/lzf.c
@ -0,0 +1,537 @@
+/*
+ * Copyright (c) 2006      Stefan Traby <stefan@hello-penguin.com>
+ * 
+ * Redistribution and use in source and binary forms, with or without modifica-
+ * tion, are permitted provided that the following conditions are met:
+ * 
+ *   1.  Redistributions of source code must retain the above copyright notice,
+ *       this list of conditions and the following disclaimer.
+ * 
+ *   2.  Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ * 
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED
+ * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MER-
+ * CHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.  IN NO
+ * EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPE-
+ * CIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
+ * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTH-
+ * ERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
+ * OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ * Alternatively, the contents of this file may be used under the terms of
+ * the GNU General Public License ("GPL") version 2 or any later version,
+ * in which case the provisions of the GPL are applicable instead of
+ * the above. If you wish to allow the use of your version of this file
+ * only under the terms of the GPL and not to allow others to use your
+ * version of this file under the BSD license, indicate your decision
+ * by deleting the provisions above and replace them with the notice
+ * and other provisions required by the GPL. If you do not delete the
+ * provisions above, a recipient may use your version of this file under
+ * either the BSD or the GPL.
+ */
+
+#include "config.h"
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <limits.h>
+#include "lzf.h"
+
+#ifdef HAVE_GETOPT_H
+# include <getopt.h>
+#endif
+
+#define BLOCKSIZE (1024 * 64 - 1)
+#define MAX_BLOCKSIZE BLOCKSIZE
+
+typedef unsigned char u8;
+
+static off_t nr_read, nr_written;
+
+static const char *imagename;
+static enum { compress, uncompress, lzcat } mode = compress;
+static int verbose = 0;
+static int force = 0;
+static long blocksize = BLOCKSIZE;
+
+#ifdef HAVE_GETOPT_LONG
+
+  struct option longopts[] = {
+    {"compress", 0, 0, 'c'},
+    {"decompress", 0, 0, 'd'},
+    {"uncompress", 0, 0, 'd'},
+    {"force", 0, 0, 'f'},
+    {"help", 0, 0, 'h'},
+    {"verbose", 0, 0, 'v'},
+    {"blocksize", 1, 0, 'b'},
+    {0, 0, 0, 0}
+  };
+
+  static const char *opt =
+    "-c --compress    compress\n"
+    "-d --decompress  decompress\n"
+    "-f --force       force overwrite of output file\n"
+    "-h --help        give this help\n" "-v --verbose     verbose mode\n" "-b # --blocksize # set blocksize\n" "\n";
+
+#else
+
+  static const char *opt =
+    "-c   compress\n"
+    "-d   decompress\n"
+    "-f   force overwrite of output file\n"
+    "-h   give this help\n"
+    "-v   verbose mode\n"
+    "-b # set blocksize\n"
+    "\n";
+
+#endif
+
+static void
+usage (int rc)
+{
+  fprintf (stderr, "\n"
+           "lzf, a very lightweight compression/decompression utility written by Stefan Traby.\n"
+           "uses liblzf written by Marc Lehmann <schmorp@schmorp.de> You can find more info at\n"
+           "http://liblzf.plan9.de/\n"
+           "\n"
+           "usage: lzf [-dufhvb] [file ...]\n"
+           "       unlzf [file ...]\n"
+           "       lzcat [file ...]\n"
+           "\n%s",
+           opt);
+
+  exit (rc);
+}
+
+static inline ssize_t
+rread (int fd, void *buf, size_t len)
+{
+  ssize_t rc = 0, offset = 0;
+  char *p = buf;
+
+  while (len && (rc = read (fd, &p[offset], len)) > 0)
+    {
+      offset += rc;
+      len -= rc;
+    }
+
+  nr_read += offset;
+
+  if (rc < 0)
+    return rc;
+
+  return offset;
+}
+
+/* returns 0 if all written else -1 */
+static inline ssize_t
+wwrite (int fd, void *buf, size_t len)
+{
+  ssize_t rc;
+  char *b = buf;
+  size_t l = len;
+
+  while (l)
+    {
+      rc = write (fd, b, l);
+      if (rc < 0)
+        {
+          fprintf (stderr, "%s: write error: ", imagename);
+          perror ("");
+          return -1;
+        }
+
+      l -= rc;
+      b += rc;
+    }
+
+  nr_written += len;
+  return 0;
+}
+
+/*
+ * Anatomy: an lzf file consists of any number of blocks in the following format:
+ *
+ * \x00   EOF (optional)
+ * "ZV\0" 2-byte-usize <uncompressed data>
+ * "ZV\1" 2-byte-csize 2-byte-usize <compressed data>
+ * "ZV\2" 4-byte-crc32-0xdebb20e3 (NYI)
+ */
+
+
+#define TYPE0_HDR_SIZE 5
+#define TYPE1_HDR_SIZE 7
+#define MAX_HDR_SIZE 7
+#define MIN_HDR_SIZE 5
+
+static int
+compress_fd (int from, int to)
+{
+  ssize_t us, cs, len;
+  u8 buf1[MAX_BLOCKSIZE + MAX_HDR_SIZE + 16];
+  u8 buf2[MAX_BLOCKSIZE + MAX_HDR_SIZE + 16];
+  u8 *header;
+
+  nr_read = nr_written = 0;
+  while ((us = rread (from, &buf1[MAX_HDR_SIZE], blocksize)) > 0)
+    {
+      cs = lzf_compress (&buf1[MAX_HDR_SIZE], us, &buf2[MAX_HDR_SIZE], us > 4 ? us - 4 : us);
+      if (cs)
+        {
+          header = &buf2[MAX_HDR_SIZE - TYPE1_HDR_SIZE];
+          header[0] = 'Z';
+          header[1] = 'V';
+          header[2] = 1;
+          header[3] = cs >> 8;
+          header[4] = cs & 0xff;
+          header[5] = us >> 8;
+          header[6] = us & 0xff;
+          len = cs + TYPE1_HDR_SIZE;
+        }
+      else
+        {                       // write uncompressed
+          header = &buf1[MAX_HDR_SIZE - TYPE0_HDR_SIZE];
+          header[0] = 'Z';
+          header[1] = 'V';
+          header[2] = 0;
+          header[3] = us >> 8;
+          header[4] = us & 0xff;
+          len = us + TYPE0_HDR_SIZE;
+        }
+
+      if (wwrite (to, header, len) == -1)
+        return -1;
+    }
+
+  return 0;
+}
+
+static int
+uncompress_fd (int from, int to)
+{
+  u8 header[MAX_HDR_SIZE];
+  u8 buf1[MAX_BLOCKSIZE + MAX_HDR_SIZE + 16];
+  u8 buf2[MAX_BLOCKSIZE + MAX_HDR_SIZE + 16];
+  u8 *p;
+  int l, rd;
+  ssize_t rc, cs, us, bytes, over = 0;
+
+  nr_read = nr_written = 0;
+  while (1)
+    {
+      rc = rread (from, header + over, MAX_HDR_SIZE - over);
+      if (rc < 0)
+        {
+          fprintf (stderr, "%s: read error: ", imagename);
+          perror ("");
+          return -1;
+        }
+
+      rc += over;
+      over = 0;
+      if (!rc || header[0] == 0)
+        return 0;
+
+      if (rc < MIN_HDR_SIZE || header[0] != 'Z' || header[1] != 'V')
+        {
+          fprintf (stderr, "%s: invalid data stream - magic not found or short header\n", imagename);
+          return -1;
+        }
+
+      switch (header[2])
+        {
+          case 0:
+            cs = -1;
+            us = (header[3] << 8) | header[4];
+            p = &header[TYPE0_HDR_SIZE];
+            break;
+          case 1:
+            if (rc < TYPE1_HDR_SIZE)
+              {
+                goto short_read;
+              }
+            cs = (header[3] << 8) | header[4];
+            us = (header[5] << 8) | header[6];
+            p = &header[TYPE1_HDR_SIZE];
+            break;
+          default:
+            fprintf (stderr, "%s: unknown blocktype\n", imagename);
+            return -1;
+        }
+
+      bytes = cs == -1 ? us : cs;
+      l = &header[rc] - p;
+
+      if (l > 0)
+        memcpy (buf1, p, l);
+
+      if (l > bytes)
+        {
+          over = l - bytes;
+          memmove (header, &p[bytes], over);
+        }
+
+      p = &buf1[l];
+      rd = bytes - l;
+      if (rd > 0)
+        if ((rc = rread (from, p, rd)) != rd)
+          goto short_read;
+
+      if (cs == -1)
+        {
+          if (wwrite (to, buf1, us))
+            return -1;
+        }
+      else
+        {
+          if (lzf_decompress (buf1, cs, buf2, us) != us)
+            {
+              fprintf (stderr, "%s: decompress: invalid stream - data corrupted\n", imagename);
+              return -1;
+            }
+
+          if (wwrite (to, buf2, us))
+            return -1;
+        }
+    }
+
+  return 0;
+
+short_read:
+  fprintf (stderr, "%s: short data\n", imagename);
+  return -1;
+}
+
+static int
+open_out (const char *name)
+{
+  int fd;
+  int m = O_EXCL;
+
+  if (force)
+    m = 0;
+
+  fd = open (name, O_CREAT | O_WRONLY | O_TRUNC | m, 600);
+#if defined(__MINGW32__)
+  _setmode(fd, _O_BINARY);
+#endif
+  return fd;
+}
+
+static int
+compose_name (const char *fname, char *oname)
+{
+  char *p;
+
+  if (mode == compress)
+    {
+      if (strlen (fname) > PATH_MAX - 4)
+        {
+          fprintf (stderr, "%s: %s.lzf: name too long", imagename, fname);
+          return -1;
+        }
+
+      strcpy (oname, fname);
+      strcat (oname, ".lzf");
+    }
+  else
+    {
+      if (strlen (fname) > PATH_MAX)
+        {
+          fprintf (stderr, "%s: %s: name too long\n", imagename, fname);
+          return -1;
+        }
+
+      strcpy (oname, fname);
+      p = &oname[strlen (oname)] - 4;
+      if (p < oname || strcmp (p, ".lzf"))
+        {
+          fprintf (stderr, "%s: %s: unknown suffix\n", imagename, fname);
+          return -1;
+        }
+
+      *p = 0;
+    }
+
+  return 0;
+}
+
+static int
+run_file (const char *fname)
+{
+  int fd, fd2;
+  int rc;
+  struct stat mystat;
+  char oname[PATH_MAX + 1];
+
+  if (mode != lzcat)
+    if (compose_name (fname, oname))
+      return -1;
+
+#if !defined(__MINGW32__)
+  rc = lstat (fname, &mystat);
+#else
+  rc = stat (fname, &mystat);
+#endif
+  fd = open (fname, O_RDONLY);
+#if defined(__MINGW32__)
+  _setmode(fd, _O_BINARY);
+#endif
+  if (rc || fd == -1)
+    {
+      fprintf (stderr, "%s: %s: ", imagename, fname);
+      perror ("");
+      return -1;
+    }
+
+  if (!S_ISREG (mystat.st_mode))
+    {
+      fprintf (stderr, "%s: %s: not a regular file.\n", imagename, fname);
+      close (fd);
+      return -1;
+    }
+
+  if (mode == lzcat)
+    {
+      rc = uncompress_fd (fd, 1);
+      close (fd);
+      return rc;
+    }
+
+  fd2 = open_out (oname);
+  if (fd2 == -1)
+    {
+      fprintf (stderr, "%s: %s: ", imagename, oname);
+      perror ("");
+      close (fd);
+      return -1;
+    }
+
+  if (mode == compress)
+    {
+      rc = compress_fd (fd, fd2);
+      if (!rc && verbose)
+        fprintf (stderr, "%s:  %5.1f%% -- replaced with %s\n",
+                 fname, nr_read == 0 ? 0 : 100.0 - nr_written / ((double) nr_read / 100.0), oname);
+    }
+  else
+    {
+      rc = uncompress_fd (fd, fd2);
+      if (!rc && verbose)
+        fprintf (stderr, "%s:  %5.1f%% -- replaced with %s\n",
+                 fname, nr_written == 0 ? 0 : 100.0 - nr_read / ((double) nr_written / 100.0), oname);
+    }
+
+#if !defined(__MINGW32__)
+  fchmod (fd2, mystat.st_mode);
+#else
+  chmod (oname, mystat.st_mode);
+#endif
+  close (fd);
+  close (fd2);
+
+  if (!rc)
+    unlink (fname);
+
+  return rc;
+}
+
+int
+main (int argc, char *argv[])
+{
+  char *p = argv[0];
+  int optc;
+  int rc = 0;
+
+  errno = 0;
+  p = getenv ("LZF_BLOCKSIZE");
+  if (p)
+    {
+      blocksize = strtoul (p, 0, 0);
+      if (errno || !blocksize || blocksize > MAX_BLOCKSIZE)
+        blocksize = BLOCKSIZE;
+    }
+
+  p = strrchr (argv[0], '/');
+  imagename = p ? ++p : argv[0];
+
+  if (!strncmp (imagename, "un", 2) || !strncmp (imagename, "de", 2))
+    mode = uncompress;
+
+  if (strstr (imagename, "cat"))
+    mode = lzcat;
+
+#ifdef HAVE_GETOPT_LONG
+  while ((optc = getopt_long (argc, argv, "cdfhvb:", longopts, 0)) != -1)
+#else
+  while ((optc = getopt (argc, argv, "cdfhvb:")) != -1)
+#endif
+    {
+      switch (optc)
+        {
+          case 'c':
+            mode = compress;
+            break;
+          case 'd':
+            mode = uncompress;
+            break;
+          case 'f':
+            force = 1;
+            break;
+          case 'h':
+            usage (0);
+            break;
+          case 'v':
+            verbose = 1;
+            break;
+          case 'b':
+            errno = 0;
+            blocksize = strtoul (optarg, 0, 0);
+            if (errno || !blocksize || blocksize > MAX_BLOCKSIZE)
+              blocksize = BLOCKSIZE;
+            break;
+          default:
+            usage (1);
+            break;
+        }
+    }
+
+  if (optind == argc)
+    {                           // stdin stdout
+      if (!force)
+        {
+          if ((mode == uncompress || mode == lzcat) && isatty (0))
+            {
+              fprintf (stderr, "%s: compressed data not read from a terminal. Use -f to force decompression.\n", imagename);
+              exit (1);
+            }
+          if (mode == compress && isatty (1))
+            {
+              fprintf (stderr, "%s: compressed data not written to a terminal. Use -f to force compression.\n", imagename);
+              exit (1);
+            }
+        }
+
+      if (mode == compress)
+        rc = compress_fd (0, 1);
+      else
+        rc = uncompress_fd (0, 1);
+
+      exit (rc ? 1 : 0);
+    }
+
+  while (optind < argc)
+    rc |= run_file (argv[optind++]);
+
+  exit (rc ? 1 : 0);
+}
+
--- a/RecastDemo/Contrib/liblzf-3.5/lzf.h
+++ b/RecastDemo/Contrib/liblzf-3.5/lzf.h
@ -0,0 +1,100 @@
+/*
+ * Copyright (c) 2000-2008 Marc Alexander Lehmann <schmorp@schmorp.de>
+ * 
+ * Redistribution and use in source and binary forms, with or without modifica-
+ * tion, are permitted provided that the following conditions are met:
+ * 
+ *   1.  Redistributions of source code must retain the above copyright notice,
+ *       this list of conditions and the following disclaimer.
+ * 
+ *   2.  Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ * 
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED
+ * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MER-
+ * CHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.  IN NO
+ * EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPE-
+ * CIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
+ * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTH-
+ * ERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
+ * OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ * Alternatively, the contents of this file may be used under the terms of
+ * the GNU General Public License ("GPL") version 2 or any later version,
+ * in which case the provisions of the GPL are applicable instead of
+ * the above. If you wish to allow the use of your version of this file
+ * only under the terms of the GPL and not to allow others to use your
+ * version of this file under the BSD license, indicate your decision
+ * by deleting the provisions above and replace them with the notice
+ * and other provisions required by the GPL. If you do not delete the
+ * provisions above, a recipient may use your version of this file under
+ * either the BSD or the GPL.
+ */
+
+#ifndef LZF_H
+#define LZF_H
+
+/***********************************************************************
+**
+**	lzf -- an extremely fast/free compression/decompression-method
+**	http://liblzf.plan9.de/
+**
+**	This algorithm is believed to be patent-free.
+**
+***********************************************************************/
+
+#define LZF_VERSION 0x0105 /* 1.5, API version */
+
+/*
+ * Compress in_len bytes stored at the memory block starting at
+ * in_data and write the result to out_data, up to a maximum length
+ * of out_len bytes.
+ *
+ * If the output buffer is not large enough or any error occurs return 0,
+ * otherwise return the number of bytes used, which might be considerably
+ * more than in_len (but less than 104% of the original size), so it
+ * makes sense to always use out_len == in_len - 1), to ensure _some_
+ * compression, and store the data uncompressed otherwise (with a flag, of
+ * course.
+ *
+ * lzf_compress might use different algorithms on different systems and
+ * even different runs, thus might result in different compressed strings
+ * depending on the phase of the moon or similar factors. However, all
+ * these strings are architecture-independent and will result in the
+ * original data when decompressed using lzf_decompress.
+ *
+ * The buffers must not be overlapping.
+ *
+ * If the option LZF_STATE_ARG is enabled, an extra argument must be
+ * supplied which is not reflected in this header file. Refer to lzfP.h
+ * and lzf_c.c.
+ *
+ */
+unsigned int 
+lzf_compress (const void *const in_data,  unsigned int in_len,
+              void             *out_data, unsigned int out_len);
+
+/*
+ * Decompress data compressed with some version of the lzf_compress
+ * function and stored at location in_data and length in_len. The result
+ * will be stored at out_data up to a maximum of out_len characters.
+ *
+ * If the output buffer is not large enough to hold the decompressed
+ * data, a 0 is returned and errno is set to E2BIG. Otherwise the number
+ * of decompressed bytes (i.e. the original length of the data) is
+ * returned.
+ *
+ * If an error in the compressed data is detected, a zero is returned and
+ * errno is set to EINVAL.
+ *
+ * This function is very fast, about as fast as a copying loop.
+ */
+unsigned int 
+lzf_decompress (const void *const in_data,  unsigned int in_len,
+                void             *out_data, unsigned int out_len);
+
+#endif
+
--- a/RecastDemo/Contrib/liblzf-3.5/lzfP.h
+++ b/RecastDemo/Contrib/liblzf-3.5/lzfP.h
@ -0,0 +1,159 @@
+/*
+ * Copyright (c) 2000-2007 Marc Alexander Lehmann <schmorp@schmorp.de>
+ * 
+ * Redistribution and use in source and binary forms, with or without modifica-
+ * tion, are permitted provided that the following conditions are met:
+ * 
+ *   1.  Redistributions of source code must retain the above copyright notice,
+ *       this list of conditions and the following disclaimer.
+ * 
+ *   2.  Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ * 
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED
+ * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MER-
+ * CHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.  IN NO
+ * EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPE-
+ * CIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
+ * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTH-
+ * ERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
+ * OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ * Alternatively, the contents of this file may be used under the terms of
+ * the GNU General Public License ("GPL") version 2 or any later version,
+ * in which case the provisions of the GPL are applicable instead of
+ * the above. If you wish to allow the use of your version of this file
+ * only under the terms of the GPL and not to allow others to use your
+ * version of this file under the BSD license, indicate your decision
+ * by deleting the provisions above and replace them with the notice
+ * and other provisions required by the GPL. If you do not delete the
+ * provisions above, a recipient may use your version of this file under
+ * either the BSD or the GPL.
+ */
+
+#ifndef LZFP_h
+#define LZFP_h
+
+#define STANDALONE 1 /* at the moment, this is ok. */
+
+#ifndef STANDALONE
+# include "lzf.h"
+#endif
+
+/*
+ * Size of hashtable is (1 << HLOG) * sizeof (char *)
+ * decompression is independent of the hash table size
+ * the difference between 15 and 14 is very small
+ * for small blocks (and 14 is usually a bit faster).
+ * For a low-memory/faster configuration, use HLOG == 13;
+ * For best compression, use 15 or 16 (or more, up to 23).
+ */
+#ifndef HLOG
+# define HLOG 16
+#endif
+
+/*
+ * Sacrifice very little compression quality in favour of compression speed.
+ * This gives almost the same compression as the default code, and is
+ * (very roughly) 15% faster. This is the preferred mode of operation.
+ */
+#ifndef VERY_FAST
+# define VERY_FAST 1
+#endif
+
+/*
+ * Sacrifice some more compression quality in favour of compression speed.
+ * (roughly 1-2% worse compression for large blocks and
+ * 9-10% for small, redundant, blocks and >>20% better speed in both cases)
+ * In short: when in need for speed, enable this for binary data,
+ * possibly disable this for text data.
+ */
+#ifndef ULTRA_FAST
+# define ULTRA_FAST 0
+#endif
+
+/*
+ * Unconditionally aligning does not cost very much, so do it if unsure
+ */
+#ifndef STRICT_ALIGN
+# define STRICT_ALIGN !(defined(__i386) || defined (__amd64))
+#endif
+
+/*
+ * You may choose to pre-set the hash table (might be faster on some
+ * modern cpus and large (>>64k) blocks, and also makes compression
+ * deterministic/repeatable when the configuration otherwise is the same).
+ */
+#ifndef INIT_HTAB
+# define INIT_HTAB 0
+#endif
+
+/*
+ * Avoid assigning values to errno variable? for some embedding purposes
+ * (linux kernel for example), this is neccessary. NOTE: this breaks
+ * the documentation in lzf.h.
+ */
+#ifndef AVOID_ERRNO
+# define AVOID_ERRNO 0
+#endif
+
+/*
+ * Wether to pass the LZF_STATE variable as argument, or allocate it
+ * on the stack. For small-stack environments, define this to 1.
+ * NOTE: this breaks the prototype in lzf.h.
+ */
+#ifndef LZF_STATE_ARG
+# define LZF_STATE_ARG 0
+#endif
+
+/*
+ * Wether to add extra checks for input validity in lzf_decompress
+ * and return EINVAL if the input stream has been corrupted. This
+ * only shields against overflowing the input buffer and will not
+ * detect most corrupted streams.
+ * This check is not normally noticable on modern hardware
+ * (<1% slowdown), but might slow down older cpus considerably.
+ */
+#ifndef CHECK_INPUT
+# define CHECK_INPUT 1
+#endif
+
+/*****************************************************************************/
+/* nothing should be changed below */
+
+typedef unsigned char u8;
+
+typedef const u8 *LZF_STATE[1 << (HLOG)];
+
+#if !STRICT_ALIGN
+/* for unaligned accesses we need a 16 bit datatype. */
+# include <limits.h>
+# if USHRT_MAX == 65535
+    typedef unsigned short u16;
+# elif UINT_MAX == 65535
+    typedef unsigned int u16;
+# else
+#  undef STRICT_ALIGN
+#  define STRICT_ALIGN 1
+# endif
+#endif
+
+#if ULTRA_FAST
+# if defined(VERY_FAST)
+#  undef VERY_FAST
+# endif
+#endif
+
+#if INIT_HTAB
+# ifdef __cplusplus
+#  include <cstring>
+# else
+#  include <string.h>
+# endif
+#endif
+
+#endif
+
--- a/RecastDemo/Contrib/liblzf-3.5/lzf_c.c
+++ b/RecastDemo/Contrib/liblzf-3.5/lzf_c.c
@ -0,0 +1,296 @@
+/*
+ * Copyright (c) 2000-2008 Marc Alexander Lehmann <schmorp@schmorp.de>
+ * 
+ * Redistribution and use in source and binary forms, with or without modifica-
+ * tion, are permitted provided that the following conditions are met:
+ * 
+ *   1.  Redistributions of source code must retain the above copyright notice,
+ *       this list of conditions and the following disclaimer.
+ * 
+ *   2.  Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ * 
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED
+ * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MER-
+ * CHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.  IN NO
+ * EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPE-
+ * CIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
+ * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTH-
+ * ERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
+ * OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ * Alternatively, the contents of this file may be used under the terms of
+ * the GNU General Public License ("GPL") version 2 or any later version,
+ * in which case the provisions of the GPL are applicable instead of
+ * the above. If you wish to allow the use of your version of this file
+ * only under the terms of the GPL and not to allow others to use your
+ * version of this file under the BSD license, indicate your decision
+ * by deleting the provisions above and replace them with the notice
+ * and other provisions required by the GPL. If you do not delete the
+ * provisions above, a recipient may use your version of this file under
+ * either the BSD or the GPL.
+ */
+
+#include "lzfP.h"
+
+#define HSIZE (1 << (HLOG))
+
+/*
+ * don't play with this unless you benchmark!
+ * decompression is not dependent on the hash function
+ * the hashing function might seem strange, just believe me
+ * it works ;)
+ */
+#ifndef FRST
+# define FRST(p) (((p[0]) << 8) | p[1])
+# define NEXT(v,p) (((v) << 8) | p[2])
+# if ULTRA_FAST
+#  define IDX(h) ((( h             >> (3*8 - HLOG)) - h  ) & (HSIZE - 1))
+# elif VERY_FAST
+#  define IDX(h) ((( h             >> (3*8 - HLOG)) - h*5) & (HSIZE - 1))
+# else
+#  define IDX(h) ((((h ^ (h << 5)) >> (3*8 - HLOG)) - h*5) & (HSIZE - 1))
+# endif
+#endif
+/*
+ * IDX works because it is very similar to a multiplicative hash, e.g.
+ * ((h * 57321 >> (3*8 - HLOG)) & (HSIZE - 1))
+ * the latter is also quite fast on newer CPUs, and compresses similarly.
+ *
+ * the next one is also quite good, albeit slow ;)
+ * (int)(cos(h & 0xffffff) * 1e6)
+ */
+
+#if 0
+/* original lzv-like hash function, much worse and thus slower */
+# define FRST(p) (p[0] << 5) ^ p[1]
+# define NEXT(v,p) ((v) << 5) ^ p[2]
+# define IDX(h) ((h) & (HSIZE - 1))
+#endif
+
+#define        MAX_LIT        (1 <<  5)
+#define        MAX_OFF        (1 << 13)
+#define        MAX_REF        ((1 << 8) + (1 << 3))
+
+#if __GNUC__ >= 3
+# define expect(expr,value)         __builtin_expect ((expr),(value))
+# define inline                     inline
+#else
+# define expect(expr,value)         (expr)
+# define inline                     static
+#endif
+
+#define expect_false(expr) expect ((expr) != 0, 0)
+#define expect_true(expr)  expect ((expr) != 0, 1)
+
+/*
+ * compressed format
+ *
+ * 000LLLLL <L+1>    ; literal
+ * LLLooooo oooooooo ; backref L
+ * 111ooooo LLLLLLLL oooooooo ; backref L+7
+ *
+ */
+
+unsigned int
+lzf_compress (const void *const in_data, unsigned int in_len,
+	      void *out_data, unsigned int out_len
+#if LZF_STATE_ARG
+              , LZF_STATE htab
+#endif
+              )
+{
+#if !LZF_STATE_ARG
+  LZF_STATE htab;
+#endif
+  const u8 **hslot;
+  const u8 *ip = (const u8 *)in_data;
+        u8 *op = (u8 *)out_data;
+  const u8 *in_end  = ip + in_len;
+        u8 *out_end = op + out_len;
+  const u8 *ref;
+
+  /* off requires a type wide enough to hold a general pointer difference.
+   * ISO C doesn't have that (size_t might not be enough and ptrdiff_t only
+   * works for differences within a single object). We also assume that no
+   * no bit pattern traps. Since the only platform that is both non-POSIX
+   * and fails to support both assumptions is windows 64 bit, we make a
+   * special workaround for it.
+   */
+#if defined (WIN32) && defined (_M_X64)
+  unsigned _int64 off; /* workaround for missing POSIX compliance */
+#else
+  unsigned long off;
+#endif
+  unsigned int hval;
+  int lit;
+
+  if (!in_len || !out_len)
+    return 0;
+
+#if INIT_HTAB
+  memset (htab, 0, sizeof (htab));
+# if 0
+  for (hslot = htab; hslot < htab + HSIZE; hslot++)
+    *hslot++ = ip;
+# endif
+#endif
+
+  lit = 0; op++; /* start run */
+
+  hval = FRST (ip);
+  while (ip < in_end - 2)
+    {
+      hval = NEXT (hval, ip);
+      hslot = htab + IDX (hval);
+      ref = *hslot; *hslot = ip;
+
+      if (1
+#if INIT_HTAB
+          && ref < ip /* the next test will actually take care of this, but this is faster */
+#endif
+          && (off = ip - ref - 1) < MAX_OFF
+          && ip + 4 < in_end
+          && ref > (u8 *)in_data
+#if STRICT_ALIGN
+          && ref[0] == ip[0]
+          && ref[1] == ip[1]
+          && ref[2] == ip[2]
+#else
+          && *(u16 *)ref == *(u16 *)ip
+          && ref[2] == ip[2]
+#endif
+        )
+        {
+          /* match found at *ref++ */
+          unsigned int len = 2;
+          unsigned int maxlen = in_end - ip - len;
+          maxlen = maxlen > MAX_REF ? MAX_REF : maxlen;
+
+          if (expect_false (op + 3 + 1 >= out_end)) /* first a faster conservative test */
+            if (op - !lit + 3 + 1 >= out_end) /* second the exact but rare test */
+              return 0;
+
+          op [- lit - 1] = lit - 1; /* stop run */
+          op -= !lit; /* undo run if length is zero */
+
+          for (;;)
+            {
+              if (expect_true (maxlen > 16))
+                {
+                  len++; if (ref [len] != ip [len]) break;
+                  len++; if (ref [len] != ip [len]) break;
+                  len++; if (ref [len] != ip [len]) break;
+                  len++; if (ref [len] != ip [len]) break;
+
+                  len++; if (ref [len] != ip [len]) break;
+                  len++; if (ref [len] != ip [len]) break;
+                  len++; if (ref [len] != ip [len]) break;
+                  len++; if (ref [len] != ip [len]) break;
+
+                  len++; if (ref [len] != ip [len]) break;
+                  len++; if (ref [len] != ip [len]) break;
+                  len++; if (ref [len] != ip [len]) break;
+                  len++; if (ref [len] != ip [len]) break;
+
+                  len++; if (ref [len] != ip [len]) break;
+                  len++; if (ref [len] != ip [len]) break;
+                  len++; if (ref [len] != ip [len]) break;
+                  len++; if (ref [len] != ip [len]) break;
+                }
+
+              do
+                len++;
+              while (len < maxlen && ref[len] == ip[len]);
+
+              break;
+            }
+
+          len -= 2; /* len is now #octets - 1 */
+          ip++;
+
+          if (len < 7)
+            {
+              *op++ = (off >> 8) + (len << 5);
+            }
+          else
+            {
+              *op++ = (off >> 8) + (  7 << 5);
+              *op++ = len - 7;
+            }
+
+          *op++ = off;
+          lit = 0; op++; /* start run */
+
+          ip += len + 1;
+
+          if (expect_false (ip >= in_end - 2))
+            break;
+
+#if ULTRA_FAST || VERY_FAST
+          --ip;
+# if VERY_FAST && !ULTRA_FAST
+          --ip;
+# endif
+          hval = FRST (ip);
+
+          hval = NEXT (hval, ip);
+          htab[IDX (hval)] = ip;
+          ip++;
+
+# if VERY_FAST && !ULTRA_FAST
+          hval = NEXT (hval, ip);
+          htab[IDX (hval)] = ip;
+          ip++;
+# endif
+#else
+          ip -= len + 1;
+
+          do
+            {
+              hval = NEXT (hval, ip);
+              htab[IDX (hval)] = ip;
+              ip++;
+            }
+          while (len--);
+#endif
+        }
+      else
+        {
+          /* one more literal byte we must copy */
+          if (expect_false (op >= out_end))
+            return 0;
+
+          lit++; *op++ = *ip++;
+
+          if (expect_false (lit == MAX_LIT))
+            {
+              op [- lit - 1] = lit - 1; /* stop run */
+              lit = 0; op++; /* start run */
+            }
+        }
+    }
+
+  if (op + 3 > out_end) /* at most 3 bytes can be missing here */
+    return 0;
+
+  while (ip < in_end)
+    {
+      lit++; *op++ = *ip++;
+
+      if (expect_false (lit == MAX_LIT))
+        {
+          op [- lit - 1] = lit - 1; /* stop run */
+          lit = 0; op++; /* start run */
+        }
+    }
+
+  op [- lit - 1] = lit - 1; /* end run */
+  op -= !lit; /* undo run if length is zero */
+
+  return op - (u8 *)out_data;
+}
+
--- a/RecastDemo/Contrib/liblzf-3.5/lzf_d.c
+++ b/RecastDemo/Contrib/liblzf-3.5/lzf_d.c
@ -0,0 +1,150 @@
+/*
+ * Copyright (c) 2000-2007 Marc Alexander Lehmann <schmorp@schmorp.de>
+ * 
+ * Redistribution and use in source and binary forms, with or without modifica-
+ * tion, are permitted provided that the following conditions are met:
+ * 
+ *   1.  Redistributions of source code must retain the above copyright notice,
+ *       this list of conditions and the following disclaimer.
+ * 
+ *   2.  Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ * 
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED
+ * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MER-
+ * CHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.  IN NO
+ * EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPE-
+ * CIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
+ * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTH-
+ * ERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
+ * OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ * Alternatively, the contents of this file may be used under the terms of
+ * the GNU General Public License ("GPL") version 2 or any later version,
+ * in which case the provisions of the GPL are applicable instead of
+ * the above. If you wish to allow the use of your version of this file
+ * only under the terms of the GPL and not to allow others to use your
+ * version of this file under the BSD license, indicate your decision
+ * by deleting the provisions above and replace them with the notice
+ * and other provisions required by the GPL. If you do not delete the
+ * provisions above, a recipient may use your version of this file under
+ * either the BSD or the GPL.
+ */
+
+#include "lzfP.h"
+
+#if AVOID_ERRNO
+# define SET_ERRNO(n)
+#else
+# include <errno.h>
+# define SET_ERRNO(n) errno = (n)
+#endif
+
+/*
+#if (__i386 || __amd64) && __GNUC__ >= 3
+# define lzf_movsb(dst, src, len)                \
+   asm ("rep movsb"                              \
+        : "=D" (dst), "=S" (src), "=c" (len)     \
+        :  "0" (dst),  "1" (src),  "2" (len));
+#endif
+*/
+
+unsigned int 
+lzf_decompress (const void *const in_data,  unsigned int in_len,
+                void             *out_data, unsigned int out_len)
+{
+  u8 const *ip = (const u8 *)in_data;
+  u8       *op = (u8 *)out_data;
+  u8 const *const in_end  = ip + in_len;
+  u8       *const out_end = op + out_len;
+
+  do
+    {
+      unsigned int ctrl = *ip++;
+
+      if (ctrl < (1 << 5)) /* literal run */
+        {
+          ctrl++;
+
+          if (op + ctrl > out_end)
+            {
+              SET_ERRNO (E2BIG);
+              return 0;
+            }
+
+#if CHECK_INPUT
+          if (ip + ctrl > in_end)
+            {
+              SET_ERRNO (EINVAL);
+              return 0;
+            }
+#endif
+
+#ifdef lzf_movsb
+          lzf_movsb (op, ip, ctrl);
+#else
+          do
+            *op++ = *ip++;
+          while (--ctrl);
+#endif
+        }
+      else /* back reference */
+        {
+          unsigned int len = ctrl >> 5;
+
+          u8 *ref = op - ((ctrl & 0x1f) << 8) - 1;
+
+#if CHECK_INPUT
+          if (ip >= in_end)
+            {
+              SET_ERRNO (EINVAL);
+              return 0;
+            }
+#endif
+          if (len == 7)
+            {
+              len += *ip++;
+#if CHECK_INPUT
+              if (ip >= in_end)
+                {
+                  SET_ERRNO (EINVAL);
+                  return 0;
+                }
+#endif
+            }
+
+          ref -= *ip++;
+
+          if (op + len + 2 > out_end)
+            {
+              SET_ERRNO (E2BIG);
+              return 0;
+            }
+
+          if (ref < (u8 *)out_data)
+            {
+              SET_ERRNO (EINVAL);
+              return 0;
+            }
+
+#ifdef lzf_movsb
+          len += 2;
+          lzf_movsb (op, ref, len);
+#else
+          *op++ = *ref++;
+          *op++ = *ref++;
+
+          do
+            *op++ = *ref++;
+          while (--len);
+#endif
+        }
+    }
+  while (ip < in_end);
+
+  return op - (u8 *)out_data;
+}
+
--- a/RecastDemo/Include/Sample.h
+++ b/RecastDemo/Include/Sample.h
@ -29,6 +29,7 @@ enum SampleToolType
 	TOOL_NONE = 0,
 	TOOL_TILE_EDIT,
 	TOOL_TILE_HIGHLIGHT,
+	TOOL_TEMP_OBSTACLE,
 	TOOL_NAVMESH_TESTER,
 	TOOL_OFFMESH_CONNECTION,
 	TOOL_CONVEX_VOLUME,
@ -87,6 +88,7 @@ protected:
 	float m_agentMaxSlope;
 	float m_regionMinSize;
 	float m_regionMergeSize;
+	bool m_monotonePartitioning;
 	float m_edgeMaxLen;
 	float m_edgeMaxError;
 	float m_vertsPerPoly;
--- a/RecastDemo/Source/CrowdManager.cpp
+++ b/RecastDemo/Source/CrowdManager.cpp
@ -837,7 +837,7 @@ CrowdManager::CrowdManager() :
 	}

 	// TODO: the radius should be related to the agent radius used to create the navmesh!
-	m_grid.init(100, 1.0f);
+	m_grid.init(MAX_AGENTS, 1.0f);
 	
 	reset();
 }
--- a/RecastDemo/Source/Sample.cpp
+++ b/RecastDemo/Source/Sample.cpp
@ -120,6 +120,7 @@ void Sample::resetCommonSettings()
 	m_agentMaxSlope = 45.0f;
 	m_regionMinSize = 8;
 	m_regionMergeSize = 20;
+	m_monotonePartitioning = false;
 	m_edgeMaxLen = 12.0f;
 	m_edgeMaxError = 1.3f;
 	m_vertsPerPoly = 6.0f;
@ -155,6 +156,8 @@ void Sample::handleCommonSettings()
 	imguiLabel("Region");
 	imguiSlider("Min Region Size", &m_regionMinSize, 0.0f, 150.0f, 1.0f);
 	imguiSlider("Merged Region Size", &m_regionMergeSize, 0.0f, 150.0f, 1.0f);
+	if (imguiCheck("Monotore Partitioning", m_monotonePartitioning))
+		m_monotonePartitioning = !m_monotonePartitioning;
 	
 	imguiSeparator();
 	imguiLabel("Polygonization");
--- a/RecastDemo/Source/Sample_SoloMeshSimple.cpp
+++ b/RecastDemo/Source/Sample_SoloMeshSimple.cpp
@ -487,6 +487,18 @@ bool Sample_SoloMeshSimple::handleBuild()
 	for (int i  = 0; i < m_geom->getConvexVolumeCount(); ++i)
 		rcMarkConvexPolyArea(m_ctx, vols[i].verts, vols[i].nverts, vols[i].hmin, vols[i].hmax, (unsigned char)vols[i].area, *m_chf);
 	
+	if (m_monotonePartitioning)
+	{
+		// Partition the walkable surface into simple regions without holes.
+		// Monotone partitioning does not need distancefield.
+		if (!rcBuildRegionsMonotone(m_ctx, *m_chf, m_cfg.borderSize, m_cfg.minRegionArea, m_cfg.mergeRegionArea))
+		{
+			m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build regions.");
+			return false;
+		}
+	}
+	else
+	{
 		// Prepare for region partitioning, by calculating distance field along the walkable surface.
 		if (!rcBuildDistanceField(m_ctx, *m_chf))
 		{
@ -500,6 +512,7 @@ bool Sample_SoloMeshSimple::handleBuild()
 			m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build regions.");
 			return false;
 		}
+	}

 	//
 	// Step 5. Trace and simplify region contours.
--- a/RecastDemo/Source/Sample_SoloMeshTiled.cpp
+++ b/RecastDemo/Source/Sample_SoloMeshTiled.cpp
@ -863,6 +863,16 @@ bool Sample_SoloMeshTiled::handleBuild()
 			for (int i  = 0; i < m_geom->getConvexVolumeCount(); ++i)
 				rcMarkConvexPolyArea(m_ctx, vols[i].verts, vols[i].nverts, vols[i].hmin, vols[i].hmax, (unsigned char)vols[i].area, *tile.chf);
 			
+			if (m_monotonePartitioning)
+			{
+				if (!rcBuildRegionsMonotone(m_ctx, *tile.chf, tileCfg.borderSize, tileCfg.minRegionArea, tileCfg.mergeRegionArea))
+				{
+					m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: [%d,%d] Could not build regions.", x, y);
+					continue;
+				}
+			}
+			else
+			{
 				if (!rcBuildDistanceField(m_ctx, *tile.chf))
 				{
 					m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: [%d,%d] Could not build distance fields.", x, y);
@ -874,6 +884,7 @@ bool Sample_SoloMeshTiled::handleBuild()
 					m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: [%d,%d] Could not build regions.", x, y);
 					continue;
 				}
+			}
 			
 			tile.cset = rcAllocContourSet();
 			if (!tile.cset)
--- a/RecastDemo/Source/Sample_TileMesh.cpp
+++ b/RecastDemo/Source/Sample_TileMesh.cpp
@ -1036,6 +1036,17 @@ unsigned char* Sample_TileMesh::buildTileMesh(const int tx, const int ty, const
 	for (int i  = 0; i < m_geom->getConvexVolumeCount(); ++i)
 		rcMarkConvexPolyArea(m_ctx, vols[i].verts, vols[i].nverts, vols[i].hmin, vols[i].hmax, (unsigned char)vols[i].area, *m_chf);
 	
+	if (m_monotonePartitioning)
+	{
+		// Partition the walkable surface into simple regions without holes.
+		if (!rcBuildRegionsMonotone(m_ctx, *m_chf, m_cfg.borderSize, m_cfg.minRegionArea, m_cfg.mergeRegionArea))
+		{
+			m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build regions.");
+			return 0;
+		}
+	}
+	else
+	{
 		// Prepare for region partitioning, by calculating distance field along the walkable surface.
 		if (!rcBuildDistanceField(m_ctx, *m_chf))
 		{
@ -1049,6 +1060,7 @@ unsigned char* Sample_TileMesh::buildTileMesh(const int tx, const int ty, const
 			m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build regions.");
 			return 0;
 		}
+	}
 
 	// Create contours.
 	m_cset = rcAllocContourSet();
--- a/RecastDemo/Source/main.cpp
+++ b/RecastDemo/Source/main.cpp
@ -33,6 +33,7 @@
 #include "Sample_SoloMeshSimple.h"
 #include "Sample_SoloMeshTiled.h"
 #include "Sample_TileMesh.h"
+#include "Sample_TempObstacles.h"
 #include "Sample_Debug.h"

 #ifdef WIN32
@ -49,13 +50,15 @@ Sample* createSoloSimple() { return new Sample_SoloMeshSimple(); }
 Sample* createSoloTiled() { return new Sample_SoloMeshTiled(); }
 Sample* createTile() { return new Sample_TileMesh(); }
 Sample* createDebug() { return new Sample_Debug(); }
+Sample* createTempObstacle() { return new Sample_TempObstacles(); }

 static SampleItem g_samples[] =
 {
 	{ createSoloSimple, "Solo Mesh Simple" },
 	{ createSoloTiled, "Solo Mesh Tiled" },
 	{ createTile, "Tile Mesh" },
-	{ createDebug, "Debug" },
+	{ createTempObstacle, "Temp Obstacles" },
+//	{ createDebug, "Debug" },
 };
 static const int g_nsamples = sizeof(g_samples)/sizeof(SampleItem); 

@ -370,11 +373,7 @@ int main(int /*argc*/, char** /*argv*/)
 		if (processHitTest && geom && sample)
 		{
 			float t;
-			TimeVal t0 = getPerfTime();
 			bool hit = geom->raycastMesh(rays, raye, t);
-			TimeVal t1 = getPerfTime();
-			
-			printf("raycast() %.4fms\n", getPerfDeltaTimeUsec(t0,t1)/1000.0f);
 			
 			if (hit)
 			{