diff --git a/DebugUtils/Source/DebugDraw.cpp b/DebugUtils/Source/DebugDraw.cpp
index 070d797..5bd6043 100644
--- a/DebugUtils/Source/DebugDraw.cpp
+++ b/DebugUtils/Source/DebugDraw.cpp
@@ -322,11 +322,21 @@ inline void vsub(float* dest, const float* v1, const float* v2)
 	dest[2] = v1[2]-v2[2];
 }
 
+inline float vdistSqr(const float* v1, const float* v2)
+{
+	const float x = v1[0]-v2[0];
+	const float y = v1[1]-v2[1];
+	const float z = v1[2]-v2[2];
+	return x*x + y*y + z*z;
+}
+
 
 void appendArrowHead(struct duDebugDraw* dd, const float* p, const float* q,
 					 const float s, unsigned int col)
 {
+	const float eps = 0.001f;
 	if (!dd) return;
+	if (vdistSqr(p,q) < eps*eps) return;
 	float ax[3], ay[3] = {0,1,0}, az[3];
 	vsub(az, q, p);
 	vnormalize(az);
diff --git a/Detour/Include/DetourAssert.h b/Detour/Include/DetourAssert.h
index d13ffb2..709ebd9 100644
--- a/Detour/Include/DetourAssert.h
+++ b/Detour/Include/DetourAssert.h
@@ -24,7 +24,7 @@
 
 #ifdef NDEBUG
 // From http://cnicholson.net/2009/02/stupid-c-tricks-adventures-in-assert/
-#	define dtAssert(x) do { (void)sizeof(x); } while(0)  
+#	define dtAssert(x) do { (void)sizeof(x); } while(__LINE__==-1,false)  
 #else
 #	include <assert.h> 
 #	define dtAssert assert
diff --git a/Recast/Include/RecastAssert.h b/Recast/Include/RecastAssert.h
index d667830..b58b8fc 100644
--- a/Recast/Include/RecastAssert.h
+++ b/Recast/Include/RecastAssert.h
@@ -24,7 +24,7 @@
 
 #ifdef NDEBUG
 // From http://cnicholson.net/2009/02/stupid-c-tricks-adventures-in-assert/
-#	define rcAssert(x) do { (void)sizeof(x); } while(0)  
+#	define rcAssert(x) do { (void)sizeof(x); } while(__LINE__==-1,false)  
 #else
 #	include <assert.h> 
 #	define rcAssert assert
diff --git a/RecastDemo/Bin/Recast.exe b/RecastDemo/Bin/Recast.exe
index d235d50..0c91904 100644
Binary files a/RecastDemo/Bin/Recast.exe and b/RecastDemo/Bin/Recast.exe differ
diff --git a/RecastDemo/Build/VC9/Recast.vcproj b/RecastDemo/Build/VC9/Recast.vcproj
index b1d0fc4..ab59983 100644
--- a/RecastDemo/Build/VC9/Recast.vcproj
+++ b/RecastDemo/Build/VC9/Recast.vcproj
@@ -271,6 +271,10 @@
 					RelativePath="..\..\..\Detour\Include\DetourNode.h"
 					>
 				</File>
+				<File
+					RelativePath="..\..\..\Detour\Include\DetourObstacleAvoidance.h"
+					>
+				</File>
 			</Filter>
 			<Filter
 				Name="Source"
@@ -299,6 +303,10 @@
 					RelativePath="..\..\..\Detour\Source\DetourNode.cpp"
 					>
 				</File>
+				<File
+					RelativePath="..\..\..\Detour\Source\DetourObstacleAvoidance.cpp"
+					>
+				</File>
 			</Filter>
 		</Filter>
 		<Filter
@@ -347,6 +355,10 @@
 					RelativePath="..\..\Include\OffMeshConnectionTool.h"
 					>
 				</File>
+				<File
+					RelativePath="..\..\Include\PerfTimer.h"
+					>
+				</File>
 				<File
 					RelativePath="..\..\Include\Sample.h"
 					>
@@ -387,6 +399,10 @@
 					RelativePath="..\..\Include\TestCase.h"
 					>
 				</File>
+				<File
+					RelativePath="..\..\Include\ValueHistory.h"
+					>
+				</File>
 			</Filter>
 			<Filter
 				Name="Source"
@@ -435,6 +451,10 @@
 					RelativePath="..\..\Source\OffMeshConnectionTool.cpp"
 					>
 				</File>
+				<File
+					RelativePath="..\..\Source\PerfTimer.cpp"
+					>
+				</File>
 				<File
 					RelativePath="..\..\Source\Sample.cpp"
 					>
@@ -467,6 +487,10 @@
 					RelativePath="..\..\Source\TestCase.cpp"
 					>
 				</File>
+				<File
+					RelativePath="..\..\Source\ValueHistory.cpp"
+					>
+				</File>
 			</Filter>
 		</Filter>
 		<Filter
diff --git a/RecastDemo/Source/CrowdTool.cpp b/RecastDemo/Source/CrowdTool.cpp
index c2cc42a..e10370c 100644
--- a/RecastDemo/Source/CrowdTool.cpp
+++ b/RecastDemo/Source/CrowdTool.cpp
@@ -717,7 +717,7 @@ void CrowdManager::update(const float dt, unsigned int flags, dtNavMeshQuery* na
 		}
 	}
 
-	m_sampleCount.addSample(ns);
+	m_sampleCount.addSample((float)ns);
 	m_totalTime.addSample(getPerfDeltaTimeUsec(startTime, endTime) / 1000.0f);
 	m_rvoTime.addSample(getPerfDeltaTimeUsec(rvoStartTime, rvoEndTime) / 1000.0f);
 }
diff --git a/RecastDemo/Source/SampleInterfaces.cpp b/RecastDemo/Source/SampleInterfaces.cpp
index 1243a28..35ac928 100644
--- a/RecastDemo/Source/SampleInterfaces.cpp
+++ b/RecastDemo/Source/SampleInterfaces.cpp
@@ -68,7 +68,7 @@ void BuildContext::doStartTimer(const rcTimerLabel label)
 void BuildContext::doStopTimer(const rcTimerLabel label)
 {
 	const TimeVal endTime = getPerfTime();
-	const int deltaTime = endTime - m_startTime[label];
+	const int deltaTime = (int)(endTime - m_startTime[label]);
 	if (m_accTime[label] == -1)
 		m_accTime[label] = deltaTime;
 	else
diff --git a/RecastDemo/Source/ValueHistory.cpp b/RecastDemo/Source/ValueHistory.cpp
index 774d4da..30ae4b6 100644
--- a/RecastDemo/Source/ValueHistory.cpp
+++ b/RecastDemo/Source/ValueHistory.cpp
@@ -3,6 +3,9 @@
 #include <string.h>
 #include <stdio.h>
 
+#ifdef WIN32
+#	define snprintf _snprintf
+#endif
 
 ValueHistory::ValueHistory() :
 	m_hsamples(0)
@@ -61,7 +64,7 @@ void GraphParams::setValueRange(float ivmin, float ivmax, int indiv, const char*
 void drawGraphBackground(const GraphParams* p)
 {
 	// BG
-	imguiDrawRoundedRect(p->x, p->y, p->w, p->h, p->pad, imguiRGBA(64,64,64,128));
+	imguiDrawRoundedRect((float)p->x, (float)p->y, (float)p->w, (float)p->h, (float)p->pad, imguiRGBA(64,64,64,128));
 	
 	const float sy = (p->h-p->pad*2) / (p->vmax-p->vmin);
 	const float oy = p->y+p->pad-p->vmin*sy;
@@ -76,7 +79,7 @@ void drawGraphBackground(const GraphParams* p)
 		snprintf(text, 64, "%.2f %s", v, p->units);
 		const float fy = oy + v*sy;
 		imguiDrawText(p->x + p->w - p->pad, (int)fy-4, IMGUI_ALIGN_RIGHT, text, imguiRGBA(0,0,0,255));
-		imguiDrawLine(p->x + p->pad, fy, p->x + p->w - p->pad - 50, fy, 1.0f, imguiRGBA(0,0,0,64)); 
+		imguiDrawLine((float)p->x + (float)p->pad, fy, (float)p->x + (float)p->w - (float)p->pad - 50, fy, 1.0f, imguiRGBA(0,0,0,64)); 
 	}
 }
 
@@ -85,11 +88,11 @@ void drawGraph(const GraphParams* p, const ValueHistory* graph,
 {
 	const float sx = (p->w - p->pad*2) / (float)graph->getSampleCount();
 	const float sy = (p->h - p->pad*2) / (p->vmax - p->vmin);
-	const float ox = p->x + p->pad;
-	const float oy = p->y + p->pad - p->vmin*sy;
+	const float ox = (float)p->x + (float)p->pad;
+	const float oy = (float)p->y + (float)p->pad - p->vmin*sy;
 	
 	// Values
-	float px, py;
+	float px=0, py=0;
 	for (int i = 0; i < graph->getSampleCount()-1; ++i)
 	{
 		const float x = ox + i*sx;
@@ -106,7 +109,7 @@ void drawGraph(const GraphParams* p, const ValueHistory* graph,
 	int ix = p->x + p->w + 5;
 	int iy = p->y + p->h - (idx+1)*(size+spacing);
 	
-	imguiDrawRoundedRect(ix, iy, size, size, 2.0f, col);
+	imguiDrawRoundedRect((float)ix, (float)iy, (float)size, (float)size, 2.0f, col);
 	
 	char text[64];
 	snprintf(text, 64, "%.2f %s", graph->getAverage(), p->units);
diff --git a/RecastDemo/Source/imgui.cpp b/RecastDemo/Source/imgui.cpp
index edf7877..36bbffa 100644
--- a/RecastDemo/Source/imgui.cpp
+++ b/RecastDemo/Source/imgui.cpp
@@ -343,7 +343,7 @@ bool imguiBeginScrollArea(const char* name, int x, int y, int w, int h, int* scr
 	g_insideScrollArea = inRect(x, y, w, h, false);
 	g_state.insideCurrentScroll = g_insideScrollArea;
 
-	addGfxCmdRoundedRect(x, y, w, h, 6, imguiRGBA(0,0,0,192));
+	addGfxCmdRoundedRect((float)x, (float)y, (float)w, (float)h, 6, imguiRGBA(0,0,0,192));
 
 	addGfxCmdText(x+AREA_HEADER/2, y+h-AREA_HEADER/2-TEXT_HEIGHT/2, IMGUI_ALIGN_LEFT, name, imguiRGBA(255,255,255,128));
 
@@ -403,12 +403,12 @@ void imguiEndScrollArea()
 		}
 		
 		// BG
-		addGfxCmdRoundedRect(x, y, w, h, w/2-1, imguiRGBA(0,0,0,196));
+		addGfxCmdRoundedRect((float)x, (float)y, (float)w, (float)h, (float)w/2-1, imguiRGBA(0,0,0,196));
 		// Bar
 		if (isActive(hid))
-			addGfxCmdRoundedRect(hx, hy, hw, hh, w/2-1, imguiRGBA(255,196,0,196));
+			addGfxCmdRoundedRect((float)hx, (float)hy, (float)hw, (float)hh, (float)w/2-1, imguiRGBA(255,196,0,196));
 		else
-			addGfxCmdRoundedRect(hx, hy, hw, hh, w/2-1, isHot(hid) ? imguiRGBA(255,196,0,96) : imguiRGBA(255,255,255,64));
+			addGfxCmdRoundedRect((float)hx, (float)hy, (float)hw, (float)hh, (float)w/2-1, isHot(hid) ? imguiRGBA(255,196,0,96) : imguiRGBA(255,255,255,64));
 
 		// Handle mouse scrolling.
 		if (g_insideScrollArea) // && !anyActive())
@@ -438,7 +438,7 @@ bool imguiButton(const char* text, bool enabled)
 	bool over = enabled && inRect(x, y, w, h);
 	bool res = buttonLogic(id, over);
 
-	addGfxCmdRoundedRect(x, y, w, h, BUTTON_HEIGHT/2-1, imguiRGBA(128,128,128, isActive(id)?196:96));
+	addGfxCmdRoundedRect((float)x, (float)y, (float)w, (float)h, (float)BUTTON_HEIGHT/2-1, imguiRGBA(128,128,128, isActive(id)?196:96));
 	if (enabled)
 		addGfxCmdText(x+BUTTON_HEIGHT/2, y+BUTTON_HEIGHT/2-TEXT_HEIGHT/2, IMGUI_ALIGN_LEFT, text, isHot(id) ? imguiRGBA(255,196,0,255) : imguiRGBA(255,255,255,200));
 	else
@@ -462,7 +462,7 @@ bool imguiItem(const char* text, bool enabled)
 	bool res = buttonLogic(id, over);
 	
 	if (isHot(id))
-		addGfxCmdRoundedRect(x, y, w, h, 2, imguiRGBA(255,196,0,isActive(id)?196:96));
+		addGfxCmdRoundedRect((float)x, (float)y, (float)w, (float)h, 2.0f, imguiRGBA(255,196,0,isActive(id)?196:96));
 
 	if (enabled)
 		addGfxCmdText(x+BUTTON_HEIGHT/2, y+BUTTON_HEIGHT/2-TEXT_HEIGHT/2, IMGUI_ALIGN_LEFT, text, imguiRGBA(255,255,255,200));
@@ -488,13 +488,13 @@ bool imguiCheck(const char* text, bool checked, bool enabled)
 	
 	const int cx = x+BUTTON_HEIGHT/2-CHECK_SIZE/2;
 	const int cy = y+BUTTON_HEIGHT/2-CHECK_SIZE/2;
-	addGfxCmdRoundedRect(cx-3, cy-3, CHECK_SIZE+6, CHECK_SIZE+6, 4, imguiRGBA(128,128,128, isActive(id)?196:96));
+	addGfxCmdRoundedRect((float)cx-3, (float)cy-3, (float)CHECK_SIZE+6, (float)CHECK_SIZE+6, 4, imguiRGBA(128,128,128, isActive(id)?196:96));
 	if (checked)
 	{
 		if (enabled)
-			addGfxCmdRoundedRect(cx, cy, CHECK_SIZE, CHECK_SIZE, CHECK_SIZE/2-1, imguiRGBA(255,255,255,isActive(id)?255:200));
+			addGfxCmdRoundedRect((float)cx, (float)cy, (float)CHECK_SIZE, (float)CHECK_SIZE, (float)CHECK_SIZE/2-1, imguiRGBA(255,255,255,isActive(id)?255:200));
 		else
-			addGfxCmdRoundedRect(cx, cy, CHECK_SIZE, CHECK_SIZE, CHECK_SIZE/2-1, imguiRGBA(128,128,128,200));
+			addGfxCmdRoundedRect((float)cx, (float)cy, (float)CHECK_SIZE, (float)CHECK_SIZE, (float)CHECK_SIZE/2-1, imguiRGBA(128,128,128,200));
 	}
 
 	if (enabled)
@@ -567,7 +567,7 @@ bool imguiSlider(const char* text, float* val, float vmin, float vmax, float vin
 	int h = SLIDER_HEIGHT;
 	g_state.widgetY -= SLIDER_HEIGHT + DEFAULT_SPACING;
 
-	addGfxCmdRoundedRect(x, y, w, h, 4, imguiRGBA(0,0,0,128));
+	addGfxCmdRoundedRect((float)x, (float)y, (float)w, (float)h, 4.0f, imguiRGBA(0,0,0,128));
 
 	const int range = w - SLIDER_MARKER_WIDTH;
 
@@ -600,9 +600,9 @@ bool imguiSlider(const char* text, float* val, float vmin, float vmax, float vin
 	}
 
 	if (isActive(id))
-		addGfxCmdRoundedRect(x+m, y, SLIDER_MARKER_WIDTH, SLIDER_HEIGHT, 4, imguiRGBA(255,255,255,255));
+		addGfxCmdRoundedRect((float)(x+m), (float)y, (float)SLIDER_MARKER_WIDTH, (float)SLIDER_HEIGHT, 4.0f, imguiRGBA(255,255,255,255));
 	else
-		addGfxCmdRoundedRect(x+m, y, SLIDER_MARKER_WIDTH, SLIDER_HEIGHT, 4, isHot(id) ? imguiRGBA(255,196,0,128) : imguiRGBA(255,255,255,64));
+		addGfxCmdRoundedRect((float)(x+m), (float)y, (float)SLIDER_MARKER_WIDTH, (float)SLIDER_HEIGHT, 4.0f, isHot(id) ? imguiRGBA(255,196,0,128) : imguiRGBA(255,255,255,64));
 
 	// TODO: fix this, take a look at 'nicenum'.
 	int digits = (int)(ceilf(log10f(vinc)));
@@ -651,7 +651,7 @@ void imguiSeparatorLine()
 	int h = 1;
 	g_state.widgetY -= DEFAULT_SPACING*4;
 
-	addGfxCmdRect(x, y, w, h, imguiRGBA(255,255,255,32));
+	addGfxCmdRect((float)x, (float)y, (float)w, (float)h, imguiRGBA(255,255,255,32));
 }
 
 void imguiDrawText(int x, int y, int align, const char* text, unsigned int color)