diff --git a/Recast/Include/Recast.h b/Recast/Include/Recast.h
index ad24713..2eda512 100644
--- a/Recast/Include/Recast.h
+++ b/Recast/Include/Recast.h
@@ -231,7 +231,7 @@ public:
 enum rcSpanFlags
 {
 	RC_WALKABLE = 0x01,
-	RC_REACHABLE = 0x02,
+	RC_LEDGE = 0x02,
 };
 
 // If heightfield region ID has the following bit set, the region is on border area
@@ -466,16 +466,6 @@ void rcFilterLedgeSpans(const int walkableHeight,
 void rcFilterWalkableLowHeightSpans(int walkableHeight,
 									rcHeightfield& solid);
 
-// Marks spans which are reachable from any of the topmost spans.
-// Params:
-//	walkableHeight - (in) minimum height where the agent can still walk
-//	walkableClimb - (in) maximum height between grid cells the agent can climb
-//	solid - (in/out) heightfield describing the solid space
-// Returns false if operation ran out of memory.
-bool rcMarkReachableSpans(const int walkableHeight,
-						  const int walkableClimb,
-						  rcHeightfield& solid);
-
 // Builds compact representation of the heightfield.
 // Params:
 //	walkableHeight - (in) minimum height where the agent can still walk
diff --git a/Recast/Include/RecastDebugDraw.h b/Recast/Include/RecastDebugDraw.h
index 27ba0a1..095c349 100644
--- a/Recast/Include/RecastDebugDraw.h
+++ b/Recast/Include/RecastDebugDraw.h
@@ -19,11 +19,49 @@
 #ifndef RECAST_DEBUGDRAW_H
 #define RECAST_DEBUGDRAW_H
 
+enum rcDebugDrawPrimitives
+{
+	RC_DRAW_POINTS,
+	RC_DRAW_LINES,
+	RC_DRAW_TRIS,
+	RC_DRAW_QUADS,	
+};
+
+struct rcDebugDraw
+{
+	virtual void begin(rcDebugDrawPrimitives prim, int nverts, float size = 1.0f) = 0;
+	virtual void vertex(const float* pos, unsigned int color) = 0;
+	virtual void vertex(const float x, const float y, const float z, unsigned int color) = 0;
+	virtual void end() = 0;
+};
+
+inline unsigned int RGBA(unsigned char r, unsigned char g, unsigned char b, unsigned char a)
+{
+	return (r) | (g << 8) | (b << 16) | (a << 24);
+}
+
+inline unsigned int RGBAf(float fr, float fg, float fb, float fa)
+{
+	unsigned char r = (unsigned char)(fr*255.0f);
+	unsigned char g = (unsigned char)(fg*255.0f);
+	unsigned char b = (unsigned char)(fb*255.0f);
+	unsigned char a = (unsigned char)(fa*255.0f);
+	return RGBA(r,g,b,a);
+}
+
 inline int bit(int a, int b)
 {
 	return (a & (1 << b)) >> b;
 }
 
+inline unsigned int intToCol(int i, int a)
+{
+	int	r = bit(i, 0) + bit(i, 3) * 2 + 1;
+	int	g = bit(i, 1) + bit(i, 4) * 2 + 1;
+	int	b = bit(i, 2) + bit(i, 5) * 2 + 1;
+	return RGBA(r*63,g*63,b*63,a);
+}
+
 inline void intToCol(int i, float* col)
 {
 	int	r = bit(i, 0) + bit(i, 3) * 2 + 1;
@@ -34,26 +72,28 @@ inline void intToCol(int i, float* col)
 	col[2] = 1 - b*63.0f/255.0f;
 }
 
-void rcDebugDrawHeightfieldSolid(const struct rcHeightfield& hf);
-void rcDebugDrawHeightfieldWalkable(const struct rcHeightfield& hf);
+void rcDebugDrawHeightfieldSolid(rcDebugDraw* dd, const struct rcHeightfield& hf);
+void rcDebugDrawHeightfieldWalkable(rcDebugDraw* dd, const struct rcHeightfield& hf);
 
-void rcDebugDrawMesh(const float* verts, int nverts, const int* tris, const float* normals, int ntris, const unsigned char* flags);
-void rcDebugDrawMeshSlope(const float* verts, int nverts, const int* tris, const float* normals, int ntris, const float walkableSlopeAngle);
+void rcDebugDrawMesh(rcDebugDraw* dd, const float* verts, int nverts, const int* tris, const float* normals, int ntris, const unsigned char* flags);
+void rcDebugDrawMeshSlope(rcDebugDraw* dd, const float* verts, int nverts, const int* tris, const float* normals, int ntris, const float walkableSlopeAngle);
 
-void rcDebugDrawCompactHeightfieldSolid(const struct rcCompactHeightfield& chf);
-void rcDebugDrawCompactHeightfieldRegions(const struct rcCompactHeightfield& chf);
-void rcDebugDrawCompactHeightfieldDistance(const struct rcCompactHeightfield& chf);
+void rcDebugDrawCompactHeightfieldSolid(rcDebugDraw* dd, const struct rcCompactHeightfield& chf);
+void rcDebugDrawCompactHeightfieldRegions(rcDebugDraw* dd, const struct rcCompactHeightfield& chf);
+void rcDebugDrawCompactHeightfieldDistance(rcDebugDraw* dd, const struct rcCompactHeightfield& chf);
 
-void rcDebugDrawRegionConnections(const struct rcContourSet& cset, const float alpha = 1.0f);
-void rcDebugDrawRawContours(const struct rcContourSet& cset, const float alpha = 1.0f);
-void rcDebugDrawContours(const struct rcContourSet& cset, const float alpha = 1.0f);
-void rcDebugDrawPolyMesh(const struct rcPolyMesh& mesh);
-void rcDebugDrawPolyMeshDetail(const struct rcPolyMeshDetail& dmesh);
+void rcDebugDrawRegionConnections(rcDebugDraw* dd, const struct rcContourSet& cset, const float alpha = 1.0f);
+void rcDebugDrawRawContours(rcDebugDraw* dd, const struct rcContourSet& cset, const float alpha = 1.0f);
+void rcDebugDrawContours(rcDebugDraw* dd, const struct rcContourSet& cset, const float alpha = 1.0f);
+void rcDebugDrawPolyMesh(rcDebugDraw* dd, const struct rcPolyMesh& mesh);
+void rcDebugDrawPolyMeshDetail(rcDebugDraw* dd, const struct rcPolyMeshDetail& dmesh);
 
-void rcDebugDrawCylinderWire(float minx, float miny, float minz, float maxx, float maxy, float maxz, const float* col);
-void rcDebugDrawBoxWire(float minx, float miny, float minz, float maxx, float maxy, float maxz, const float* col);
-void rcDebugDrawBox(float minx, float miny, float minz, float maxx, float maxy, float maxz,
+void rcDebugDrawCylinderWire(rcDebugDraw* dd, float minx, float miny, float minz,
+							 float maxx, float maxy, float maxz, const float* col);
+void rcDebugDrawBoxWire(rcDebugDraw* dd, float minx, float miny, float minz,
+						float maxx, float maxy, float maxz, const float* col);
+void rcDebugDrawBox(rcDebugDraw* dd, float minx, float miny, float minz, float maxx, float maxy, float maxz,
 					const float* col1, const float* col2);
-void rcDrawArc(const float* p0, const float* p1);
+void rcDrawArc(rcDebugDraw* dd, const float* p0, const float* p1, const float* col, float lineWidth);
 
 #endif // RECAST_DEBUGDRAW_H
diff --git a/Recast/Source/RecastDebugDraw.cpp b/Recast/Source/RecastDebugDraw.cpp
index a88d668..bf5bd30 100644
--- a/Recast/Source/RecastDebugDraw.cpp
+++ b/Recast/Source/RecastDebugDraw.cpp
@@ -19,91 +19,107 @@
 #define _USE_MATH_DEFINES
 #include <math.h>
 #include "RecastDebugDraw.h"
-#include "SDL.h"
-#include "SDL_opengl.h"
 #include "MeshLoaderObj.h"
 #include "Recast.h"
 
-void rcDebugDrawMesh(const float* verts, int nverts,
-					 const int* tris, const float* normals, int ntris,
-					 const unsigned char* flags)
-{	
-	glBegin(GL_TRIANGLES);
-	for (int i = 0; i < ntris*3; i += 3)
-	{
-		float a = (2+normals[i+0]+normals[i+1])/4 * 0.6f;
-		if (flags && !flags[i/3])
-			glColor3f(a,a*0.3f,a*0.1f);
-		else
-			glColor3f(a,a,a);
-		glVertex3fv(&verts[tris[i]*3]);
-		glVertex3fv(&verts[tris[i+1]*3]);
-		glVertex3fv(&verts[tris[i+2]*3]);
-	}
-	glEnd();
+inline unsigned int dark(unsigned int col)
+{
+	return ((col >> 1) & 0x007f7f7f) | (col & 0xff000000);
 }
 
-void rcDebugDrawMeshSlope(const float* verts, int nverts,
+void rcDebugDrawMesh(rcDebugDraw* dd, const float* verts, int nverts,
+					 const int* tris, const float* normals, int ntris,
+					 const unsigned char* flags)
+{
+	dd->begin(RC_DRAW_TRIS, ntris);
+	for (int i = 0; i < ntris*3; i += 3)
+	{
+		unsigned int color;
+		unsigned char a = (unsigned char)(150*(2+normals[i+0]+normals[i+1])/4);
+		if (flags && !flags[i/3])
+			color = RGBA(a,a/4,a/16,255);
+		else
+			color = RGBA(a,a,a,255);
+			
+		dd->vertex(&verts[tris[i+0]*3], color);
+		dd->vertex(&verts[tris[i+1]*3], color);
+		dd->vertex(&verts[tris[i+2]*3], color);
+	}
+	dd->end();
+}
+
+void rcDebugDrawMeshSlope(rcDebugDraw* dd, const float* verts, int nverts,
 						  const int* tris, const float* normals, int ntris,
 						  const float walkableSlopeAngle)
 {
 	const float walkableThr = cosf(walkableSlopeAngle/180.0f*(float)M_PI);
-	
-	glBegin(GL_TRIANGLES);
+
+	dd->begin(RC_DRAW_TRIS, ntris);
 	for (int i = 0; i < ntris*3; i += 3)
 	{
 		const float* norm = &normals[i];
-		float a = (2+norm[0]+norm[1])/4;
-		if (norm[1] > walkableThr)
-			glColor3f(a,a,a);
+		unsigned int color;
+		unsigned char a = (unsigned char)(255*(2+normals[i+0]+normals[i+1])/4);
+		if (norm[1] < walkableThr)
+			color = RGBA(a,a/4,a/16,255);
 		else
-			glColor3f(a,a*0.3f,a*0.1f);
-		glVertex3fv(&verts[tris[i]*3]);
-		glVertex3fv(&verts[tris[i+1]*3]);
-		glVertex3fv(&verts[tris[i+2]*3]);
+			color = RGBA(a,a,a,255);
+		
+		dd->vertex(&verts[tris[i+0]*3], color);
+		dd->vertex(&verts[tris[i+1]*3], color);
+		dd->vertex(&verts[tris[i+2]*3], color);
 	}
-	glEnd();
+	dd->end();
 }
 
-void drawBoxWire(float minx, float miny, float minz, float maxx, float maxy, float maxz, const float* col)
+static void drawBoxWire(rcDebugDraw* dd,
+						float minx, float miny, float minz,
+						float maxx, float maxy, float maxz,
+						const float* col)
 {
-	glColor4fv(col);
+	// Submits 24 vertices.
+
+	unsigned int color = RGBAf(col[0],col[1],col[2],col[3]);
 	
 	// Top
-	glVertex3f(minx, miny, minz);
-	glVertex3f(maxx, miny, minz);
-	glVertex3f(maxx, miny, minz);
-	glVertex3f(maxx, miny, maxz);
-	glVertex3f(maxx, miny, maxz);
-	glVertex3f(minx, miny, maxz);
-	glVertex3f(minx, miny, maxz);
-	glVertex3f(minx, miny, minz);
+	dd->vertex(minx, miny, minz, color);
+	dd->vertex(maxx, miny, minz, color);
+	dd->vertex(maxx, miny, minz, color);
+	dd->vertex(maxx, miny, maxz, color);
+	dd->vertex(maxx, miny, maxz, color);
+	dd->vertex(minx, miny, maxz, color);
+	dd->vertex(minx, miny, maxz, color);
+	dd->vertex(minx, miny, minz, color);
 	
 	// bottom
-	glVertex3f(minx, maxy, minz);
-	glVertex3f(maxx, maxy, minz);
-	glVertex3f(maxx, maxy, minz);
-	glVertex3f(maxx, maxy, maxz);
-	glVertex3f(maxx, maxy, maxz);
-	glVertex3f(minx, maxy, maxz);
-	glVertex3f(minx, maxy, maxz);
-	glVertex3f(minx, maxy, minz);
+	dd->vertex(minx, maxy, minz, color);
+	dd->vertex(maxx, maxy, minz, color);
+	dd->vertex(maxx, maxy, minz, color);
+	dd->vertex(maxx, maxy, maxz, color);
+	dd->vertex(maxx, maxy, maxz, color);
+	dd->vertex(minx, maxy, maxz, color);
+	dd->vertex(minx, maxy, maxz, color);
+	dd->vertex(minx, maxy, minz, color);
 	
 	// Sides
-	glVertex3f(minx, miny, minz);
-	glVertex3f(minx, maxy, minz);
-	glVertex3f(maxx, miny, minz);
-	glVertex3f(maxx, maxy, minz);
-	glVertex3f(maxx, miny, maxz);
-	glVertex3f(maxx, maxy, maxz);
-	glVertex3f(minx, miny, maxz);
-	glVertex3f(minx, maxy, maxz);
+	dd->vertex(minx, miny, minz, color);
+	dd->vertex(minx, maxy, minz, color);
+	dd->vertex(maxx, miny, minz, color);
+	dd->vertex(maxx, maxy, minz, color);
+	dd->vertex(maxx, miny, maxz, color);
+	dd->vertex(maxx, maxy, maxz, color);
+	dd->vertex(minx, miny, maxz, color);
+	dd->vertex(minx, maxy, maxz, color);
 }
 
-void drawBox(float minx, float miny, float minz, float maxx, float maxy, float maxz,
-			 const float* col1, const float* col2)
+static void drawBox(rcDebugDraw* dd,
+					float minx, float miny, float minz,
+					float maxx, float maxy, float maxz,
+					const float* col1, const float* col2)
 {
-	float verts[8*3] =
+	// Submits 24 vertices.
+	
+	const float verts[8*3] =
 	{
 		minx, miny, minz,
 		maxx, miny, minz,
@@ -132,18 +148,21 @@ void drawBox(float minx, float miny, float minz, float maxx, float maxy, float m
 	for (int i = 0; i < 6; ++i)
 	{
 		float d = dim[*in]; in++;
+		unsigned int color;
 		if (i == 0)
-			glColor4f(d*col2[0],d*col2[1],d*col2[2], col2[3]);
+			color = RGBAf(d*col2[0],d*col2[1],d*col2[2], col2[3]);
 		else
-			glColor4f(d*col1[0],d*col1[1],d*col1[2], col1[3]);
-		glVertex3fv(&verts[*in*3]); in++;
-		glVertex3fv(&verts[*in*3]); in++;
-		glVertex3fv(&verts[*in*3]); in++;
-		glVertex3fv(&verts[*in*3]); in++;
+			color = RGBAf(d*col1[0],d*col1[1],d*col1[2], col1[3]);
+		dd->vertex(&verts[*in*3], color); in++;
+		dd->vertex(&verts[*in*3], color); in++;
+		dd->vertex(&verts[*in*3], color); in++;
+		dd->vertex(&verts[*in*3], color); in++;
 	}
 }
 
-void rcDebugDrawCylinderWire(float minx, float miny, float minz, float maxx, float maxy, float maxz, const float* col)
+void rcDebugDrawCylinderWire(rcDebugDraw* dd, float minx, float miny, float minz,
+							 float maxx, float maxy, float maxz,
+							 const float* col)
 {
 	static const int NUM_SEG = 16;
 	float dir[NUM_SEG*2];
@@ -159,40 +178,56 @@ void rcDebugDrawCylinderWire(float minx, float miny, float minz, float maxx, flo
 	const float rx = (maxx - minx)/2;
 	const float rz = (maxz - minz)/2;
 	
-	glColor4fv(col);
-	glBegin(GL_LINES);
+	unsigned int color = RGBAf(col[0],col[1],col[2],col[3]);
+	
+	const int nv = NUM_SEG*4 + 4*2;
+	
+	dd->begin(RC_DRAW_LINES, nv);
+	
 	for (int i = 0, j=NUM_SEG-1; i < NUM_SEG; j=i++)
 	{
-		glVertex3f(cx+dir[j*2+0]*rx, miny, cz+dir[j*2+1]*rz);
-		glVertex3f(cx+dir[i*2+0]*rx, miny, cz+dir[i*2+1]*rz);
-		glVertex3f(cx+dir[j*2+0]*rx, maxy, cz+dir[j*2+1]*rz);
-		glVertex3f(cx+dir[i*2+0]*rx, maxy, cz+dir[i*2+1]*rz);
+		dd->vertex(cx+dir[j*2+0]*rx, miny, cz+dir[j*2+1]*rz, color);
+		dd->vertex(cx+dir[i*2+0]*rx, miny, cz+dir[i*2+1]*rz, color);
+		dd->vertex(cx+dir[j*2+0]*rx, maxy, cz+dir[j*2+1]*rz, color);
+		dd->vertex(cx+dir[i*2+0]*rx, maxy, cz+dir[i*2+1]*rz, color);
 	}
 	for (int i = 0; i < NUM_SEG; i += NUM_SEG/4)
 	{
-		glVertex3f(cx+dir[i*2+0]*rx, miny, cz+dir[i*2+1]*rz);
-		glVertex3f(cx+dir[i*2+0]*rx, maxy, cz+dir[i*2+1]*rz);
+		dd->vertex(cx+dir[i*2+0]*rx, miny, cz+dir[i*2+1]*rz, color);
+		dd->vertex(cx+dir[i*2+0]*rx, maxy, cz+dir[i*2+1]*rz, color);
 	}
-	glEnd();
+	
+	dd->end();
 }
 
-void rcDebugDrawBoxWire(float minx, float miny, float minz, float maxx, float maxy, float maxz, const float* col)
+void rcDebugDrawBoxWire(rcDebugDraw* dd, float minx, float miny, float minz, float maxx, float maxy, float maxz, const float* col)
 {
-	glBegin(GL_LINES);
-	drawBoxWire(minx, miny, minz, maxx, maxy, maxz, col);
-	glEnd();
+	dd->begin(RC_DRAW_LINES, 24, 1.0f);
+	drawBoxWire(dd, minx, miny, minz, maxx, maxy, maxz, col);
+	dd->end();
 }
 
-void rcDebugDrawBox(float minx, float miny, float minz, float maxx, float maxy, float maxz,
+void rcDebugDrawBox(rcDebugDraw* dd, float minx, float miny, float minz, float maxx, float maxy, float maxz,
 					const float* col1, const float* col2)
 {
-	glBegin(GL_QUADS);
-	drawBox(minx, miny, minz, maxx, maxy, maxz, col1, col2);
-	glEnd();
+	dd->begin(RC_DRAW_QUADS,24);
+	drawBox(dd, minx, miny, minz, maxx, maxy, maxz, col1, col2);
+	dd->end();
 }
 
+static int getSpanCount(const rcHeightfield& hf)
+{
+	const int w = hf.width;
+	const int h = hf.height;
+	int spanCount = 0;
+	for (int y = 0; y < h; ++y)
+		for (int x = 0; x < w; ++x)
+			for (rcSpan* s = hf.spans[x + y*w]; s; s = s->next)
+					spanCount++;
+	return spanCount;
+}
 
-void rcDebugDrawHeightfieldSolid(const rcHeightfield& hf)
+void rcDebugDrawHeightfieldSolid(rcDebugDraw* dd, const rcHeightfield& hf)
 {
 	static const float col0[4] = { 1,1,1,1 };
 	
@@ -203,7 +238,10 @@ void rcDebugDrawHeightfieldSolid(const rcHeightfield& hf)
 	const int w = hf.width;
 	const int h = hf.height;
 	
-	glBegin(GL_QUADS);
+	const int spanCount = getSpanCount(hf);
+	const int nv = spanCount*24;
+	
+	dd->begin(RC_DRAW_QUADS, nv);
 	
 	for (int y = 0; y < h; ++y)
 	{
@@ -214,18 +252,20 @@ void rcDebugDrawHeightfieldSolid(const rcHeightfield& hf)
 			const rcSpan* s = hf.spans[x + y*w];
 			while (s)
 			{
-				drawBox(fx, orig[1]+s->smin*ch, fz, fx+cs, orig[1] + s->smax*ch, fz+cs, col0, col0);
+				drawBox(dd, fx, orig[1]+s->smin*ch, fz, fx+cs, orig[1] + s->smax*ch, fz+cs, col0, col0);
 				s = s->next;
 			}
 		}
 	}
-	glEnd();
+	dd->end();
 }
 
-void rcDebugDrawHeightfieldWalkable(const rcHeightfield& hf)
+void rcDebugDrawHeightfieldWalkable(rcDebugDraw* dd, const rcHeightfield& hf)
 {
-	static const float col0[4] = { 1,1,1,1 };
-	static const float col1[4] = { 0.25f,0.44f,0.5f,1 };
+	static const float colb[4] = {0.85f,0.85f,0.85f,1 }; // Base
+	static const float col0[4] = {0.5f, 0.75f, 0.85f,1}; // Culled
+	static const float col1[4] = {0.3f, 0.55f, 0.65f, 1}; // Walkable
+	static const float col2[4] = {0.15f, 0.4f, 0.5f,1}; // Ledge
 	
 	const float* orig = hf.bmin;
 	const float cs = hf.cs;
@@ -234,7 +274,10 @@ void rcDebugDrawHeightfieldWalkable(const rcHeightfield& hf)
 	const int w = hf.width;
 	const int h = hf.height;
 	
-	glBegin(GL_QUADS);
+	const int spanCount = getSpanCount(hf);
+	const int nv = spanCount*24;
+	
+	dd->begin(RC_DRAW_QUADS, nv);
 	
 	for (int y = 0; y < h; ++y)
 	{
@@ -245,23 +288,29 @@ void rcDebugDrawHeightfieldWalkable(const rcHeightfield& hf)
 			const rcSpan* s = hf.spans[x + y*w];
 			while (s)
 			{
-				bool csel = (s->flags & 0x1) == 0;
-				drawBox(fx, orig[1]+s->smin*ch, fz, fx+cs, orig[1] + s->smax*ch, fz+cs, col0, csel ? col0 : col1);
+				const float* c = col0;
+				if (s->flags & RC_LEDGE)
+					c = col2;
+				else if (s->flags & RC_WALKABLE)
+					c = col1;
+				drawBox(dd, fx, orig[1]+s->smin*ch, fz, fx+cs, orig[1] + s->smax*ch, fz+cs, colb, c);
 				s = s->next;
 			}
 		}
 	}
-	glEnd();
+	
+	dd->end();
 }
 
-void rcDebugDrawCompactHeightfieldSolid(const rcCompactHeightfield& chf)
+void rcDebugDrawCompactHeightfieldSolid(rcDebugDraw* dd, const rcCompactHeightfield& chf)
 {
 	const float cs = chf.cs;
 	const float ch = chf.ch;
 
-	glColor3ub(64,112,128);
-
-	glBegin(GL_QUADS);
+	unsigned int color = RGBA(0,192,255,64);
+	
+	dd->begin(RC_DRAW_QUADS, chf.spanCount*4);
+	
 	for (int y = 0; y < chf.height; ++y)
 	{
 		for (int x = 0; x < chf.width; ++x)
@@ -274,26 +323,23 @@ void rcDebugDrawCompactHeightfieldSolid(const rcCompactHeightfield& chf)
 			{
 				const rcCompactSpan& s = chf.spans[i];
 				const float fy = chf.bmin[1] + (s.y+1)*ch;
-				glVertex3f(fx, fy, fz);
-				glVertex3f(fx, fy, fz+cs);
-				glVertex3f(fx+cs, fy, fz+cs);
-				glVertex3f(fx+cs, fy, fz);
+				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);
 			}
 		}
 	}
-	glEnd();
+	dd->end();
 }
 
-void rcDebugDrawCompactHeightfieldRegions(const rcCompactHeightfield& chf)
+void rcDebugDrawCompactHeightfieldRegions(rcDebugDraw* dd, const rcCompactHeightfield& chf)
 {
 	const float cs = chf.cs;
 	const float ch = chf.ch;
 
-	float col[4] = { 1,1,1,1 };
-	
-	glDepthMask(GL_TRUE);
-	
-	glBegin(GL_QUADS);
+	dd->begin(RC_DRAW_QUADS, chf.spanCount*4);
+
 	for (int y = 0; y < chf.height; ++y)
 	{
 		for (int x = 0; x < chf.width; ++x)
@@ -305,40 +351,36 @@ void rcDebugDrawCompactHeightfieldRegions(const rcCompactHeightfield& chf)
 			for (unsigned i = c.index, ni = c.index+c.count; i < ni; ++i)
 			{
 				const rcCompactSpan& s = chf.spans[i];
-
-				if (chf.reg[i])
-				{
-					intToCol(chf.reg[i], col);
-					glColor4fv(col);
-				}
-				else
-				{
-					glColor4ub(0,0,0,64);
-				}
-
 				const float fy = chf.bmin[1] + (s.y)*ch;
+				unsigned int color;
+				if (chf.reg[i])
+					color = intToCol(chf.reg[i], 192);
+				else
+					color = RGBA(0,0,0,64);
 
-				glVertex3f(fx, fy, fz);
-				glVertex3f(fx, fy, fz+cs);
-				glVertex3f(fx+cs, fy, fz+cs);
-				glVertex3f(fx+cs, fy, fz);
+				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);
 			}
 		}
 	}
-	glEnd();
+	
+	dd->end();
 }
 
 
-void rcDebugDrawCompactHeightfieldDistance(const rcCompactHeightfield& chf)
+void rcDebugDrawCompactHeightfieldDistance(rcDebugDraw* dd, const rcCompactHeightfield& chf)
 {
 	const float cs = chf.cs;
 	const float ch = chf.ch;
-		
+			
 	float maxd = chf.maxDistance;
 	if (maxd < 1.0f) maxd = 1;
-	float dscale = 1.0f / maxd;
+	const float dscale = 255.0f / maxd;
+	
+	dd->begin(RC_DRAW_QUADS, chf.spanCount*4);
 	
-	glBegin(GL_QUADS);
 	for (int y = 0; y < chf.height; ++y)
 	{
 		for (int x = 0; x < chf.width; ++x)
@@ -351,16 +393,16 @@ void rcDebugDrawCompactHeightfieldDistance(const rcCompactHeightfield& chf)
 			{
 				const rcCompactSpan& s = chf.spans[i];
 				const float fy = chf.bmin[1] + (s.y+1)*ch;
-				float cd = (float)chf.dist[i] * dscale;
-				glColor3f(cd, cd, cd);
-				glVertex3f(fx, fy, fz);
-				glVertex3f(fx, fy, fz+cs);
-				glVertex3f(fx+cs, fy, fz+cs);
-				glVertex3f(fx+cs, fy, fz);
+				const unsigned char cd = (unsigned char)(chf.dist[i] * dscale);
+				const unsigned int color = RGBA(cd,cd,cd,255);
+				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);
 			}
 		}
 	}
-	glEnd();
+	dd->end();
 }
 
 static void getContourCenter(const rcContour* cont, const float* orig, float cs, float ch, float* center)
@@ -396,36 +438,39 @@ static const rcContour* findContourFromSet(const rcContourSet& cset, unsigned sh
 	return 0;
 }
 
-static void drawArc(const float* p0, const float* p1)
+static const int NUM_ARC_PTS = 8;
+
+static void drawArc(rcDebugDraw* dd, const float* p0, const float* p1, unsigned int color)
 {
-	static const int NPTS = 8;
-	float pts[NPTS*3];
+	// Submits NPTS*2 vertices.
+	float pts[NUM_ARC_PTS*3];
 	float dir[3];
 	vsub(dir, p1, p0);
 	const float len = sqrtf(vdistSqr(p0, p1));
-	for (int i = 0; i < NPTS; ++i)
+	for (int i = 0; i < NUM_ARC_PTS; ++i)
 	{
-		float u = (float)i / (float)(NPTS-1);
+		float u = (float)i / (float)(NUM_ARC_PTS-1);
 		float* p = &pts[i*3];
 		p[0] = p0[0] + dir[0] * u;
 		p[1] = p0[1] + dir[1] * u + (len/4) * (1-rcSqr(u*2-1));
 		p[2] = p0[2] + dir[2] * u;
 	}
-	for (int i = 0; i < NPTS-1; ++i)
+	for (int i = 0; i < NUM_ARC_PTS-1; ++i)
 	{
-		glVertex3fv(&pts[i*3]);
-		glVertex3fv(&pts[(i+1)*3]);
+		dd->vertex(&pts[i*3], color);
+		dd->vertex(&pts[(i+1)*3], color);
 	}
 }
 
-void rcDrawArc(const float* p0, const float* p1)
+void rcDrawArc(rcDebugDraw* dd, const float* p0, const float* p1, const float* col, float lineWidth)
 {
-	glBegin(GL_LINES);
-	drawArc(p0, p1);
-	glEnd();
+	const unsigned int color = RGBAf(col[0],col[1],col[2],col[3]);
+	dd->begin(RC_DRAW_LINES, NUM_ARC_PTS*2, lineWidth);
+	drawArc(dd, p0, p1, color);
+	dd->end();
 }
 
-void rcDebugDrawRegionConnections(const rcContourSet& cset, const float alpha)
+void rcDebugDrawRegionConnections(rcDebugDraw* dd, const rcContourSet& cset, const float alpha)
 {
 	const float* orig = cset.bmin;
 	const float cs = cset.cs;
@@ -434,10 +479,23 @@ void rcDebugDrawRegionConnections(const rcContourSet& cset, const float alpha)
 	// Draw centers
 	float pos[3], pos2[3];
 
-	glColor4ub(0,0,0,196);
+	unsigned int color = RGBA(0,0,0,196);
+
+	int nv = 0;
+	for (int i = 0; i < cset.nconts; ++i)
+	{
+		const rcContour* cont = &cset.conts[i];
+		for (int j = 0; j < cont->nverts; ++j)
+		{
+			const int* v = &cont->verts[j*4];
+			if (v[3] == 0 || (unsigned short)v[3] < cont->reg) continue;
+			if (findContourFromSet(cset, (unsigned short)v[3]))
+				nv += NUM_ARC_PTS;
+		}
+	}
+	
+	dd->begin(RC_DRAW_LINES, nv, 2.0f);
 
-	glLineWidth(2.0f);
-	glBegin(GL_LINES);
 	for (int i = 0; i < cset.nconts; ++i)
 	{
 		const rcContour* cont = &cset.conts[i];
@@ -450,158 +508,203 @@ void rcDebugDrawRegionConnections(const rcContourSet& cset, const float alpha)
 			if (cont2)
 			{
 				getContourCenter(cont2, orig, cs, ch, pos2);
-				drawArc(pos, pos2);
+				drawArc(dd, pos, pos2, color);
 			}
 		}
 	}
-	glEnd();
-
-	float col[4] = { 1,1,1,alpha };
 	
-	glPointSize(7.0f);
-	glBegin(GL_POINTS);
+	dd->end();
+
+	unsigned char a = (unsigned char)(alpha * 255.0f);
+
+	dd->begin(RC_DRAW_POINTS, nv, 7.0f);
+
 	for (int i = 0; i < cset.nconts; ++i)
 	{
 		const rcContour* cont = &cset.conts[i];
-		intToCol(cont->reg, col);
-		col[0] *= 0.5f;
-		col[1] *= 0.5f;
-		col[2] *= 0.5f;
-		glColor4fv(col);
+		unsigned int color = dark(intToCol(cont->reg,a));
 		getContourCenter(cont, orig, cs, ch, pos);
-		glVertex3fv(pos);
+		dd->vertex(pos, color);
 	}
-	glEnd();
-	
-	
-	glLineWidth(1.0f);
-	glPointSize(1.0f);
+	dd->end();
 }
 
-void rcDebugDrawRawContours(const rcContourSet& cset, const float alpha)
+void rcDebugDrawRawContours(rcDebugDraw* dd, const rcContourSet& cset, const float alpha)
 {
 	const float* orig = cset.bmin;
 	const float cs = cset.cs;
 	const float ch = cset.ch;
-	float col[4] = { 1,1,1,alpha };
-	glLineWidth(2.0f);
-	glPointSize(2.0f);
+	
+	const unsigned char a = (unsigned char)(alpha*255.0f);
+	
+	int nv = 0;
 	for (int i = 0; i < cset.nconts; ++i)
 	{
 		const rcContour& c = cset.conts[i];
-		intToCol(c.reg, col);
-		glColor4fv(col);
-		glBegin(GL_LINE_LOOP);
+		nv += c.nrverts;
+	}
+	
+	dd->begin(RC_DRAW_LINES, nv*2, 2.0f);
+			
+	for (int i = 0; i < cset.nconts; ++i)
+	{
+		const rcContour& c = cset.conts[i];
+		unsigned int color = intToCol(c.reg, a);
+
 		for (int j = 0; j < c.nrverts; ++j)
 		{
 			const int* v = &c.rverts[j*4];
 			float fx = orig[0] + v[0]*cs;
 			float fy = orig[1] + (v[1]+1+(i&1))*ch;
 			float fz = orig[2] + v[2]*cs;
-			glVertex3f(fx,fy,fz);
+			dd->vertex(fx,fy,fz,color);
+			if (j > 0)
+				dd->vertex(fx,fy,fz,color);
 		}
-		glEnd();
+		// Loop last segment.
+		const int* v = &c.rverts[0];
+		float fx = orig[0] + v[0]*cs;
+		float fy = orig[1] + (v[1]+1+(i&1))*ch;
+		float fz = orig[2] + v[2]*cs;
+		dd->vertex(fx,fy,fz,color);
+	}
+	dd->end();
 
-		col[0] *= 0.5f;
-		col[1] *= 0.5f;
-		col[2] *= 0.5f;
-		glColor4fv(col);		
+	dd->begin(RC_DRAW_POINTS, nv, 2.0f);	
 
-		glBegin(GL_POINTS);
+	for (int i = 0; i < cset.nconts; ++i)
+	{
+		const rcContour& c = cset.conts[i];
+		unsigned int color = dark(intToCol(c.reg, a));
+		
 		for (int j = 0; j < c.nrverts; ++j)
 		{
 			const int* v = &c.rverts[j*4];
-			
 			float off = 0;
+			unsigned int colv = color;
 			if (v[3] & RC_BORDER_VERTEX)
 			{
-				glColor4ub(255,255,255,255);
+				colv = RGBA(255,255,255,a);
 				off = ch*2;
 			}
-			else
-			{
-				glColor4fv(col);
-			}
 			
 			float fx = orig[0] + v[0]*cs;
 			float fy = orig[1] + (v[1]+1+(i&1))*ch + off;
 			float fz = orig[2] + v[2]*cs;
-			glVertex3f(fx,fy,fz);
+			dd->vertex(fx,fy,fz, colv);
 		}
-		glEnd();
 	}
-	glLineWidth(1.0f);
-	glPointSize(1.0f);
+	dd->end();
 }
 
-void rcDebugDrawContours(const rcContourSet& cset, const float alpha)
+void rcDebugDrawContours(rcDebugDraw* dd, const rcContourSet& cset, const float alpha)
 {
 	const float* orig = cset.bmin;
 	const float cs = cset.cs;
 	const float ch = cset.ch;
-	float col[4] = { 1,1,1,1 };
-	glLineWidth(2.5f);
-	glPointSize(3.0f);
+	
+	const unsigned char a = (unsigned char)(alpha*255.0f);
+	
+	int nv = 0;
 	for (int i = 0; i < cset.nconts; ++i)
 	{
 		const rcContour& c = cset.conts[i];
-		intToCol(c.reg, col);
-		glColor4fv(col);
+		nv += c.nverts;
+	}
+	
+	dd->begin(RC_DRAW_LINES, nv*2, 2.5f);
+	
+	for (int i = 0; i < cset.nconts; ++i)
+	{
+		const rcContour& c = cset.conts[i];
+		unsigned int color = intToCol(c.reg, a);
 
-		glBegin(GL_LINE_LOOP);
 		for (int j = 0; j < c.nverts; ++j)
 		{
 			const int* v = &c.verts[j*4];
 			float fx = orig[0] + v[0]*cs;
 			float fy = orig[1] + (v[1]+1+(i&1))*ch;
 			float fz = orig[2] + v[2]*cs;
-			glVertex3f(fx,fy,fz);
+			dd->vertex(fx,fy,fz, color);
+			if (j > 0)
+				dd->vertex(fx,fy,fz, color);
 		}
-		glEnd();
+		// Loop last segment
+		const int* v = &c.verts[0];
+		float fx = orig[0] + v[0]*cs;
+		float fy = orig[1] + (v[1]+1+(i&1))*ch;
+		float fz = orig[2] + v[2]*cs;
+		dd->vertex(fx,fy,fz, color);
+	}
+	dd->end();
 
-		col[0] *= 0.5f;
-		col[1] *= 0.5f;
-		col[2] *= 0.5f;
-		glColor4fv(col);		
-		glBegin(GL_POINTS);
+	dd->begin(RC_DRAW_POINTS, nv, 3.0f);
+	
+	for (int i = 0; i < cset.nconts; ++i)
+	{
+		const rcContour& c = cset.conts[i];
+		unsigned int color = dark(intToCol(c.reg, a));
 		for (int j = 0; j < c.nverts; ++j)
 		{
 			const int* v = &c.verts[j*4];
 			float off = 0;
+			unsigned int colv = color;
 			if (v[3] & RC_BORDER_VERTEX)
 			{
-				glColor4ub(255,255,255,255);
+				colv = RGBA(255,255,255,a);
 				off = ch*2;
 			}
-			else
-			{
-				glColor4fv(col);
-			}
 
 			float fx = orig[0] + v[0]*cs;
 			float fy = orig[1] + (v[1]+1+(i&1))*ch + off;
 			float fz = orig[2] + v[2]*cs;
-			glVertex3f(fx,fy,fz);
+			dd->vertex(fx,fy,fz, colv);
 		}
-		glEnd();
 	}
-	glLineWidth(1.0f);
-	glPointSize(1.0f);
+	dd->end();
 }
 
-void rcDebugDrawPolyMesh(const struct rcPolyMesh& mesh)
+void rcDebugDrawPolyMesh(rcDebugDraw* dd, const struct rcPolyMesh& mesh)
 {
 	const int nvp = mesh.nvp;
 	const float cs = mesh.cs;
 	const float ch = mesh.ch;
 	const float* orig = mesh.bmin;
-	float col[4] = {1,1,1,0.75f};
-	glBegin(GL_TRIANGLES);
+	
+	int nvt = 0; // triangle verts
+	int nvb = 0; // boundary edge verts
+	int nvn = 0; // neighbour edge verts
 	for (int i = 0; i < mesh.npolys; ++i)
 	{
 		const unsigned short* p = &mesh.polys[i*nvp*2];
-		intToCol(i, col);
-		glColor4fv(col);
+		// Tris
+		for (int j = 2; j < nvp; ++j)
+		{
+			if (p[j] == 0xffff) break;
+			nvt += 3;
+		}
+		// boundary edges
+		for (int j = 0; j < nvp; ++j)
+		{
+			if (p[j] == 0xffff) break;
+			if (p[nvp+j] == 0xffff) continue;
+			nvb += 2;
+		}
+		// neighbour edges
+		for (int j = 0; j < nvp; ++j)
+		{
+			if (p[j] == 0xffff) break;
+			if (p[nvp+j] != 0xffff) continue;
+			nvb += 2;
+		}
+	}
+
+	dd->begin(RC_DRAW_TRIS, nvt);
+	
+	for (int i = 0; i < mesh.npolys; ++i)
+	{
+		const unsigned short* p = &mesh.polys[i*nvp*2];
+		unsigned int color = intToCol(i, 192);
 		unsigned short vi[3];
 		for (int j = 2; j < nvp; ++j)
 		{
@@ -615,91 +718,121 @@ void rcDebugDrawPolyMesh(const struct rcPolyMesh& mesh)
 				const float x = orig[0] + v[0]*cs;
 				const float y = orig[1] + (v[1]+1)*ch;
 				const float z = orig[2] + v[2]*cs;
-				glVertex3f(x, y, z);
+				dd->vertex(x,y,z, color);
 			}
 		}
 	}
-	glEnd();
+	dd->end();
 
-	// Draw tri boundaries
-	glColor4ub(0,48,64,32);
-	glLineWidth(1.5f);
-	glBegin(GL_LINES);
+	// Draw neighbours edges
+	const unsigned int coln = RGBA(0,48,64,32);
+	dd->begin(RC_DRAW_LINES, nvn, 1.5f);
 	for (int i = 0; i < mesh.npolys; ++i)
 	{
-		const unsigned short* poly = &mesh.polys[i*nvp*2];
+		const unsigned short* p = &mesh.polys[i*nvp*2];
 		for (int j = 0; j < nvp; ++j)
 		{
-			if (poly[j] == 0xffff) break;
-			if (poly[nvp+j] == 0xffff) continue;
+			if (p[j] == 0xffff) break;
+			if (p[nvp+j] == 0xffff) continue;
 			int vi[2];
-			vi[0] = poly[j];
-			if (j+1 >= nvp || poly[j+1] == 0xffff)
-				vi[1] = poly[0];
+			vi[0] = p[j];
+			if (j+1 >= nvp || p[j+1] == 0xffff)
+				vi[1] = p[0];
 			else
-				vi[1] = poly[j+1];
+				vi[1] = p[j+1];
 			for (int k = 0; k < 2; ++k)
 			{
 				const unsigned short* v = &mesh.verts[vi[k]*3];
 				const float x = orig[0] + v[0]*cs;
 				const float y = orig[1] + (v[1]+1)*ch + 0.1f;
 				const float z = orig[2] + v[2]*cs;
-				glVertex3f(x, y, z);
+				dd->vertex(x, y, z, coln);
 			}
 		}
 	}
-	glEnd();
+	dd->end();
 	
-	// Draw boundaries
-	glLineWidth(2.5f);
-	glColor4ub(0,48,64,220);
-	glBegin(GL_LINES);
+	// Draw boundary edges
+	const unsigned int colb = RGBA(0,48,64,220);
+	dd->begin(RC_DRAW_LINES, nvb, 2.5f);
 	for (int i = 0; i < mesh.npolys; ++i)
 	{
-		const unsigned short* poly = &mesh.polys[i*nvp*2];
+		const unsigned short* p = &mesh.polys[i*nvp*2];
 		for (int j = 0; j < nvp; ++j)
 		{
-			if (poly[j] == 0xffff) break;
-			if (poly[nvp+j] != 0xffff) continue;
+			if (p[j] == 0xffff) break;
+			if (p[nvp+j] != 0xffff) continue;
 			int vi[2];
-			vi[0] = poly[j];
-			if (j+1 >= nvp || poly[j+1] == 0xffff)
-				vi[1] = poly[0];
+			vi[0] = p[j];
+			if (j+1 >= nvp || p[j+1] == 0xffff)
+				vi[1] = p[0];
 			else
-				vi[1] = poly[j+1];
+				vi[1] = p[j+1];
 			for (int k = 0; k < 2; ++k)
 			{
 				const unsigned short* v = &mesh.verts[vi[k]*3];
 				const float x = orig[0] + v[0]*cs;
 				const float y = orig[1] + (v[1]+1)*ch + 0.1f;
 				const float z = orig[2] + v[2]*cs;
-				glVertex3f(x, y, z);
+				dd->vertex(x, y, z, colb);
 			}
 		}
 	}
-	glEnd();
-	glLineWidth(1.0f);
+	dd->end();
 	
-	glPointSize(3.0f);
-	glColor4ub(0,0,0,220);
-	glBegin(GL_POINTS);
+	dd->begin(RC_DRAW_POINTS, mesh.nverts, 3.0f);
+	const unsigned int colv = RGBA(0,0,0,220);
 	for (int i = 0; i < mesh.nverts; ++i)
 	{
 		const unsigned short* v = &mesh.verts[i*3];
 		const float x = orig[0] + v[0]*cs;
 		const float y = orig[1] + (v[1]+1)*ch + 0.1f;
 		const float z = orig[2] + v[2]*cs;
-		glVertex3f(x, y, z);
+		dd->vertex(x,y,z, colv);
 	}
-	glEnd();
-	glPointSize(1.0f);
+	dd->end();
 }
 
-void rcDebugDrawPolyMeshDetail(const struct rcPolyMeshDetail& dmesh)
+void rcDebugDrawPolyMeshDetail(rcDebugDraw* dd, const struct rcPolyMeshDetail& dmesh)
 {
-	float col[4] = {1,1,1,0.75f};
+	int nvt = 0;
+	int nvi = 0;
+	int nve = 0;
+	int nvv = 0;
+
+	for (int i = 0; i < dmesh.nmeshes; ++i)
+	{
+		const unsigned short* m = &dmesh.meshes[i*4];
+		const unsigned short nverts = m[1];
+		const unsigned short btris = m[2];
+		const unsigned short ntris = m[3];
+		const unsigned char* tris = &dmesh.tris[btris*4];
+		
+		nvt += (int)ntris*3;
+		nvv += (int)nverts;
+		
+		for (int j = 0; j < ntris; ++j)
+		{
+			const unsigned char* t = &tris[j*4];
+			for (int k = 0, kp = 2; k < 3; kp=k++)
+			{
+				unsigned char ef = (t[3] >> (kp*2)) & 0x3;
+				if (ef == 0)
+				{
+					if (t[kp] < t[k])
+						nvi += 2;
+				}
+				else
+				{
+					nve += 2;
+				}
+			}
+		}
+		
+	}
+		
+	dd->begin(RC_DRAW_TRIS, nvt);
 	
-	glBegin(GL_TRIANGLES);
 	for (int i = 0; i < dmesh.nmeshes; ++i)
 	{
 		const unsigned short* m = &dmesh.meshes[i*4];
@@ -709,21 +842,20 @@ void rcDebugDrawPolyMeshDetail(const struct rcPolyMeshDetail& dmesh)
 		const float* verts = &dmesh.verts[bverts*3];
 		const unsigned char* tris = &dmesh.tris[btris*4];
 
-		intToCol(i, col);
-		glColor4fv(col);
+		unsigned int color = intToCol(i, 192);
+
 		for (int j = 0; j < ntris; ++j)
 		{
-			glVertex3fv(&verts[tris[j*4+0]*3]);
-			glVertex3fv(&verts[tris[j*4+1]*3]);
-			glVertex3fv(&verts[tris[j*4+2]*3]);
+			dd->vertex(&verts[tris[j*4+0]*3], color);
+			dd->vertex(&verts[tris[j*4+1]*3], color);
+			dd->vertex(&verts[tris[j*4+2]*3], color);
 		}
 	}
-	glEnd();
+	dd->end();
 
 	// Internal edges.
-	glLineWidth(1.0f);
-	glColor4ub(0,0,0,64);
-	glBegin(GL_LINES);
+	dd->begin(RC_DRAW_LINES, nvi, 1.0f);
+	const unsigned int coli = RGBA(0,0,0,64);
 	for (int i = 0; i < dmesh.nmeshes; ++i)
 	{
 		const unsigned short* m = &dmesh.meshes[i*4];
@@ -744,19 +876,18 @@ void rcDebugDrawPolyMeshDetail(const struct rcPolyMeshDetail& dmesh)
 					// Internal edge
 					if (t[kp] < t[k])
 					{
-						glVertex3fv(&verts[t[kp]*3]);
-						glVertex3fv(&verts[t[k]*3]);
+						dd->vertex(&verts[t[kp]*3], coli);
+						dd->vertex(&verts[t[k]*3], coli);
 					}
 				}
 			}
 		}
 	}
-	glEnd();
+	dd->end();
 	
 	// External edges.
-	glLineWidth(2.0f);
-	glColor4ub(0,0,0,64);
-	glBegin(GL_LINES);
+	dd->begin(RC_DRAW_LINES, 2.0f);
+	const unsigned int cole = RGBA(0,0,0,64);
 	for (int i = 0; i < dmesh.nmeshes; ++i)
 	{
 		const unsigned short* m = &dmesh.meshes[i*4];
@@ -775,18 +906,16 @@ void rcDebugDrawPolyMeshDetail(const struct rcPolyMeshDetail& dmesh)
 				if (ef != 0)
 				{
 					// Ext edge
-					glVertex3fv(&verts[t[kp]*3]);
-					glVertex3fv(&verts[t[k]*3]);
+					dd->vertex(&verts[t[kp]*3], cole);
+					dd->vertex(&verts[t[k]*3], cole);
 				}
 			}
 		}
 	}
-	glEnd();
+	dd->end();
 	
-	glLineWidth(1.0f);
-
-	glPointSize(3.0f);
-	glBegin(GL_POINTS);
+	dd->begin(RC_DRAW_POINTS, nvv, 3.0f);
+	const unsigned int colv = RGBA(0,0,0,64);
 	for (int i = 0; i < dmesh.nmeshes; ++i)
 	{
 		const unsigned short* m = &dmesh.meshes[i*4];
@@ -794,11 +923,7 @@ void rcDebugDrawPolyMeshDetail(const struct rcPolyMeshDetail& dmesh)
 		const unsigned short nverts = m[1];
 		const float* verts = &dmesh.verts[bverts*3];
 		for (int j = 0; j < nverts; ++j)
-		{
-			glColor4ub(0,0,0,64);
-			glVertex3fv(&verts[j*3]);
-		}
+			dd->vertex(&verts[j*3], colv);
 	}
-	glEnd();
-	glPointSize(1.0f);
+	dd->end();
 }
diff --git a/Recast/Source/RecastFilter.cpp b/Recast/Source/RecastFilter.cpp
index cd1b4aa..658316b 100644
--- a/Recast/Source/RecastFilter.cpp
+++ b/Recast/Source/RecastFilter.cpp
@@ -84,8 +84,7 @@ void rcFilterLedgeSpans(const int walkableHeight,
 				// The current span is close to a ledge if the drop to any
 				// neighbour span is less than the walkableClimb.
 				if (minh < -walkableClimb)
-					s->flags &= ~RC_WALKABLE;
-				
+					s->flags |= RC_LEDGE;
 			}
 		}
 	}
@@ -129,121 +128,3 @@ void rcFilterWalkableLowHeightSpans(int walkableHeight,
 	if (rcGetBuildTimes())
 		rcGetBuildTimes()->filterWalkable += rcGetDeltaTimeUsec(startTime, endTime);
 }
-
-
-struct rcReachableSeed
-{
-	inline void set(int ix, int iy, rcSpan* is)
-	{
-		x = (unsigned short)ix;
-		y = (unsigned short)iy;
-		s = is;
-	}
-	unsigned short x, y;
-	rcSpan* s;
-};
-
-bool rcMarkReachableSpans(const int walkableHeight,
-						  const int walkableClimb,
-						  rcHeightfield& solid)
-{
-	const int w = solid.width;
-	const int h = solid.height;
-	const int MAX_HEIGHT = 0xffff;
-	
-	rcTimeVal startTime = rcGetPerformanceTimer();
-	
-	// Build navigable space.
-	const int MAX_SEEDS = w*h;
-	rcReachableSeed* stack = new rcReachableSeed[MAX_SEEDS];
-	if (!stack)
-	{
-		if (rcGetLog())
-			rcGetLog()->log(RC_LOG_ERROR, "rcMarkReachableSpans: Out of memory 'stack' (%d).", MAX_SEEDS);
-		return false;
-	}
-	int stackSize = 0;
-	
-	for (int y = 0; y < h; ++y)
-	{
-		for (int x = 0; x < w; ++x)
-		{
-			rcSpan* topSpan = solid.spans[x + y*w];
-			if (!topSpan)
-				continue;
-			while (topSpan->next)
-				topSpan = topSpan->next;
-			
-			// If the span is not walkable, skip it.
-			if ((topSpan->flags & RC_WALKABLE) == 0)
-				continue;
-			// If the span has been visited already, skip it.
-			if (topSpan->flags & RC_REACHABLE)
-				continue;
-			
-			// Start flood fill.
-			topSpan->flags |= RC_REACHABLE;
-			stackSize = 0;
-			stack[stackSize].set(x, y, topSpan);
-			stackSize++;
-			
-			while (stackSize)
-			{
-				// Pop a seed from the stack.
-				stackSize--;
-				rcReachableSeed cur = stack[stackSize];
-				
-				const int bot = (int)(cur.s->smax);
-				const int top = cur.s->next ? (int)(cur.s->next->smin) : MAX_HEIGHT;
-				
-				// Visit neighbours in all 4 directions.
-				for (int dir = 0; dir < 4; ++dir)
-				{
-					int dx = (int)cur.x + rcGetDirOffsetX(dir);
-					int dy = (int)cur.y + rcGetDirOffsetY(dir);
-					// Skip neighbour which are out of bounds.
-					if (dx < 0 || dy < 0 || dx >= w || dy >= h)
-						continue;
-					for (rcSpan* ns = solid.spans[dx + dy*w]; ns; ns = ns->next)
-					{
-						// Skip neighbour if it is not walkable.
-						if ((ns->flags & RC_WALKABLE) == 0)
-							continue;
-						// Skip the neighbour if it has been visited already.
-						if (ns->flags & RC_REACHABLE)
-							continue;
-						
-						const int nbot = (int)ns->smax;
-						const int ntop = ns->next ? (int)ns->next->smin : MAX_HEIGHT;
-						// Skip neightbour if the gap between the spans is too small.
-						if (rcMin(top,ntop) - rcMax(bot,nbot) < walkableHeight)
-							continue;
-						// Skip neightbour if the climb height to the neighbour is too high.
-						if (rcAbs(nbot - bot) >= walkableClimb)
-							continue;
-						
-						// This neighbour has not been visited yet.
-						// Mark it as reachable and add it to the seed stack.
-						ns->flags |= RC_REACHABLE;
-						if (stackSize < MAX_SEEDS)
-						{
-							stack[stackSize].set(dx, dy, ns);
-							stackSize++;
-						}
-					}
-				}
-			}
-		}
-	}
-	
-	delete [] stack;	
-	
-	rcTimeVal endTime = rcGetPerformanceTimer();
-	
-//	if (rcGetLog())
-//		rcGetLog()->log(RC_LOG_PROGRESS, "Mark reachable: %.3f ms", rcGetDeltaTimeUsec(startTime, endTime)/1000.0f);
-	if (rcGetBuildTimes())
-		rcGetBuildTimes()->filterMarkReachable += rcGetDeltaTimeUsec(startTime, endTime);
-	
-	return true;
-}
diff --git a/RecastDemo/Bin/Recast.app/Contents/MacOS/Recast b/RecastDemo/Bin/Recast.app/Contents/MacOS/Recast
index 8e5f86f..0bd308c 100755
Binary files a/RecastDemo/Bin/Recast.app/Contents/MacOS/Recast and b/RecastDemo/Bin/Recast.app/Contents/MacOS/Recast differ
diff --git a/RecastDemo/Build/Xcode/Recast.xcodeproj/memon.pbxuser b/RecastDemo/Build/Xcode/Recast.xcodeproj/memon.pbxuser
index b5b3acd..798b920 100644
--- a/RecastDemo/Build/Xcode/Recast.xcodeproj/memon.pbxuser
+++ b/RecastDemo/Build/Xcode/Recast.xcodeproj/memon.pbxuser
@@ -21,7 +21,7 @@
 			6B0249EF10037C0C00CF7107 /* DetourTileNavMesh.cpp:1 */,
 			6B024AC01004AB3900CF7107 /* DetourTileNavMesh.cpp:1 */,
 			6B9D0932102722F0009B1A6C /* RecastTexture.cpp:301 */,
-			6B9D09921028542A009B1A6C /* RecastDebugDraw.cpp:698 */,
+			6B9D09921028542A009B1A6C /* RecastDebugDraw.cpp:29 */,
 			6B93FEFF1030443300F0C0DA /* Recast.cpp:280 */,
 			6B9301521032F08300F0C0DA /* Recast.cpp:280 */,
 			6B4C5232104FC1F600E88FB8 /* Recast.cpp:280 */,
@@ -223,6 +223,163 @@
 			6B8DE73D10B01BBF00DF20FB /* PBXTextBookmark */ = 6B8DE73D10B01BBF00DF20FB /* PBXTextBookmark */;
 			6B8DE73E10B01BBF00DF20FB /* PBXTextBookmark */ = 6B8DE73E10B01BBF00DF20FB /* PBXTextBookmark */;
 			6B8DE74910B01BE900DF20FB /* PBXTextBookmark */ = 6B8DE74910B01BE900DF20FB /* PBXTextBookmark */;
+			6B8DE74B10B01EEA00DF20FB /* PBXTextBookmark */ = 6B8DE74B10B01EEA00DF20FB /* PBXTextBookmark */;
+			6B8DE74C10B01EEA00DF20FB /* PBXTextBookmark */ = 6B8DE74C10B01EEA00DF20FB /* PBXTextBookmark */;
+			6B8DE74D10B01EEA00DF20FB /* PBXTextBookmark */ = 6B8DE74D10B01EEA00DF20FB /* PBXTextBookmark */;
+			6B8DE74E10B01EEA00DF20FB /* PBXTextBookmark */ = 6B8DE74E10B01EEA00DF20FB /* PBXTextBookmark */;
+			6B8DE74F10B01EEA00DF20FB /* PBXTextBookmark */ = 6B8DE74F10B01EEA00DF20FB /* PBXTextBookmark */;
+			6B8DE75010B01EEA00DF20FB /* PBXTextBookmark */ = 6B8DE75010B01EEA00DF20FB /* PBXTextBookmark */;
+			6B8DE75110B01EEA00DF20FB /* PBXTextBookmark */ = 6B8DE75110B01EEA00DF20FB /* PBXTextBookmark */;
+			6B8DE75210B01EEA00DF20FB /* PBXTextBookmark */ = 6B8DE75210B01EEA00DF20FB /* PBXTextBookmark */;
+			6B8DE75310B01EEA00DF20FB /* PBXTextBookmark */ = 6B8DE75310B01EEA00DF20FB /* PBXTextBookmark */;
+			6B8DE75410B01EEA00DF20FB /* PBXTextBookmark */ = 6B8DE75410B01EEA00DF20FB /* PBXTextBookmark */;
+			6B8DE75510B01EEA00DF20FB /* PBXTextBookmark */ = 6B8DE75510B01EEA00DF20FB /* PBXTextBookmark */;
+			6B8DE75610B01EEA00DF20FB /* PBXTextBookmark */ = 6B8DE75610B01EEA00DF20FB /* PBXTextBookmark */;
+			6B8DE75710B01EEA00DF20FB /* PBXTextBookmark */ = 6B8DE75710B01EEA00DF20FB /* PBXTextBookmark */;
+			6B8DE75810B01F1A00DF20FB /* PBXTextBookmark */ = 6B8DE75810B01F1A00DF20FB /* PBXTextBookmark */;
+			6B8DE75910B01F1A00DF20FB /* PBXTextBookmark */ = 6B8DE75910B01F1A00DF20FB /* PBXTextBookmark */;
+			6B8DE75A10B01F1A00DF20FB /* PBXTextBookmark */ = 6B8DE75A10B01F1A00DF20FB /* PBXTextBookmark */;
+			6B8DE75B10B01F1A00DF20FB /* PBXTextBookmark */ = 6B8DE75B10B01F1A00DF20FB /* PBXTextBookmark */;
+			6B8DE75D10B01F9900DF20FB /* PBXTextBookmark */ = 6B8DE75D10B01F9900DF20FB /* PBXTextBookmark */;
+			6B8DE75E10B01F9900DF20FB /* PBXTextBookmark */ = 6B8DE75E10B01F9900DF20FB /* PBXTextBookmark */;
+			6B8DE75F10B01F9900DF20FB /* PBXTextBookmark */ = 6B8DE75F10B01F9900DF20FB /* PBXTextBookmark */;
+			6B8DE76010B01F9900DF20FB /* PBXTextBookmark */ = 6B8DE76010B01F9900DF20FB /* PBXTextBookmark */;
+			6B8DE76410B022B200DF20FB /* PBXTextBookmark */ = 6B8DE76410B022B200DF20FB /* PBXTextBookmark */;
+			6B8DE76510B022B200DF20FB /* PBXTextBookmark */ = 6B8DE76510B022B200DF20FB /* PBXTextBookmark */;
+			6B8DE76610B022B200DF20FB /* PBXTextBookmark */ = 6B8DE76610B022B200DF20FB /* PBXTextBookmark */;
+			6B8DE76710B022B200DF20FB /* PBXTextBookmark */ = 6B8DE76710B022B200DF20FB /* PBXTextBookmark */;
+			6B8DE76810B022B200DF20FB /* PBXTextBookmark */ = 6B8DE76810B022B200DF20FB /* PBXTextBookmark */;
+			6B8DE76910B022B200DF20FB /* PBXTextBookmark */ = 6B8DE76910B022B200DF20FB /* PBXTextBookmark */;
+			6B8DE76D10B0243500DF20FB /* PBXTextBookmark */ = 6B8DE76D10B0243500DF20FB /* PBXTextBookmark */;
+			6B8DE76E10B0243500DF20FB /* PBXTextBookmark */ = 6B8DE76E10B0243500DF20FB /* PBXTextBookmark */;
+			6B8DE76F10B0243500DF20FB /* PBXTextBookmark */ = 6B8DE76F10B0243500DF20FB /* PBXTextBookmark */;
+			6B8DE77010B0243500DF20FB /* PBXTextBookmark */ = 6B8DE77010B0243500DF20FB /* PBXTextBookmark */;
+			6B8DE77110B0243500DF20FB /* PBXTextBookmark */ = 6B8DE77110B0243500DF20FB /* PBXTextBookmark */;
+			6B8DE77210B0243500DF20FB /* PBXTextBookmark */ = 6B8DE77210B0243500DF20FB /* PBXTextBookmark */;
+			6B8DE77410B0244F00DF20FB /* PBXTextBookmark */ = 6B8DE77410B0244F00DF20FB /* PBXTextBookmark */;
+			6B8DE77610B0247200DF20FB /* PBXTextBookmark */ = 6B8DE77610B0247200DF20FB /* PBXTextBookmark */;
+			6B8DE77810B024C000DF20FB /* PBXTextBookmark */ = 6B8DE77810B024C000DF20FB /* PBXTextBookmark */;
+			6B8DE77A10B024F800DF20FB /* PBXTextBookmark */ = 6B8DE77A10B024F800DF20FB /* PBXTextBookmark */;
+			6B8DE77C10B0251A00DF20FB /* PBXTextBookmark */ = 6B8DE77C10B0251A00DF20FB /* PBXTextBookmark */;
+			6B8DE77E10B0252100DF20FB /* PBXTextBookmark */ = 6B8DE77E10B0252100DF20FB /* PBXTextBookmark */;
+			6B8DE78010B0254B00DF20FB /* PBXTextBookmark */ = 6B8DE78010B0254B00DF20FB /* PBXTextBookmark */;
+			6B8DE78210B0255500DF20FB /* PBXTextBookmark */ = 6B8DE78210B0255500DF20FB /* PBXTextBookmark */;
+			6B8DE78410B0258200DF20FB /* PBXTextBookmark */ = 6B8DE78410B0258200DF20FB /* PBXTextBookmark */;
+			6B8DE78610B0259B00DF20FB /* PBXTextBookmark */ = 6B8DE78610B0259B00DF20FB /* PBXTextBookmark */;
+			6B8DE78810B0306200DF20FB /* PBXTextBookmark */ = 6B8DE78810B0306200DF20FB /* PBXTextBookmark */;
+			6B8DE78A10B0308600DF20FB /* PBXTextBookmark */ = 6B8DE78A10B0308600DF20FB /* PBXTextBookmark */;
+			6B8DE78C10B030A600DF20FB /* PBXTextBookmark */ = 6B8DE78C10B030A600DF20FB /* PBXTextBookmark */;
+			6B8DE78E10B030EE00DF20FB /* PBXTextBookmark */ = 6B8DE78E10B030EE00DF20FB /* PBXTextBookmark */;
+			6B8DE79610B0348000DF20FB /* PBXTextBookmark */ = 6B8DE79610B0348000DF20FB /* PBXTextBookmark */;
+			6B8DE79710B0348000DF20FB /* PBXTextBookmark */ = 6B8DE79710B0348000DF20FB /* PBXTextBookmark */;
+			6B8DE79A10B034C600DF20FB /* PBXTextBookmark */ = 6B8DE79A10B034C600DF20FB /* PBXTextBookmark */;
+			6B8DE79B10B0374C00DF20FB /* PBXTextBookmark */ = 6B8DE79B10B0374C00DF20FB /* PBXTextBookmark */;
+			6B8DE79C10B037C700DF20FB /* PBXTextBookmark */ = 6B8DE79C10B037C700DF20FB /* PBXTextBookmark */;
+			6B8DE79D10B037C700DF20FB /* PBXTextBookmark */ = 6B8DE79D10B037C700DF20FB /* PBXTextBookmark */;
+			6B8DE79E10B0404100DF20FB /* PBXTextBookmark */ = 6B8DE79E10B0404100DF20FB /* PBXTextBookmark */;
+			6B8DE79F10B0404100DF20FB /* PBXTextBookmark */ = 6B8DE79F10B0404100DF20FB /* PBXTextBookmark */;
+			6B8DE7A010B0404100DF20FB /* PBXTextBookmark */ = 6B8DE7A010B0404100DF20FB /* PBXTextBookmark */;
+			6B8DE7A110B0404100DF20FB /* PBXTextBookmark */ = 6B8DE7A110B0404100DF20FB /* PBXTextBookmark */;
+			6B8DE7A210B0404100DF20FB /* PBXTextBookmark */ = 6B8DE7A210B0404100DF20FB /* PBXTextBookmark */;
+			6B8DE7A310B0412B00DF20FB /* PBXTextBookmark */ = 6B8DE7A310B0412B00DF20FB /* PBXTextBookmark */;
+			6B8DE7A410B0412B00DF20FB /* PBXTextBookmark */ = 6B8DE7A410B0412B00DF20FB /* PBXTextBookmark */;
+			6B8DE7A510B0412B00DF20FB /* PBXTextBookmark */ = 6B8DE7A510B0412B00DF20FB /* PBXTextBookmark */;
+			6B8DE7A610B0412B00DF20FB /* PBXTextBookmark */ = 6B8DE7A610B0412B00DF20FB /* PBXTextBookmark */;
+			6B8DE7A710B0412B00DF20FB /* PBXTextBookmark */ = 6B8DE7A710B0412B00DF20FB /* PBXTextBookmark */;
+			6B8DE7A810B0412B00DF20FB /* PBXTextBookmark */ = 6B8DE7A810B0412B00DF20FB /* PBXTextBookmark */;
+			6B8DE7A910B0412B00DF20FB /* PBXTextBookmark */ = 6B8DE7A910B0412B00DF20FB /* PBXTextBookmark */;
+			6B8DE7AA10B0463F00DF20FB /* PBXTextBookmark */ = 6B8DE7AA10B0463F00DF20FB /* PBXTextBookmark */;
+			6B8DE7AB10B0463F00DF20FB /* PBXTextBookmark */ = 6B8DE7AB10B0463F00DF20FB /* PBXTextBookmark */;
+			6B8DE7AC10B0463F00DF20FB /* PBXTextBookmark */ = 6B8DE7AC10B0463F00DF20FB /* PBXTextBookmark */;
+			6B8DE7AD10B0463F00DF20FB /* PBXTextBookmark */ = 6B8DE7AD10B0463F00DF20FB /* PBXTextBookmark */;
+			6B8DE7AE10B0463F00DF20FB /* PBXTextBookmark */ = 6B8DE7AE10B0463F00DF20FB /* PBXTextBookmark */;
+			6B8DE7AF10B0479B00DF20FB /* PBXTextBookmark */ = 6B8DE7AF10B0479B00DF20FB /* PBXTextBookmark */;
+			6B8DE7C510B04B7F00DF20FB /* PBXTextBookmark */ = 6B8DE7C510B04B7F00DF20FB /* PBXTextBookmark */;
+			6B8DE7C610B04B7F00DF20FB /* PBXTextBookmark */ = 6B8DE7C610B04B7F00DF20FB /* PBXTextBookmark */;
+			6B8DE7C710B04B7F00DF20FB /* PBXTextBookmark */ = 6B8DE7C710B04B7F00DF20FB /* PBXTextBookmark */;
+			6B8DE7C810B04B7F00DF20FB /* PBXTextBookmark */ = 6B8DE7C810B04B7F00DF20FB /* PBXTextBookmark */;
+			6B8DE7C910B04B7F00DF20FB /* PBXTextBookmark */ = 6B8DE7C910B04B7F00DF20FB /* PBXTextBookmark */;
+			6B8DE7CA10B04B7F00DF20FB /* PBXTextBookmark */ = 6B8DE7CA10B04B7F00DF20FB /* PBXTextBookmark */;
+			6B8DE7CB10B04B7F00DF20FB /* PBXTextBookmark */ = 6B8DE7CB10B04B7F00DF20FB /* PBXTextBookmark */;
+			6B8DE7CC10B04B7F00DF20FB /* PBXTextBookmark */ = 6B8DE7CC10B04B7F00DF20FB /* PBXTextBookmark */;
+			6B8DE7CD10B04B7F00DF20FB /* PBXTextBookmark */ = 6B8DE7CD10B04B7F00DF20FB /* PBXTextBookmark */;
+			6B8DE7CE10B04B7F00DF20FB /* PBXTextBookmark */ = 6B8DE7CE10B04B7F00DF20FB /* PBXTextBookmark */;
+			6B8DE7CF10B04B7F00DF20FB /* PBXTextBookmark */ = 6B8DE7CF10B04B7F00DF20FB /* PBXTextBookmark */;
+			6B8DE7D310B04C5000DF20FB /* PBXTextBookmark */ = 6B8DE7D310B04C5000DF20FB /* PBXTextBookmark */;
+			6B8DE7D410B04C5000DF20FB /* PBXTextBookmark */ = 6B8DE7D410B04C5000DF20FB /* PBXTextBookmark */;
+			6B8DE7D510B04C5000DF20FB /* PBXTextBookmark */ = 6B8DE7D510B04C5000DF20FB /* PBXTextBookmark */;
+			6B8DE7D610B04C5000DF20FB /* PBXTextBookmark */ = 6B8DE7D610B04C5000DF20FB /* PBXTextBookmark */;
+			6B8DE7D810B04CC900DF20FB /* PBXTextBookmark */ = 6B8DE7D810B04CC900DF20FB /* PBXTextBookmark */;
+			6B8DE7DB10B04D2900DF20FB /* PBXTextBookmark */ = 6B8DE7DB10B04D2900DF20FB /* PBXTextBookmark */;
+			6B8DE7F110B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE7F110B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE7F210B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE7F210B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE7F310B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE7F310B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE7F410B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE7F410B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE7F510B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE7F510B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE7F610B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE7F610B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE7F710B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE7F710B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE7F810B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE7F810B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE7F910B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE7F910B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE7FA10B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE7FA10B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE7FB10B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE7FB10B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE7FC10B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE7FC10B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE7FD10B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE7FD10B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE7FE10B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE7FE10B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE7FF10B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE7FF10B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE80010B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE80010B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE80110B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE80110B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE80210B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE80210B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE80310B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE80310B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE80410B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE80410B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE80510B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE80510B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE80610B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE80610B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE80710B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE80710B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE80810B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE80810B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE80910B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE80910B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE80A10B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE80A10B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE80B10B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE80B10B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE80C10B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE80C10B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE80D10B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE80D10B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE80E10B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE80E10B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE80F10B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE80F10B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE81010B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE81010B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE81110B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE81110B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE81210B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE81210B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE81310B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE81310B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE81410B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE81410B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE81510B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE81510B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE81610B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE81610B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE81710B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE81710B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE81810B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE81810B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE81910B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE81910B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE81A10B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE81A10B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE81B10B0517A00DF20FB /* PBXTextBookmark */ = 6B8DE81B10B0517A00DF20FB /* PBXTextBookmark */;
+			6B8DE81E10B0528100DF20FB /* PBXTextBookmark */ = 6B8DE81E10B0528100DF20FB /* PBXTextBookmark */;
+			6B8DE81F10B0528100DF20FB /* PBXTextBookmark */ = 6B8DE81F10B0528100DF20FB /* PBXTextBookmark */;
+			6B8DE82010B0528100DF20FB /* PBXTextBookmark */ = 6B8DE82010B0528100DF20FB /* PBXTextBookmark */;
+			6B8DE82110B0528100DF20FB /* PBXTextBookmark */ = 6B8DE82110B0528100DF20FB /* PBXTextBookmark */;
+			6B8DE82210B0528100DF20FB /* PBXTextBookmark */ = 6B8DE82210B0528100DF20FB /* PBXTextBookmark */;
+			6B8DE82310B0528100DF20FB /* PBXTextBookmark */ = 6B8DE82310B0528100DF20FB /* PBXTextBookmark */;
+			6B8DE82410B0528100DF20FB /* PBXTextBookmark */ = 6B8DE82410B0528100DF20FB /* PBXTextBookmark */;
+			6B8DE82510B0528100DF20FB /* PBXTextBookmark */ = 6B8DE82510B0528100DF20FB /* PBXTextBookmark */;
+			6B8DE82710B0529B00DF20FB /* PBXTextBookmark */ = 6B8DE82710B0529B00DF20FB /* PBXTextBookmark */;
+			6B8DE82910B052C200DF20FB /* PBXTextBookmark */ = 6B8DE82910B052C200DF20FB /* PBXTextBookmark */;
+			6B8DE82B10B052DF00DF20FB /* PBXTextBookmark */ = 6B8DE82B10B052DF00DF20FB /* PBXTextBookmark */;
+			6B8DE82D10B0531100DF20FB /* PBXTextBookmark */ = 6B8DE82D10B0531100DF20FB /* PBXTextBookmark */;
+			6B8DE82F10B0532B00DF20FB /* PBXTextBookmark */ = 6B8DE82F10B0532B00DF20FB /* PBXTextBookmark */;
+			6B8DE83110B0535100DF20FB /* PBXTextBookmark */ = 6B8DE83110B0535100DF20FB /* PBXTextBookmark */;
+			6B8DE83310B0539D00DF20FB /* PBXTextBookmark */ = 6B8DE83310B0539D00DF20FB /* PBXTextBookmark */;
+			6B8DE83510B053C200DF20FB /* PBXTextBookmark */ = 6B8DE83510B053C200DF20FB /* PBXTextBookmark */;
+			6B8DE83710B053F500DF20FB /* PBXTextBookmark */ = 6B8DE83710B053F500DF20FB /* PBXTextBookmark */;
+			6B8DE83910B0541B00DF20FB /* PBXTextBookmark */ = 6B8DE83910B0541B00DF20FB /* PBXTextBookmark */;
+			6B8DE83B10B0546F00DF20FB /* PBXTextBookmark */ = 6B8DE83B10B0546F00DF20FB /* PBXTextBookmark */;
+			6B8DE83D10B054AB00DF20FB /* PBXTextBookmark */ = 6B8DE83D10B054AB00DF20FB /* PBXTextBookmark */;
+			6B8DE83F10B054C100DF20FB /* PBXTextBookmark */ = 6B8DE83F10B054C100DF20FB /* PBXTextBookmark */;
+			6B8DE84110B054EF00DF20FB /* PBXTextBookmark */ = 6B8DE84110B054EF00DF20FB /* PBXTextBookmark */;
+			6B8DE84310B0554900DF20FB /* PBXTextBookmark */ = 6B8DE84310B0554900DF20FB /* PBXTextBookmark */;
+			6B8DE84410B0556C00DF20FB /* PBXTextBookmark */ = 6B8DE84410B0556C00DF20FB /* PBXTextBookmark */;
+			6B8DE84610B0559F00DF20FB /* PBXTextBookmark */ = 6B8DE84610B0559F00DF20FB /* PBXTextBookmark */;
+			6B8DE84710B055DA00DF20FB /* PBXTextBookmark */ = 6B8DE84710B055DA00DF20FB /* PBXTextBookmark */;
 			6B9BE374107BC6A40036CC81 = 6B9BE374107BC6A40036CC81 /* PBXTextBookmark */;
 		};
 		sourceControlManager = 6B8632A90F78115100E2684A /* Source Control */;
@@ -387,16 +544,16 @@
 	};
 	6B137C7E0F7FCBFE00459200 /* Recast.h */ = {
 		uiCtxt = {
-			sepNavIntBoundsRect = "{{0, 0}, {915, 9392}}";
-			sepNavSelRange = "{9173, 0}";
-			sepNavVisRange = "{8687, 813}";
+			sepNavIntBoundsRect = "{{0, 0}, {915, 8816}}";
+			sepNavSelRange = "{15866, 0}";
+			sepNavVisRange = "{15284, 1210}";
 		};
 	};
 	6B137C7F0F7FCBFE00459200 /* RecastDebugDraw.h */ = {
 		uiCtxt = {
-			sepNavIntBoundsRect = "{{0, 0}, {992, 960}}";
-			sepNavSelRange = "{1783, 0}";
-			sepNavVisRange = "{1034, 1763}";
+			sepNavIntBoundsRect = "{{0, 0}, {915, 1728}}";
+			sepNavSelRange = "{1330, 0}";
+			sepNavVisRange = "{973, 743}";
 		};
 	};
 	6B137C800F7FCBFE00459200 /* RecastLog.h */ = {
@@ -416,9 +573,9 @@
 	};
 	6B137C820F7FCC1100459200 /* Recast.cpp */ = {
 		uiCtxt = {
-			sepNavIntBoundsRect = "{{0, 0}, {915, 4304}}";
-			sepNavSelRange = "{4621, 0}";
-			sepNavVisRange = "{4170, 792}";
+			sepNavIntBoundsRect = "{{0, 0}, {915, 4512}}";
+			sepNavSelRange = "{3239, 0}";
+			sepNavVisRange = "{2799, 610}";
 		};
 	};
 	6B137C830F7FCC1100459200 /* RecastContour.cpp */ = {
@@ -430,16 +587,16 @@
 	};
 	6B137C840F7FCC1100459200 /* RecastDebugDraw.cpp */ = {
 		uiCtxt = {
-			sepNavIntBoundsRect = "{{0, 0}, {915, 12624}}";
-			sepNavSelRange = "{16758, 0}";
-			sepNavVisRange = "{16354, 926}";
+			sepNavIntBoundsRect = "{{0, 0}, {922, 14560}}";
+			sepNavSelRange = "{8408, 0}";
+			sepNavVisRange = "{8355, 697}";
 		};
 	};
 	6B137C850F7FCC1100459200 /* RecastFilter.cpp */ = {
 		uiCtxt = {
-			sepNavIntBoundsRect = "{{0, 0}, {915, 3840}}";
-			sepNavSelRange = "{1546, 1360}";
-			sepNavVisRange = "{2109, 1326}";
+			sepNavIntBoundsRect = "{{0, 0}, {915, 2080}}";
+			sepNavSelRange = "{2388, 0}";
+			sepNavVisRange = "{1843, 1001}";
 			sepNavWindowFrame = "{{15, 78}, {1011, 695}}";
 		};
 	};
@@ -480,9 +637,9 @@
 	};
 	6B25B6100FFA62AD004F1BC4 /* Sample.h */ = {
 		uiCtxt = {
-			sepNavIntBoundsRect = "{{0, 0}, {915, 848}}";
-			sepNavSelRange = "{771, 75}";
-			sepNavVisRange = "{264, 851}";
+			sepNavIntBoundsRect = "{{0, 0}, {915, 1056}}";
+			sepNavSelRange = "{141, 0}";
+			sepNavVisRange = "{0, 588}";
 		};
 	};
 	6B25B6110FFA62AD004F1BC4 /* Sample_StatMesh.h */ = {
@@ -501,23 +658,23 @@
 	};
 	6B25B6140FFA62BE004F1BC4 /* Sample.cpp */ = {
 		uiCtxt = {
-			sepNavIntBoundsRect = "{{0, 0}, {915, 2352}}";
-			sepNavSelRange = "{700, 0}";
-			sepNavVisRange = "{336, 748}";
+			sepNavIntBoundsRect = "{{0, 0}, {915, 3120}}";
+			sepNavSelRange = "{1280, 20}";
+			sepNavVisRange = "{1158, 618}";
 		};
 	};
 	6B25B6150FFA62BE004F1BC4 /* Sample_StatMesh.cpp */ = {
 		uiCtxt = {
-			sepNavIntBoundsRect = "{{0, 0}, {915, 5632}}";
-			sepNavSelRange = "{450, 1}";
-			sepNavVisRange = "{0, 709}";
+			sepNavIntBoundsRect = "{{0, 0}, {915, 5120}}";
+			sepNavSelRange = "{8415, 0}";
+			sepNavVisRange = "{7879, 892}";
 		};
 	};
 	6B25B6160FFA62BE004F1BC4 /* Sample_StatMeshSimple.cpp */ = {
 		uiCtxt = {
-			sepNavIntBoundsRect = "{{0, 0}, {1111, 10080}}";
-			sepNavSelRange = "{14762, 840}";
-			sepNavVisRange = "{15202, 999}";
+			sepNavIntBoundsRect = "{{0, 0}, {915, 9376}}";
+			sepNavSelRange = "{4650, 19}";
+			sepNavVisRange = "{4371, 538}";
 		};
 	};
 	6B25B6180FFA62BE004F1BC4 /* main.cpp */ = {
@@ -537,16 +694,16 @@
 	};
 	6B2AEC520FFB8958005BE9CC /* Sample_TileMesh.cpp */ = {
 		uiCtxt = {
-			sepNavIntBoundsRect = "{{0, 0}, {915, 14304}}";
-			sepNavSelRange = "{23199, 0}";
-			sepNavVisRange = "{0, 1325}";
+			sepNavIntBoundsRect = "{{0, 0}, {1223, 14672}}";
+			sepNavSelRange = "{6334, 0}";
+			sepNavVisRange = "{6103, 762}";
 		};
 	};
 	6B2AEC550FFB89E7005BE9CC /* Sample_StatMeshTiled.cpp */ = {
 		uiCtxt = {
-			sepNavIntBoundsRect = "{{0, 0}, {950, 15504}}";
-			sepNavSelRange = "{20748, 0}";
-			sepNavVisRange = "{20325, 1228}";
+			sepNavIntBoundsRect = "{{0, 0}, {915, 16544}}";
+			sepNavSelRange = "{10674, 0}";
+			sepNavVisRange = "{10487, 695}";
 		};
 	};
 	6B2AEC570FFB89F4005BE9CC /* Sample_StatMeshTiled.h */ = {
@@ -625,7 +782,7 @@
 		fRef = 6B25B6160FFA62BE004F1BC4 /* Sample_StatMeshSimple.cpp */;
 		name = "Sample_StatMeshSimple.cpp: 506";
 		rLen = 0;
-		rLoc = 15330;
+		rLoc = 15428;
 		rType = 0;
 		vrLen = 969;
 		vrLoc = 13733;
@@ -648,16 +805,16 @@
 	};
 	6B555DAE100B211D00247EA3 /* imguiRenderGL.h */ = {
 		uiCtxt = {
-			sepNavIntBoundsRect = "{{0, 0}, {915, 520}}";
-			sepNavSelRange = "{1101, 0}";
+			sepNavIntBoundsRect = "{{0, 0}, {915, 424}}";
+			sepNavSelRange = "{917, 0}";
 			sepNavVisRange = "{0, 1101}";
 		};
 	};
 	6B555DB0100B212E00247EA3 /* imguiRenderGL.cpp */ = {
 		uiCtxt = {
-			sepNavIntBoundsRect = "{{0, 0}, {915, 6400}}";
-			sepNavSelRange = "{440, 0}";
-			sepNavVisRange = "{0, 1158}";
+			sepNavIntBoundsRect = "{{0, 0}, {915, 6336}}";
+			sepNavSelRange = "{1537, 0}";
+			sepNavVisRange = "{1131, 871}";
 		};
 	};
 	6B555DF6100B273500247EA3 /* stb_truetype.h */ = {
@@ -866,7 +1023,7 @@
 		fRef = 6B25B6160FFA62BE004F1BC4 /* Sample_StatMeshSimple.cpp */;
 		name = "Sample_StatMeshSimple.cpp: 222";
 		rLen = 0;
-		rLoc = 6674;
+		rLoc = 6752;
 		rType = 0;
 		vrLen = 822;
 		vrLoc = 6148;
@@ -886,7 +1043,7 @@
 		fRef = 6B25B6160FFA62BE004F1BC4 /* Sample_StatMeshSimple.cpp */;
 		name = "Sample_StatMeshSimple.cpp: 222";
 		rLen = 0;
-		rLoc = 6674;
+		rLoc = 6752;
 		rType = 0;
 		vrLen = 822;
 		vrLoc = 6148;
@@ -906,7 +1063,7 @@
 		fRef = 6B137C840F7FCC1100459200 /* RecastDebugDraw.cpp */;
 		name = "RecastDebugDraw.cpp: 715";
 		rLen = 0;
-		rLoc = 16758;
+		rLoc = 1309;
 		rType = 0;
 		vrLen = 926;
 		vrLoc = 16354;
@@ -926,7 +1083,7 @@
 		fRef = 6B137C7E0F7FCBFE00459200 /* Recast.h */;
 		name = "Recast.h: 435";
 		rLen = 0;
-		rLoc = 14949;
+		rLoc = 14945;
 		rType = 0;
 		vrLen = 1449;
 		vrLoc = 13898;
@@ -976,7 +1133,7 @@
 		fRef = 6B137C840F7FCC1100459200 /* RecastDebugDraw.cpp */;
 		name = "RecastDebugDraw.cpp: 715";
 		rLen = 0;
-		rLoc = 16758;
+		rLoc = 1309;
 		rType = 0;
 		vrLen = 926;
 		vrLoc = 16354;
@@ -986,7 +1143,7 @@
 		fRef = 6B137C7E0F7FCBFE00459200 /* Recast.h */;
 		name = "Recast.h: 435";
 		rLen = 20;
-		rLoc = 14874;
+		rLoc = 14870;
 		rType = 0;
 		vrLen = 1436;
 		vrLoc = 13909;
@@ -1016,7 +1173,7 @@
 		fRef = 6B137C7E0F7FCBFE00459200 /* Recast.h */;
 		name = "Recast.h: 435";
 		rLen = 0;
-		rLoc = 14949;
+		rLoc = 14945;
 		rType = 0;
 		vrLen = 1449;
 		vrLoc = 13898;
@@ -1125,7 +1282,7 @@
 		fRef = 6B25B6160FFA62BE004F1BC4 /* Sample_StatMeshSimple.cpp */;
 		name = "Sample_StatMeshSimple.cpp: 491";
 		rLen = 840;
-		rLoc = 14762;
+		rLoc = 14860;
 		rType = 0;
 		vrLen = 999;
 		vrLoc = 15202;
@@ -1200,7 +1357,7 @@
 		isa = PBXTextBookmark;
 		fRef = 6B137C850F7FCC1100459200 /* RecastFilter.cpp */;
 		name = "RecastFilter.cpp: 48";
-		rLen = 1360;
+		rLen = 1328;
 		rLoc = 1546;
 		rType = 0;
 		vrLen = 1326;
@@ -1241,7 +1398,7 @@
 		fRef = 6B137C7E0F7FCBFE00459200 /* Recast.h */;
 		name = "Recast.h: 247";
 		rLen = 0;
-		rLoc = 9173;
+		rLoc = 9169;
 		rType = 0;
 		vrLen = 813;
 		vrLoc = 8687;
@@ -1314,7 +1471,7 @@
 		fRef = 6B25B6160FFA62BE004F1BC4 /* Sample_StatMeshSimple.cpp */;
 		name = "Sample_StatMeshSimple.cpp: 491";
 		rLen = 840;
-		rLoc = 14762;
+		rLoc = 14860;
 		rType = 0;
 		vrLen = 999;
 		vrLoc = 15202;
@@ -1609,7 +1766,7 @@
 		isa = PBXTextBookmark;
 		fRef = 6B137C850F7FCC1100459200 /* RecastFilter.cpp */;
 		name = "RecastFilter.cpp: 48";
-		rLen = 1360;
+		rLen = 1328;
 		rLoc = 1546;
 		rType = 0;
 		vrLen = 1326;
@@ -1670,7 +1827,7 @@
 		fRef = 6B137C7E0F7FCBFE00459200 /* Recast.h */;
 		name = "Recast.h: 246";
 		rLen = 0;
-		rLoc = 9132;
+		rLoc = 9128;
 		rType = 0;
 		vrLen = 493;
 		vrLoc = 9064;
@@ -1690,7 +1847,7 @@
 		fRef = 6B137C7E0F7FCBFE00459200 /* Recast.h */;
 		name = "Recast.h: 247";
 		rLen = 0;
-		rLoc = 9173;
+		rLoc = 9169;
 		rType = 0;
 		vrLen = 813;
 		vrLoc = 8687;
@@ -1741,6 +1898,1565 @@
 		vrLen = 792;
 		vrLoc = 4170;
 	};
+	6B8DE74B10B01EEA00DF20FB /* PBXTextBookmark */ = {
+		isa = PBXTextBookmark;
+		fRef = 6B137C820F7FCC1100459200 /* Recast.cpp */;
+		name = "Recast.cpp: 165";
+		rLen = 0;
+		rLoc = 4412;
+		rType = 0;
+		vrLen = 792;
+		vrLoc = 4170;
+	};
+	6B8DE74C10B01EEA00DF20FB /* PBXTextBookmark */ = {
+		isa = PBXTextBookmark;
+		fRef = 6B25B6160FFA62BE004F1BC4 /* Sample_StatMeshSimple.cpp */;
+		name = "Sample_StatMeshSimple.cpp: 372";
+		rLen = 0;
+		rLoc = 11664;
+		rType = 0;
+		vrLen = 1425;
+		vrLoc = 10795;
+	};
+	6B8DE74D10B01EEA00DF20FB /* PBXTextBookmark */ = {
+		isa = PBXTextBookmark;
+		fRef = 6B137C850F7FCC1100459200 /* RecastFilter.cpp */;
+		name = "RecastFilter.cpp: 132";
+		rLen = 0;
+		rLoc = 4139;
+		rType = 0;
+		vrLen = 802;
+		vrLoc = 3346;
+	};
+	6B8DE74E10B01EEA00DF20FB /* PBXTextBookmark */ = {
+		isa = PBXTextBookmark;
+		fRef = 6B137C7E0F7FCBFE00459200 /* Recast.h */;
+		rLen = 0;
+		rLoc = 15866;
+		rType = 0;
+	};
+	6B8DE74F10B01EEA00DF20FB /* PBXTextBookmark */ = {
+		isa = PBXTextBookmark;
+		fRef = 6B137C820F7FCC1100459200 /* Recast.cpp */;
+		name = "Recast.cpp: 165";
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 		modificationTime = 277989520.846603;
 		state = 1;
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 		functionName = "rcDebugDrawTextureSet(const rcTextureSet& tset)";
 		hitCount = 0;
 		ignoreCount = 0;
-		lineNumber = 698;
+		lineNumber = 29;
 		location = Recast;
 		modificationTime = 277989520.847037;
 		state = 2;
@@ -1841,9 +3557,9 @@
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 	6BDD9E040F91112200904EEF /* DetourDebugDraw.h */ = {
 		uiCtxt = {
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+			sepNavIntBoundsRect = "{{0, 0}, {915, 512}}";
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diff --git a/RecastDemo/Build/Xcode/Recast.xcodeproj/memon.perspectivev3 b/RecastDemo/Build/Xcode/Recast.xcodeproj/memon.perspectivev3
index a602c7f..d6b480e 100644
--- a/RecastDemo/Build/Xcode/Recast.xcodeproj/memon.perspectivev3
+++ b/RecastDemo/Build/Xcode/Recast.xcodeproj/memon.perspectivev3
@@ -279,14 +279,14 @@
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 							<array>
 								<array>
-									<integer>28</integer>
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 									<integer>18</integer>
 									<integer>1</integer>
 									<integer>0</integer>
 								</array>
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 							<key>PBXSmartGroupTreeModuleOutlineStateVisibleRectKey</key>
-							<string>{{0, 125}, {282, 660}}</string>
+							<string>{{0, 49}, {282, 660}}</string>
 						</dict>
 						<key>PBXTopSmartGroupGIDs</key>
 						<array/>
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 								<key>PBXProjectModuleGUID</key>
 								<string>6B8632A30F78115100E2684A</string>
 								<key>PBXProjectModuleLabel</key>
-								<string>Recast.cpp</string>
+								<string>RecastDebugDraw.cpp</string>
 								<key>PBXSplitModuleInNavigatorKey</key>
 								<dict>
 									<key>Split0</key>
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 										<key>PBXProjectModuleGUID</key>
 										<string>6B8632A40F78115100E2684A</string>
 										<key>PBXProjectModuleLabel</key>
-										<string>Recast.cpp</string>
+										<string>RecastDebugDraw.cpp</string>
 										<key>_historyCapacity</key>
 										<integer>0</integer>
 										<key>bookmark</key>
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 										<key>history</key>
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 										<key>prevStack</key>
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 											<string>6B7FB7541091EBDE001BA51A</string>
 											<string>6B7FB7571091EBDE001BA51A</string>
 											<string>6B8DE71110B01BBF00DF20FB</string>
@@ -406,17 +411,76 @@
 											<string>6B8DE72E10B01BBF00DF20FB</string>
 											<string>6B8DE72F10B01BBF00DF20FB</string>
 											<string>6B8DE73010B01BBF00DF20FB</string>
-											<string>6B8DE73110B01BBF00DF20FB</string>
 											<string>6B8DE73210B01BBF00DF20FB</string>
-											<string>6B8DE73310B01BBF00DF20FB</string>
 											<string>6B8DE73410B01BBF00DF20FB</string>
-											<string>6B8DE73510B01BBF00DF20FB</string>
 											<string>6B8DE73610B01BBF00DF20FB</string>
 											<string>6B8DE73710B01BBF00DF20FB</string>
 											<string>6B8DE73810B01BBF00DF20FB</string>
-											<string>6B8DE73910B01BBF00DF20FB</string>
 											<string>6B8DE73A10B01BBF00DF20FB</string>
 											<string>6B8DE73B10B01BBF00DF20FB</string>
+											<string>6B8DE75010B01EEA00DF20FB</string>
+											<string>6B8DE75110B01EEA00DF20FB</string>
+											<string>6B8DE75210B01EEA00DF20FB</string>
+											<string>6B8DE75310B01EEA00DF20FB</string>
+											<string>6B8DE75410B01EEA00DF20FB</string>
+											<string>6B8DE75510B01EEA00DF20FB</string>
+											<string>6B8DE75610B01EEA00DF20FB</string>
+											<string>6B8DE75A10B01F1A00DF20FB</string>
+											<string>6B8DE75F10B01F9900DF20FB</string>
+											<string>6B8DE76710B022B200DF20FB</string>
+											<string>6B8DE77010B0243500DF20FB</string>
+											<string>6B8DE77110B0243500DF20FB</string>
+											<string>6B8DE7A010B0404100DF20FB</string>
+											<string>6B8DE7A110B0404100DF20FB</string>
+											<string>6B8DE7A510B0412B00DF20FB</string>
+											<string>6B8DE7A610B0412B00DF20FB</string>
+											<string>6B8DE7A710B0412B00DF20FB</string>
+											<string>6B8DE7A810B0412B00DF20FB</string>
+											<string>6B8DE7AC10B0463F00DF20FB</string>
+											<string>6B8DE7AD10B0463F00DF20FB</string>
+											<string>6B8DE7C910B04B7F00DF20FB</string>
+											<string>6B8DE7CA10B04B7F00DF20FB</string>
+											<string>6B8DE7CB10B04B7F00DF20FB</string>
+											<string>6B8DE7CC10B04B7F00DF20FB</string>
+											<string>6B8DE7CD10B04B7F00DF20FB</string>
+											<string>6B8DE7CE10B04B7F00DF20FB</string>
+											<string>6B8DE7D510B04C5000DF20FB</string>
+											<string>6B8DE7FA10B0517A00DF20FB</string>
+											<string>6B8DE7FB10B0517A00DF20FB</string>
+											<string>6B8DE7FC10B0517A00DF20FB</string>
+											<string>6B8DE7FD10B0517A00DF20FB</string>
+											<string>6B8DE7FE10B0517A00DF20FB</string>
+											<string>6B8DE7FF10B0517A00DF20FB</string>
+											<string>6B8DE80010B0517A00DF20FB</string>
+											<string>6B8DE80110B0517A00DF20FB</string>
+											<string>6B8DE80210B0517A00DF20FB</string>
+											<string>6B8DE80310B0517A00DF20FB</string>
+											<string>6B8DE80410B0517A00DF20FB</string>
+											<string>6B8DE80510B0517A00DF20FB</string>
+											<string>6B8DE80610B0517A00DF20FB</string>
+											<string>6B8DE80710B0517A00DF20FB</string>
+											<string>6B8DE80810B0517A00DF20FB</string>
+											<string>6B8DE80910B0517A00DF20FB</string>
+											<string>6B8DE80A10B0517A00DF20FB</string>
+											<string>6B8DE80B10B0517A00DF20FB</string>
+											<string>6B8DE80C10B0517A00DF20FB</string>
+											<string>6B8DE80D10B0517A00DF20FB</string>
+											<string>6B8DE80E10B0517A00DF20FB</string>
+											<string>6B8DE80F10B0517A00DF20FB</string>
+											<string>6B8DE81010B0517A00DF20FB</string>
+											<string>6B8DE81110B0517A00DF20FB</string>
+											<string>6B8DE81210B0517A00DF20FB</string>
+											<string>6B8DE81310B0517A00DF20FB</string>
+											<string>6B8DE81410B0517A00DF20FB</string>
+											<string>6B8DE81510B0517A00DF20FB</string>
+											<string>6B8DE81610B0517A00DF20FB</string>
+											<string>6B8DE81710B0517A00DF20FB</string>
+											<string>6B8DE81810B0517A00DF20FB</string>
+											<string>6B8DE81910B0517A00DF20FB</string>
+											<string>6B8DE81A10B0517A00DF20FB</string>
+											<string>6B8DE82210B0528100DF20FB</string>
+											<string>6B8DE82310B0528100DF20FB</string>
+											<string>6B8DE82410B0528100DF20FB</string>
 										</array>
 									</dict>
 									<key>SplitCount</key>
@@ -430,18 +494,18 @@
 							<key>GeometryConfiguration</key>
 							<dict>
 								<key>Frame</key>
-								<string>{{0, 0}, {976, 434}}</string>
+								<string>{{0, 0}, {976, 456}}</string>
 								<key>RubberWindowFrame</key>
 								<string>0 59 1280 719 0 0 1280 778 </string>
 							</dict>
 							<key>Module</key>
 							<string>PBXNavigatorGroup</string>
 							<key>Proportion</key>
-							<string>434pt</string>
+							<string>456pt</string>
 						</dict>
 						<dict>
 							<key>Proportion</key>
-							<string>239pt</string>
+							<string>217pt</string>
 							<key>Tabs</key>
 							<array>
 								<dict>
@@ -471,9 +535,7 @@
 									<key>GeometryConfiguration</key>
 									<dict>
 										<key>Frame</key>
-										<string>{{10, 27}, {976, 212}}</string>
-										<key>RubberWindowFrame</key>
-										<string>0 59 1280 719 0 0 1280 778 </string>
+										<string>{{10, 27}, {976, 175}}</string>
 									</dict>
 									<key>Module</key>
 									<string>PBXProjectFindModule</string>
@@ -511,7 +573,9 @@
 									<key>GeometryConfiguration</key>
 									<dict>
 										<key>Frame</key>
-										<string>{{10, 27}, {976, 155}}</string>
+										<string>{{10, 27}, {976, 190}}</string>
+										<key>RubberWindowFrame</key>
+										<string>0 59 1280 719 0 0 1280 778 </string>
 									</dict>
 									<key>Module</key>
 									<string>PBXBuildResultsModule</string>
diff --git a/RecastDemo/Include/Sample.h b/RecastDemo/Include/Sample.h
index 00239c5..9487799 100644
--- a/RecastDemo/Include/Sample.h
+++ b/RecastDemo/Include/Sample.h
@@ -1,6 +1,16 @@
 #ifndef RECASTSAMPLE_H
 #define RECASTSAMPLE_H
 
+#include "RecastDebugDraw.h"
+
+struct DebugDrawGL : public rcDebugDraw
+{
+	virtual void begin(rcDebugDrawPrimitives prim, int nverts, float size = 1.0f);
+	virtual void vertex(const float* pos, unsigned int color);
+	virtual void vertex(const float x, const float y, const float z, unsigned int color);
+	virtual void end();
+};
+
 
 class Sample
 {
diff --git a/RecastDemo/Source/Sample.cpp b/RecastDemo/Source/Sample.cpp
index 1b66782..ab87bbc 100644
--- a/RecastDemo/Source/Sample.cpp
+++ b/RecastDemo/Source/Sample.cpp
@@ -5,12 +5,55 @@
 #include "Recast.h"
 #include "RecastDebugDraw.h"
 #include "imgui.h"
+#include "SDL.h"
+#include "SDL_opengl.h"
 
 #ifdef WIN32
 #	define snprintf _snprintf
 #endif
 
 
+void DebugDrawGL::begin(rcDebugDrawPrimitives prim, int nverts, float size)
+{
+	switch (prim)
+	{
+		case RC_DRAW_POINTS:
+			glPointSize(size);
+			glBegin(GL_POINTS);
+			break;
+		case RC_DRAW_LINES:
+			glLineWidth(size);
+			glBegin(GL_LINES);
+			break;
+		case RC_DRAW_TRIS:
+			glBegin(GL_TRIANGLES);
+			break;
+		case RC_DRAW_QUADS:
+			glBegin(GL_QUADS);
+			break;
+	};
+}
+	
+void DebugDrawGL::vertex(const float* pos, unsigned int color)
+{
+	glColor4ubv((GLubyte*)&color);
+	glVertex3fv(pos);
+}
+	
+void DebugDrawGL::vertex(const float x, const float y, const float z, unsigned int color)
+{
+	glColor4ubv((GLubyte*)&color);
+	glVertex3f(x,y,z);
+}
+	
+void DebugDrawGL::end()
+{
+	glEnd();
+	glLineWidth(1.0f);
+	glPointSize(1.0f);
+}
+
+
 Sample::Sample() :
 	m_verts(0), m_nverts(0), m_tris(0), m_trinorms(0), m_ntris(0)
 {
@@ -37,11 +80,14 @@ void Sample::handleRender()
 {
 	if (!m_verts || !m_tris || !m_trinorms)
 		return;
+	
+	DebugDrawGL dd;
+		
 	// Draw mesh
-	rcDebugDrawMesh(m_verts, m_nverts, m_tris, m_trinorms, m_ntris, 0);
+	rcDebugDrawMesh(&dd, m_verts, m_nverts, m_tris, m_trinorms, m_ntris, 0);
 	// Draw bounds
 	float col[4] = {1,1,1,0.5f};
-	rcDebugDrawBoxWire(m_bmin[0],m_bmin[1],m_bmin[2], m_bmax[0],m_bmax[1],m_bmax[2], col);
+	rcDebugDrawBoxWire(&dd, m_bmin[0],m_bmin[1],m_bmin[2], m_bmax[0],m_bmax[1],m_bmax[2], col);
 }
 
 void Sample::handleRenderOverlay(double* proj, double* model, int* view)
diff --git a/RecastDemo/Source/Sample_StatMesh.cpp b/RecastDemo/Source/Sample_StatMesh.cpp
index 8053d46..a1da83c 100644
--- a/RecastDemo/Source/Sample_StatMesh.cpp
+++ b/RecastDemo/Source/Sample_StatMesh.cpp
@@ -193,6 +193,8 @@ void Sample_StatMesh::toolRender(int flags)
 	if (!m_navMesh)
 		return;
 	
+	DebugDrawGL dd;
+
 	static const float startCol[4] = { 0.5f, 0.1f, 0.0f, 0.75f };
 	static const float endCol[4] = { 0.2f, 0.4f, 0.0f, 0.75f };
 	static const float pathCol[4] = {0,0,0,0.25f};
@@ -262,7 +264,7 @@ void Sample_StatMesh::toolRender(int flags)
 		{
 			dtDebugDrawStatNavMeshPoly(m_navMesh, m_startRef, startCol);
 			const float col[4] = {1,1,1,0.5f};
-			rcDebugDrawCylinderWire(m_spos[0]-m_distanceToWall, m_spos[1]+0.02f, m_spos[2]-m_distanceToWall,
+			rcDebugDrawCylinderWire(&dd, m_spos[0]-m_distanceToWall, m_spos[1]+0.02f, m_spos[2]-m_distanceToWall,
 									m_spos[0]+m_distanceToWall, m_spos[1]+m_agentHeight, m_spos[2]+m_distanceToWall, col);
 			glLineWidth(3.0f);
 			glColor4fv(col);
@@ -274,7 +276,7 @@ void Sample_StatMesh::toolRender(int flags)
 		}
 		else if (m_toolMode == TOOLMODE_FIND_POLYS_AROUND)
 		{
-			glLineWidth(2.0f);
+			const float cola[4] = {0,0,0,0.5f};
 			for (int i = 0; i < m_npolys; ++i)
 			{
 				dtDebugDrawStatNavMeshPoly(m_navMesh, m_polys[i], pathCol);
@@ -283,17 +285,15 @@ void Sample_StatMesh::toolRender(int flags)
 					float p0[3], p1[3];
 					getPolyCenter(m_navMesh, m_polys[i], p0);
 					getPolyCenter(m_navMesh, m_parent[i], p1);
-					glColor4ub(0,0,0,128);
-					rcDrawArc(p0, p1);
+					rcDrawArc(&dd, p0, p1, cola, 2.0f);
 				}
 			}
-			glLineWidth(1.0f);
 			
 			const float dx = m_epos[0] - m_spos[0];
 			const float dz = m_epos[2] - m_spos[2];
 			float dist = sqrtf(dx*dx + dz*dz);
 			const float col[4] = {1,1,1,0.5f};
-			rcDebugDrawCylinderWire(m_spos[0]-dist, m_spos[1]+0.02f, m_spos[2]-dist,
+			rcDebugDrawCylinderWire(&dd, m_spos[0]-dist, m_spos[1]+0.02f, m_spos[2]-dist,
 									m_spos[0]+dist, m_spos[1]+m_agentHeight, m_spos[2]+dist, col);					
 		}
 	}
@@ -320,11 +320,13 @@ void Sample_StatMesh::toolRenderOverlay(double* proj, double* model, int* view)
 
 void Sample_StatMesh::drawAgent(const float* pos, float r, float h, float c, const float* col)
 {
+	DebugDrawGL dd;
+	
 	glDepthMask(GL_FALSE);
 	
 	// Agent dimensions.	
 	glLineWidth(2.0f);
-	rcDebugDrawCylinderWire(pos[0]-r, pos[1]+0.02f, pos[2]-r, pos[0]+r, pos[1]+h, pos[2]+r, col);
+	rcDebugDrawCylinderWire(&dd, pos[0]-r, pos[1]+0.02f, pos[2]-r, pos[0]+r, pos[1]+h, pos[2]+r, col);
 	glLineWidth(1.0f);
 		
 	glColor4ub(0,0,0,196);
diff --git a/RecastDemo/Source/Sample_StatMeshSimple.cpp b/RecastDemo/Source/Sample_StatMeshSimple.cpp
index ec92d84..6311cc9 100644
--- a/RecastDemo/Source/Sample_StatMeshSimple.cpp
+++ b/RecastDemo/Source/Sample_StatMeshSimple.cpp
@@ -144,6 +144,8 @@ void Sample_StatMeshSimple::handleRender()
 		return;
 	
 	float col[4];
+
+	DebugDrawGL dd;
 	
 	glEnable(GL_FOG);
 	glDepthMask(GL_TRUE);
@@ -151,12 +153,12 @@ void Sample_StatMeshSimple::handleRender()
 	if (m_drawMode == DRAWMODE_MESH)
 	{
 		// Draw mesh
-		rcDebugDrawMeshSlope(m_verts, m_nverts, m_tris, m_trinorms, m_ntris, m_agentMaxSlope);
+		rcDebugDrawMeshSlope(&dd, m_verts, m_nverts, m_tris, m_trinorms, m_ntris, m_agentMaxSlope);
 	}
 	else if (m_drawMode != DRAWMODE_NAVMESH_TRANS)
 	{
 		// Draw mesh
-		rcDebugDrawMesh(m_verts, m_nverts, m_tris, m_trinorms, m_ntris, 0);
+		rcDebugDrawMesh(&dd, m_verts, m_nverts, m_tris, m_trinorms, m_ntris, 0);
 	}
 	
 	glDisable(GL_FOG);
@@ -164,7 +166,7 @@ void Sample_StatMeshSimple::handleRender()
 
 	// Draw bounds
 	col[0] = 1; col[1] = 1; col[2] = 1; col[3] = 0.5f;
-	rcDebugDrawBoxWire(m_bmin[0],m_bmin[1],m_bmin[2], m_bmax[0],m_bmax[1],m_bmax[2], col);
+	rcDebugDrawBoxWire(&dd, m_bmin[0],m_bmin[1],m_bmin[2], m_bmax[0],m_bmax[1],m_bmax[2], col);
 	
 	if (m_navMesh &&
 		(m_drawMode == DRAWMODE_NAVMESH ||
@@ -183,61 +185,61 @@ void Sample_StatMeshSimple::handleRender()
 	glDepthMask(GL_TRUE);
 	
 	if (m_chf && m_drawMode == DRAWMODE_COMPACT)
-		rcDebugDrawCompactHeightfieldSolid(*m_chf);
+		rcDebugDrawCompactHeightfieldSolid(&dd, *m_chf);
 
 	if (m_chf && m_drawMode == DRAWMODE_COMPACT_DISTANCE)
-		rcDebugDrawCompactHeightfieldDistance(*m_chf);
+		rcDebugDrawCompactHeightfieldDistance(&dd, *m_chf);
 	if (m_chf && m_drawMode == DRAWMODE_COMPACT_REGIONS)
-		rcDebugDrawCompactHeightfieldRegions(*m_chf);
+		rcDebugDrawCompactHeightfieldRegions(&dd, *m_chf);
 	if (m_solid && m_drawMode == DRAWMODE_VOXELS)
 	{
 		glEnable(GL_FOG);
-		rcDebugDrawHeightfieldSolid(*m_solid);
+		rcDebugDrawHeightfieldSolid(&dd, *m_solid);
 		glDisable(GL_FOG);
 	}
 	if (m_solid && m_drawMode == DRAWMODE_VOXELS_WALKABLE)
 	{
 		glEnable(GL_FOG);
-		rcDebugDrawHeightfieldWalkable(*m_solid);
+		rcDebugDrawHeightfieldWalkable(&dd, *m_solid);
 		glDisable(GL_FOG);
 	}
 	if (m_cset && m_drawMode == DRAWMODE_RAW_CONTOURS)
 	{
 		glDepthMask(GL_FALSE);
-		rcDebugDrawRawContours(*m_cset);
+		rcDebugDrawRawContours(&dd, *m_cset);
 		glDepthMask(GL_TRUE);
 	}
 	if (m_cset && m_drawMode == DRAWMODE_BOTH_CONTOURS)
 	{
 		glDepthMask(GL_FALSE);
-		rcDebugDrawRawContours(*m_cset, 0.5f);
-		rcDebugDrawContours(*m_cset);
+		rcDebugDrawRawContours(&dd, *m_cset, 0.5f);
+		rcDebugDrawContours(&dd, *m_cset);
 		glDepthMask(GL_TRUE);
 	}
 	if (m_cset && m_drawMode == DRAWMODE_CONTOURS)
 	{
 		glDepthMask(GL_FALSE);
-		rcDebugDrawContours(*m_cset);
+		rcDebugDrawContours(&dd, *m_cset);
 		glDepthMask(GL_TRUE);
 	}
 	if (m_chf && m_cset && m_drawMode == DRAWMODE_REGION_CONNECTIONS)
 	{
-		rcDebugDrawCompactHeightfieldRegions(*m_chf);
+		rcDebugDrawCompactHeightfieldRegions(&dd, *m_chf);
 			
 		glDepthMask(GL_FALSE);
-		rcDebugDrawRegionConnections(*m_cset);
+		rcDebugDrawRegionConnections(&dd, *m_cset);
 		glDepthMask(GL_TRUE);
 	}
 	if (m_pmesh && m_drawMode == DRAWMODE_POLYMESH)
 	{
 		glDepthMask(GL_FALSE);
-		rcDebugDrawPolyMesh(*m_pmesh);
+		rcDebugDrawPolyMesh(&dd, *m_pmesh);
 		glDepthMask(GL_TRUE);
 	}
 	if (m_dmesh && m_drawMode == DRAWMODE_POLYMESH_DETAIL)
 	{
 		glDepthMask(GL_FALSE);
-		rcDebugDrawPolyMeshDetail(*m_dmesh);
+		rcDebugDrawPolyMeshDetail(&dd, *m_dmesh);
 		glDepthMask(GL_TRUE);
 	}
 	
diff --git a/RecastDemo/Source/Sample_StatMeshTiled.cpp b/RecastDemo/Source/Sample_StatMeshTiled.cpp
index aeb8362..4236f07 100644
--- a/RecastDemo/Source/Sample_StatMeshTiled.cpp
+++ b/RecastDemo/Source/Sample_StatMeshTiled.cpp
@@ -178,18 +178,20 @@ void Sample_StatMeshTiled::handleRender()
 	
 	float col[4];
 	
+	DebugDrawGL dd;
+	
 	glEnable(GL_FOG);
 	glDepthMask(GL_TRUE);
 	
 	if (m_drawMode == DRAWMODE_MESH)
 	{
 		// Draw mesh
-		rcDebugDrawMeshSlope(m_verts, m_nverts, m_tris, m_trinorms, m_ntris, m_agentMaxSlope);
+		rcDebugDrawMeshSlope(&dd, m_verts, m_nverts, m_tris, m_trinorms, m_ntris, m_agentMaxSlope);
 	}
 	else if (m_drawMode != DRAWMODE_NAVMESH_TRANS)
 	{
 		// Draw mesh
-		rcDebugDrawMesh(m_verts, m_nverts, m_tris, m_trinorms, m_ntris, 0);
+		rcDebugDrawMesh(&dd, m_verts, m_nverts, m_tris, m_trinorms, m_ntris, 0);
 	}
 	
 	glDisable(GL_FOG);
@@ -197,7 +199,7 @@ void Sample_StatMeshTiled::handleRender()
 	
 	// Draw bounds
 	col[0] = 1; col[1] = 1; col[2] = 1; col[3] = 0.5f;
-	rcDebugDrawBoxWire(m_bmin[0],m_bmin[1],m_bmin[2], m_bmax[0],m_bmax[1],m_bmax[2], col);
+	rcDebugDrawBoxWire(&dd, m_bmin[0],m_bmin[1],m_bmin[2], m_bmax[0],m_bmax[1],m_bmax[2], col);
 	
 	// Tiling grid.
 	const int ts = (int)m_tileSize;
@@ -260,7 +262,7 @@ void Sample_StatMeshTiled::handleRender()
 			for (int i = 0; i < m_tileSet->width*m_tileSet->height; ++i)
 			{
 				if (m_tileSet->tiles[i].chf)
-					rcDebugDrawCompactHeightfieldSolid(*m_tileSet->tiles[i].chf);
+					rcDebugDrawCompactHeightfieldSolid(&dd, *m_tileSet->tiles[i].chf);
 			}
 		}
 		
@@ -269,7 +271,7 @@ void Sample_StatMeshTiled::handleRender()
 			for (int i = 0; i < m_tileSet->width*m_tileSet->height; ++i)
 			{
 				if (m_tileSet->tiles[i].chf)
-					rcDebugDrawCompactHeightfieldDistance(*m_tileSet->tiles[i].chf);
+					rcDebugDrawCompactHeightfieldDistance(&dd, *m_tileSet->tiles[i].chf);
 			}
 		}
 		if (m_drawMode == DRAWMODE_COMPACT_REGIONS)
@@ -277,7 +279,7 @@ void Sample_StatMeshTiled::handleRender()
 			for (int i = 0; i < m_tileSet->width*m_tileSet->height; ++i)
 			{
 				if (m_tileSet->tiles[i].chf)
-					rcDebugDrawCompactHeightfieldRegions(*m_tileSet->tiles[i].chf);
+					rcDebugDrawCompactHeightfieldRegions(&dd, *m_tileSet->tiles[i].chf);
 			}
 		}
 			
@@ -287,7 +289,7 @@ void Sample_StatMeshTiled::handleRender()
 			for (int i = 0; i < m_tileSet->width*m_tileSet->height; ++i)
 			{
 				if (m_tileSet->tiles[i].solid)
-					rcDebugDrawHeightfieldSolid(*m_tileSet->tiles[i].solid);
+					rcDebugDrawHeightfieldSolid(&dd, *m_tileSet->tiles[i].solid);
 			}
 			glDisable(GL_FOG);
 		}
@@ -297,7 +299,7 @@ void Sample_StatMeshTiled::handleRender()
 			for (int i = 0; i < m_tileSet->width*m_tileSet->height; ++i)
 			{
 				if (m_tileSet->tiles[i].solid)
-					rcDebugDrawHeightfieldWalkable(*m_tileSet->tiles[i].solid);
+					rcDebugDrawHeightfieldWalkable(&dd, *m_tileSet->tiles[i].solid);
 			}
 			glDisable(GL_FOG);
 		}
@@ -307,7 +309,7 @@ void Sample_StatMeshTiled::handleRender()
 			for (int i = 0; i < m_tileSet->width*m_tileSet->height; ++i)
 			{
 				if (m_tileSet->tiles[i].cset)
-					rcDebugDrawRawContours(*m_tileSet->tiles[i].cset);
+					rcDebugDrawRawContours(&dd, *m_tileSet->tiles[i].cset);
 			}
 			glDepthMask(GL_TRUE);
 		}
@@ -318,8 +320,8 @@ void Sample_StatMeshTiled::handleRender()
 			{
 				if (m_tileSet->tiles[i].cset)
 				{
-					rcDebugDrawRawContours(*m_tileSet->tiles[i].cset, 0.5f);
-					rcDebugDrawContours(*m_tileSet->tiles[i].cset);
+					rcDebugDrawRawContours(&dd, *m_tileSet->tiles[i].cset, 0.5f);
+					rcDebugDrawContours(&dd, *m_tileSet->tiles[i].cset);
 				}
 			}
 			glDepthMask(GL_TRUE);
@@ -330,7 +332,7 @@ void Sample_StatMeshTiled::handleRender()
 			for (int i = 0; i < m_tileSet->width*m_tileSet->height; ++i)
 			{
 				if (m_tileSet->tiles[i].cset)
-					rcDebugDrawContours(*m_tileSet->tiles[i].cset);
+					rcDebugDrawContours(&dd, *m_tileSet->tiles[i].cset);
 			}
 			glDepthMask(GL_TRUE);
 		}
@@ -339,14 +341,14 @@ void Sample_StatMeshTiled::handleRender()
 			for (int i = 0; i < m_tileSet->width*m_tileSet->height; ++i)
 			{
 				if (m_tileSet->tiles[i].chf)
-					rcDebugDrawCompactHeightfieldRegions(*m_tileSet->tiles[i].chf);
+					rcDebugDrawCompactHeightfieldRegions(&dd, *m_tileSet->tiles[i].chf);
 			}
 			
 			glDepthMask(GL_FALSE);
 			for (int i = 0; i < m_tileSet->width*m_tileSet->height; ++i)
 			{
 				if (m_tileSet->tiles[i].cset)
-					rcDebugDrawRegionConnections(*m_tileSet->tiles[i].cset);
+					rcDebugDrawRegionConnections(&dd, *m_tileSet->tiles[i].cset);
 			}
 			glDepthMask(GL_TRUE);
 		}
@@ -355,14 +357,14 @@ void Sample_StatMeshTiled::handleRender()
 			glDepthMask(GL_FALSE);
 			if (m_pmesh)
 			{
-				rcDebugDrawPolyMesh(*m_pmesh);
+				rcDebugDrawPolyMesh(&dd, *m_pmesh);
 			}
 			else
 			{
 				for (int i = 0; i < m_tileSet->width*m_tileSet->height; ++i)
 				{
 					if (m_tileSet->tiles[i].pmesh)
-						rcDebugDrawPolyMesh(*m_tileSet->tiles[i].pmesh);
+						rcDebugDrawPolyMesh(&dd, *m_tileSet->tiles[i].pmesh);
 				}
 			}
 			
@@ -373,14 +375,14 @@ void Sample_StatMeshTiled::handleRender()
 			glDepthMask(GL_FALSE);
 			if (m_dmesh)
 			{
-				rcDebugDrawPolyMeshDetail(*m_dmesh);
+				rcDebugDrawPolyMeshDetail(&dd, *m_dmesh);
 			}
 			else
 			{
 				for (int i = 0; i < m_tileSet->width*m_tileSet->height; ++i)
 				{
 					if (m_tileSet->tiles[i].dmesh)
-						rcDebugDrawPolyMeshDetail(*m_tileSet->tiles[i].dmesh);
+						rcDebugDrawPolyMeshDetail(&dd, *m_tileSet->tiles[i].dmesh);
 				}
 			}
 			glDepthMask(GL_TRUE);
diff --git a/RecastDemo/Source/Sample_TileMesh.cpp b/RecastDemo/Source/Sample_TileMesh.cpp
index b470523..37ea3fd 100644
--- a/RecastDemo/Source/Sample_TileMesh.cpp
+++ b/RecastDemo/Source/Sample_TileMesh.cpp
@@ -244,17 +244,19 @@ void Sample_TileMesh::handleRender()
 	if (!m_verts || !m_tris || !m_trinorms)
 		return;
 
+	DebugDrawGL dd;
+
 	// Draw mesh
 	if (m_navMesh)
-		rcDebugDrawMesh(m_verts, m_nverts, m_tris, m_trinorms, m_ntris, 0);
+		rcDebugDrawMesh(&dd, m_verts, m_nverts, m_tris, m_trinorms, m_ntris, 0);
 	else
-		rcDebugDrawMeshSlope(m_verts, m_nverts, m_tris, m_trinorms, m_ntris, m_agentMaxSlope);
+		rcDebugDrawMeshSlope(&dd, m_verts, m_nverts, m_tris, m_trinorms, m_ntris, m_agentMaxSlope);
 
 	glDepthMask(GL_FALSE);
 	
 	// Draw bounds
 	float col[4] = {1,1,1,0.5f};
-	rcDebugDrawBoxWire(m_bmin[0],m_bmin[1],m_bmin[2], m_bmax[0],m_bmax[1],m_bmax[2], col);
+	rcDebugDrawBoxWire(&dd, m_bmin[0],m_bmin[1],m_bmin[2], m_bmax[0],m_bmax[1],m_bmax[2], col);
 
 	// Tiling grid.
 	const int ts = (int)m_tileSize;
@@ -294,7 +296,7 @@ void Sample_TileMesh::handleRender()
 	glEnd();
 	
 	// Draw active tile
-	rcDebugDrawBoxWire(m_tileBmin[0],m_tileBmin[1],m_tileBmin[2], m_tileBmax[0],m_tileBmax[1],m_tileBmax[2], m_tileCol);
+	rcDebugDrawBoxWire(&dd, m_tileBmin[0],m_tileBmin[1],m_tileBmin[2], m_tileBmax[0],m_tileBmax[1],m_tileBmax[2], m_tileCol);
 		
 	if (m_navMesh)
 		dtDebugDrawTiledNavMesh(m_navMesh);
@@ -389,7 +391,7 @@ void Sample_TileMesh::handleRender()
 	{
 		dtDebugDrawTiledNavMeshPoly(m_navMesh, m_startRef, startCol);
 		const float col[4] = {1,1,1,0.5f};
-		rcDebugDrawCylinderWire(m_spos[0]-m_distanceToWall, m_spos[1]+0.02f, m_spos[2]-m_distanceToWall,
+		rcDebugDrawCylinderWire(&dd, m_spos[0]-m_distanceToWall, m_spos[1]+0.02f, m_spos[2]-m_distanceToWall,
 								m_spos[0]+m_distanceToWall, m_spos[1]+m_agentHeight, m_spos[2]+m_distanceToWall, col);
 		glLineWidth(3.0f);
 		glColor4fv(col);
@@ -401,7 +403,7 @@ void Sample_TileMesh::handleRender()
 	}
 	else if (m_toolMode == TOOLMODE_FIND_POLYS_AROUND)
 	{
-		glLineWidth(2.0f);
+		const float cola[4] = {0,0,0,0.5f};
 		for (int i = 0; i < m_npolys; ++i)
 		{
 			dtDebugDrawTiledNavMeshPoly(m_navMesh, m_polys[i], pathCol);
@@ -411,16 +413,15 @@ void Sample_TileMesh::handleRender()
 				getPolyCenter(m_navMesh, m_polys[i], p0);
 				getPolyCenter(m_navMesh, m_parent[i], p1);
 				glColor4ub(0,0,0,128);
-				rcDrawArc(p0, p1);
+				rcDrawArc(&dd, p0, p1, cola, 2.0f);
 			}
 		}
-		glLineWidth(1.0f);
 		
 		const float dx = m_epos[0] - m_spos[0];
 		const float dz = m_epos[2] - m_spos[2];
 		float dist = sqrtf(dx*dx + dz*dz);
 		const float col[4] = {1,1,1,0.5f};
-		rcDebugDrawCylinderWire(m_spos[0]-dist, m_spos[1]+0.02f, m_spos[2]-dist,
+		rcDebugDrawCylinderWire(&dd, m_spos[0]-dist, m_spos[1]+0.02f, m_spos[2]-dist,
 								m_spos[0]+dist, m_spos[1]+m_agentHeight, m_spos[2]+dist, col);
 	}