diff --git a/Detour/Include/DetourNavMesh.h b/Detour/Include/DetourNavMesh.h
index 8dd638c..6608f4e 100644
--- a/Detour/Include/DetourNavMesh.h
+++ b/Detour/Include/DetourNavMesh.h
@@ -297,7 +297,7 @@ public:
 	//	startRef - (in) ref to the polygon where the start lies.
 	//	startPos[3] - (in) start position of the query.
 	//	endPos[3] - (in) end position of the query.
-	//	t - (out) hit parameter along the segment, 0 if no hit.
+	//	t - (out) hit parameter along the segment, FLT_MAX if no hit.
 	//	hitNormal[3] - (out) normal of the nearest hit.
 	//  filter - (in) path polygon filter.
 	//  path - (out) visited path polygons.
diff --git a/Detour/Source/DetourNavMesh.cpp b/Detour/Source/DetourNavMesh.cpp
index 0b76437..b27200a 100644
--- a/Detour/Source/DetourNavMesh.cpp
+++ b/Detour/Source/DetourNavMesh.cpp
@@ -1826,8 +1826,16 @@ int dtNavMesh::raycast(dtPolyRef centerRef, const float* startPos, const float*
 		if (tmax > t)
 			t = tmax;
 
+		// Store visited polygons.
 		if (n < pathSize)
 			path[n++] = curRef;
+
+		// Ray end is completely inside the polygon.
+		if (segMax == -1)
+		{
+			t = FLT_MAX;
+			return n;
+		}
 		
 		// Follow neighbours.
 		dtPolyRef nextRef = 0;
diff --git a/Recast/Source/RecastMesh.cpp b/Recast/Source/RecastMesh.cpp
index f364dba..be16fa1 100644
--- a/Recast/Source/RecastMesh.cpp
+++ b/Recast/Source/RecastMesh.cpp
@@ -483,53 +483,70 @@ static void pushBack(int v, int* arr, int& an)
 	an++;
 }
 
-static bool removeVertex(rcPolyMesh& mesh, const unsigned short rem, const int maxTris)
+
+static int removeVertex(rcPolyMesh& mesh, const unsigned short rem, const int maxTris)
 {
 	const int nvp = mesh.nvp;
 
 	// Count number of polygons to remove.
-	int nrem = 0;
+	int numRemovedVerts = 0;
+	int numRemainingEdges = 0;
 	for (int i = 0; i < mesh.npolys; ++i)
 	{
 		unsigned short* p = &mesh.polys[i*nvp*2];
 		for (int j = 0; j < nvp; ++j)
-			if (p[j] == rem) { nrem++; break; }
+		{
+			if (p[j] == RC_MESH_NULL_IDX) break;
+			numRemainingEdges++;
+			if (p[j] == rem)
+			{
+				numRemovedVerts++;
+				numRemainingEdges -= 2;
+			}
+		}
 	}
-
+	
+	// There would be too few edges remaining to create a polygon.
+	// This can happen for example when a tip of a triangle is marked
+	// as deletion, but there are no other polys that share the vertex.
+	// In this case, the vertex should not be removed.
+	if (numRemainingEdges <= 2)
+		return -1;
+	
 	int nedges = 0;
-	rcScopedDelete<int> edges = new int[nrem*nvp*4];
+	rcScopedDelete<int> edges = new int[numRemovedVerts*nvp*4];
 	if (!edges)
 	{
 		if (rcGetLog())
-			rcGetLog()->log(RC_LOG_WARNING, "removeVertex: Out of memory 'edges' (%d).", nrem*nvp*4);
-		return false;
+			rcGetLog()->log(RC_LOG_WARNING, "removeVertex: Out of memory 'edges' (%d).", numRemovedVerts*nvp*4);
+		return 0;
 	}
 
 	int nhole = 0;
-	rcScopedDelete<int> hole = new int[nrem*nvp];
+	rcScopedDelete<int> hole = new int[numRemovedVerts*nvp];
 	if (!hole)
 	{
 		if (rcGetLog())
-			rcGetLog()->log(RC_LOG_WARNING, "removeVertex: Out of memory 'hole' (%d).", nrem*nvp);
-		return false;
+			rcGetLog()->log(RC_LOG_WARNING, "removeVertex: Out of memory 'hole' (%d).", numRemovedVerts*nvp);
+		return 0;
 	}
 	
 	int nhreg = 0;
-	rcScopedDelete<int> hreg = new int[nrem*nvp];
+	rcScopedDelete<int> hreg = new int[numRemovedVerts*nvp];
 	if (!hreg)
 	{
 		if (rcGetLog())
-			rcGetLog()->log(RC_LOG_WARNING, "removeVertex: Out of memory 'hreg' (%d).", nrem*nvp);
-		return false;
+			rcGetLog()->log(RC_LOG_WARNING, "removeVertex: Out of memory 'hreg' (%d).", numRemovedVerts*nvp);
+		return 0;
 	}
 
 	int nharea = 0;
-	rcScopedDelete<int> harea = new int[nrem*nvp];
+	rcScopedDelete<int> harea = new int[numRemovedVerts*nvp];
 	if (!harea)
 	{
 		if (rcGetLog())
-			rcGetLog()->log(RC_LOG_WARNING, "removeVertex: Out of memory 'harea' (%d).", nrem*nvp);
-		return false;
+			rcGetLog()->log(RC_LOG_WARNING, "removeVertex: Out of memory 'harea' (%d).", numRemovedVerts*nvp);
+		return 0;
 	}
 	
 	for (int i = 0; i < mesh.npolys; ++i)
@@ -588,7 +605,7 @@ static bool removeVertex(rcPolyMesh& mesh, const unsigned short rem, const int m
 	}
 
 	if (nedges == 0)
-		return true;
+		return 1;
 
 	// Start with one vertex, keep appending connected
 	// segments to the start and end of the hole.
@@ -645,7 +662,7 @@ static bool removeVertex(rcPolyMesh& mesh, const unsigned short rem, const int m
 	{
 		if (rcGetLog())
 			rcGetLog()->log(RC_LOG_WARNING, "removeVertex: Out of memory 'tris' (%d).", nhole*3);
-		return false;
+		return 0;
 	}
 
 	rcScopedDelete<int> tverts = new int[nhole*4];
@@ -653,7 +670,7 @@ static bool removeVertex(rcPolyMesh& mesh, const unsigned short rem, const int m
 	{
 		if (rcGetLog())
 			rcGetLog()->log(RC_LOG_WARNING, "removeVertex: Out of memory 'tverts' (%d).", nhole*4);
-		return false;
+		return 0;
 	}
 
 	rcScopedDelete<int> thole = new int[nhole];
@@ -661,7 +678,7 @@ static bool removeVertex(rcPolyMesh& mesh, const unsigned short rem, const int m
 	{
 		if (rcGetLog())
 			rcGetLog()->log(RC_LOG_WARNING, "removeVertex: Out of memory 'thole' (%d).", nhole);
-		return false;
+		return 0;
 	}
 
 	// Generate temp vertex array for triangulation.
@@ -690,21 +707,21 @@ static bool removeVertex(rcPolyMesh& mesh, const unsigned short rem, const int m
 	{
 		if (rcGetLog())
 			rcGetLog()->log(RC_LOG_ERROR, "removeVertex: Out of memory 'polys' (%d).", (ntris+1)*nvp);
-		return false;
+		return 0;
 	}
 	rcScopedDelete<unsigned short> pregs = new unsigned short[ntris];
 	if (!pregs)
 	{
 		if (rcGetLog())
 			rcGetLog()->log(RC_LOG_ERROR, "removeVertex: Out of memory 'pregs' (%d).", ntris);
-		return false;
+		return 0;
 	}
 	rcScopedDelete<unsigned char> pareas = new unsigned char[ntris];
 	if (!pregs)
 	{
 		if (rcGetLog())
 			rcGetLog()->log(RC_LOG_ERROR, "removeVertex: Out of memory 'pareas' (%d).", ntris);
-		return false;
+		return 0;
 	}
 	
 	unsigned short* tmpPoly = &polys[ntris*nvp];
@@ -726,7 +743,7 @@ static bool removeVertex(rcPolyMesh& mesh, const unsigned short rem, const int m
 		}
 	}
 	if (!npolys)
-		return true;
+		return 1;
 	
 	// Merge polygons.
 	if (nvp > 3)
@@ -790,11 +807,11 @@ static bool removeVertex(rcPolyMesh& mesh, const unsigned short rem, const int m
 		{
 			if (rcGetLog())
 				rcGetLog()->log(RC_LOG_ERROR, "removeVertex: Too many polygons %d (max:%d).", mesh.npolys, maxTris);
-			return false;
+			return 0;
 		}
 	}
 	
-	return true;
+	return 1;
 }
 
 
@@ -1046,16 +1063,27 @@ bool rcBuildPolyMesh(rcContourSet& cset, int nvp, rcPolyMesh& mesh)
 	{
 		if (vflags[i])
 		{
-			if (!removeVertex(mesh, i, maxTris))
+			int res = removeVertex(mesh, i, maxTris);
+			if (!res)
 			{
+				// Failed to remove vertex
 				if (rcGetLog())
 					rcGetLog()->log(RC_LOG_ERROR, "rcBuildPolyMesh: Failed to remove edge vertex %d.", i);
 				return false;
 			}
-			// Note: mesh.nverts is already decremented inside removeVertex()!
-			for (int j = i; j < mesh.nverts; ++j)
-				vflags[j] = vflags[j+1];
-			--i;
+			else if (res == -1)
+			{
+				// Vertex should not be removed.
+				continue;
+			}
+			else
+			{
+				// Remove vertex
+				// Note: mesh.nverts is already decremented inside removeVertex()!
+				for (int j = i; j < mesh.nverts; ++j)
+					vflags[j] = vflags[j+1];
+				--i;
+			}
 		}
 	}
 	
diff --git a/RecastDemo/Bin/Recast.app/Contents/MacOS/Recast b/RecastDemo/Bin/Recast.app/Contents/MacOS/Recast
index a9d01d2..443dd0d 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 5fa63f3..464655d 100644
--- a/RecastDemo/Build/Xcode/Recast.xcodeproj/memon.pbxuser
+++ b/RecastDemo/Build/Xcode/Recast.xcodeproj/memon.pbxuser
@@ -16,8 +16,8 @@
 			8D1107260486CEB800E47090 /* Recast */,
 		);
 		breakpoints = (
-			6B8037A6113D1788005ED67B /* RecastMesh.cpp:504 */,
-			6B8037B4113D193D005ED67B /* RecastMesh.cpp:532 */,
+			6B8037A6113D1788005ED67B /* RecastMesh.cpp:521 */,
+			6B8037B4113D193D005ED67B /* RecastMesh.cpp:549 */,
 			6B904B781144F2B000A12E63 /* Sample_Debug.cpp:87 */,
 			6B904B941144F35E00A12E63 /* Sample_Debug.cpp:120 */,
 		);
@@ -310,6 +310,12 @@
 			6B904C6B1152164400A12E63 /* PBXTextBookmark */ = 6B904C6B1152164400A12E63 /* PBXTextBookmark */;
 			6B904C6C1152164400A12E63 /* PBXTextBookmark */ = 6B904C6C1152164400A12E63 /* PBXTextBookmark */;
 			6B904C6D1152164400A12E63 /* PBXTextBookmark */ = 6B904C6D1152164400A12E63 /* PBXTextBookmark */;
+			6B904C6F115218D800A12E63 /* PBXTextBookmark */ = 6B904C6F115218D800A12E63 /* PBXTextBookmark */;
+			6B904C70115218D800A12E63 /* PBXTextBookmark */ = 6B904C70115218D800A12E63 /* PBXTextBookmark */;
+			6B904C71115218D800A12E63 /* PBXTextBookmark */ = 6B904C71115218D800A12E63 /* PBXTextBookmark */;
+			6B904C72115218D800A12E63 /* PBXTextBookmark */ = 6B904C72115218D800A12E63 /* PBXTextBookmark */;
+			6B904C7411521CEA00A12E63 /* PBXTextBookmark */ = 6B904C7411521CEA00A12E63 /* PBXTextBookmark */;
+			6B904C7611521D4400A12E63 /* PBXTextBookmark */ = 6B904C7611521D4400A12E63 /* PBXTextBookmark */;
 			6B92D9121140F58200E82EC3 = 6B92D9121140F58200E82EC3 /* PBXTextBookmark */;
 			6B92D91C1140F5F800E82EC3 = 6B92D91C1140F5F800E82EC3 /* PBXTextBookmark */;
 			6B92D9411140F84100E82EC3 = 6B92D9411140F84100E82EC3 /* PBXTextBookmark */;
@@ -522,9 +528,9 @@
 	};
 	6B137C870F7FCC1100459200 /* RecastMesh.cpp */ = {
 		uiCtxt = {
-			sepNavIntBoundsRect = "{{0, 0}, {815, 19904}}";
-			sepNavSelRange = "{14617, 0}";
-			sepNavVisRange = "{10934, 788}";
+			sepNavIntBoundsRect = "{{0, 0}, {815, 20224}}";
+			sepNavSelRange = "{13330, 0}";
+			sepNavVisRange = "{12592, 895}";
 		};
 	};
 	6B137C880F7FCC1100459200 /* RecastRasterization.cpp */ = {
@@ -1072,7 +1078,7 @@
 		vrLen = 868;
 		vrLoc = 21829;
 	};
-	6B8037A6113D1788005ED67B /* RecastMesh.cpp:504 */ = {
+	6B8037A6113D1788005ED67B /* RecastMesh.cpp:521 */ = {
 		isa = PBXFileBreakpoint;
 		actions = (
 		);
@@ -1084,12 +1090,12 @@
 		functionName = "checkNullPolys(rcPolyMesh& mesh)";
 		hitCount = 0;
 		ignoreCount = 0;
-		lineNumber = 504;
+		lineNumber = 521;
 		location = Recast;
 		modificationTime = 290591670.511081;
 		state = 1;
 	};
-	6B8037B4113D193D005ED67B /* RecastMesh.cpp:532 */ = {
+	6B8037B4113D193D005ED67B /* RecastMesh.cpp:549 */ = {
 		isa = PBXFileBreakpoint;
 		actions = (
 		);
@@ -1101,7 +1107,7 @@
 		functionName = "removeVertex(rcPolyMesh& mesh, const unsigned short rem, const int maxTris)";
 		hitCount = 0;
 		ignoreCount = 0;
-		lineNumber = 532;
+		lineNumber = 549;
 		location = Recast;
 		modificationTime = 290591670.511272;
 		state = 1;
@@ -2642,6 +2648,66 @@
 		vrLen = 1021;
 		vrLoc = 16495;
 	};
+	6B904C6F115218D800A12E63 /* PBXTextBookmark */ = {
+		isa = PBXTextBookmark;
+		fRef = 6BB7FC0A10EBB6AA006DA0A6 /* NavMeshTesterTool.cpp */;
+		name = "NavMeshTesterTool.cpp: 633";
+		rLen = 0;
+		rLoc = 17051;
+		rType = 0;
+		vrLen = 1021;
+		vrLoc = 16495;
+	};
+	6B904C70115218D800A12E63 /* PBXTextBookmark */ = {
+		isa = PBXTextBookmark;
+		fRef = 6B137C870F7FCC1100459200 /* RecastMesh.cpp */;
+		name = "RecastMesh.cpp: 568";
+		rLen = 0;
+		rLoc = 15139;
+		rType = 0;
+		vrLen = 723;
+		vrLoc = 10999;
+	};
+	6B904C71115218D800A12E63 /* PBXTextBookmark */ = {
+		isa = PBXTextBookmark;
+		fRef = 6BB7FC0A10EBB6AA006DA0A6 /* NavMeshTesterTool.cpp */;
+		name = "NavMeshTesterTool.cpp: 633";
+		rLen = 0;
+		rLoc = 17051;
+		rType = 0;
+		vrLen = 1021;
+		vrLoc = 16495;
+	};
+	6B904C72115218D800A12E63 /* PBXTextBookmark */ = {
+		isa = PBXTextBookmark;
+		fRef = 6B137C870F7FCC1100459200 /* RecastMesh.cpp */;
+		name = "RecastMesh.cpp: 498";
+		rLen = 0;
+		rLoc = 13375;
+		rType = 0;
+		vrLen = 758;
+		vrLoc = 12451;
+	};
+	6B904C7411521CEA00A12E63 /* PBXTextBookmark */ = {
+		isa = PBXTextBookmark;
+		fRef = 6B137C870F7FCC1100459200 /* RecastMesh.cpp */;
+		name = "RecastMesh.cpp: 1072";
+		rLen = 0;
+		rLoc = 27474;
+		rType = 0;
+		vrLen = 707;
+		vrLoc = 26829;
+	};
+	6B904C7611521D4400A12E63 /* PBXTextBookmark */ = {
+		isa = PBXTextBookmark;
+		fRef = 6B137C870F7FCC1100459200 /* RecastMesh.cpp */;
+		name = "RecastMesh.cpp: 512";
+		rLen = 0;
+		rLoc = 13330;
+		rType = 0;
+		vrLen = 895;
+		vrLoc = 12592;
+	};
 	6B92D9121140F58200E82EC3 /* PBXTextBookmark */ = {
 		isa = PBXTextBookmark;
 		fRef = 6B137C830F7FCC1100459200 /* RecastContour.cpp */;
@@ -2881,7 +2947,7 @@
 	6BB7FC0A10EBB6AA006DA0A6 /* NavMeshTesterTool.cpp */ = {
 		uiCtxt = {
 			sepNavIntBoundsRect = "{{0, 0}, {831, 15024}}";
-			sepNavSelRange = "{16816, 0}";
+			sepNavSelRange = "{17051, 0}";
 			sepNavVisRange = "{16495, 1021}";
 		};
 	};
@@ -3041,7 +3107,7 @@
 		fRef = 6B137C870F7FCC1100459200 /* RecastMesh.cpp */;
 		name = "RecastMesh.cpp: 568";
 		rLen = 0;
-		rLoc = 14617;
+		rLoc = 15139;
 		rType = 0;
 		vrLen = 788;
 		vrLoc = 10934;
@@ -3051,7 +3117,7 @@
 		fRef = 6B137C870F7FCC1100459200 /* RecastMesh.cpp */;
 		name = "RecastMesh.cpp: 568";
 		rLen = 0;
-		rLoc = 14617;
+		rLoc = 15139;
 		rType = 0;
 		vrLen = 788;
 		vrLoc = 10934;
diff --git a/RecastDemo/Build/Xcode/Recast.xcodeproj/memon.perspectivev3 b/RecastDemo/Build/Xcode/Recast.xcodeproj/memon.perspectivev3
index d0a7851..ed8438e 100644
--- a/RecastDemo/Build/Xcode/Recast.xcodeproj/memon.perspectivev3
+++ b/RecastDemo/Build/Xcode/Recast.xcodeproj/memon.perspectivev3
@@ -281,14 +281,14 @@
 							<key>PBXSmartGroupTreeModuleOutlineStateSelectionKey</key>
 							<array>
 								<array>
-									<integer>52</integer>
-									<integer>46</integer>
+									<integer>33</integer>
+									<integer>21</integer>
 									<integer>1</integer>
 									<integer>0</integer>
 								</array>
 							</array>
 							<key>PBXSmartGroupTreeModuleOutlineStateVisibleRectKey</key>
-							<string>{{0, 429}, {358, 643}}</string>
+							<string>{{0, 347}, {358, 643}}</string>
 						</dict>
 						<key>PBXTopSmartGroupGIDs</key>
 						<array/>
@@ -323,7 +323,7 @@
 								<key>PBXProjectModuleGUID</key>
 								<string>6B8632A30F78115100E2684A</string>
 								<key>PBXProjectModuleLabel</key>
-								<string>NavMeshTesterTool.cpp</string>
+								<string>RecastMesh.cpp</string>
 								<key>PBXSplitModuleInNavigatorKey</key>
 								<dict>
 									<key>Split0</key>
@@ -331,11 +331,11 @@
 										<key>PBXProjectModuleGUID</key>
 										<string>6B8632A40F78115100E2684A</string>
 										<key>PBXProjectModuleLabel</key>
-										<string>NavMeshTesterTool.cpp</string>
+										<string>RecastMesh.cpp</string>
 										<key>_historyCapacity</key>
 										<integer>0</integer>
 										<key>bookmark</key>
-										<string>6B904C6D1152164400A12E63</string>
+										<string>6B904C7611521D4400A12E63</string>
 										<key>history</key>
 										<array>
 											<string>6B8DE70D10B01BBF00DF20FB</string>
@@ -372,7 +372,6 @@
 											<string>6B8036D0113BAF79005ED67B</string>
 											<string>6B8036F7113BB746005ED67B</string>
 											<string>6B803729113D1079005ED67B</string>
-											<string>6BC8BE261140ED5F00555B22</string>
 											<string>6B92D96A1140FBDA00E82EC3</string>
 											<string>6B92D97A1140FE6000E82EC3</string>
 											<string>6B92D97D1140FE6000E82EC3</string>
@@ -401,7 +400,8 @@
 											<string>6B904C591152139200A12E63</string>
 											<string>6B904C631152164400A12E63</string>
 											<string>6B904C641152164400A12E63</string>
-											<string>6B904C651152164400A12E63</string>
+											<string>6B904C6F115218D800A12E63</string>
+											<string>6B904C70115218D800A12E63</string>
 										</array>
 										<key>prevStack</key>
 										<array>
@@ -487,6 +487,7 @@
 											<string>6B904C6A1152164400A12E63</string>
 											<string>6B904C6B1152164400A12E63</string>
 											<string>6B904C6C1152164400A12E63</string>
+											<string>6B904C71115218D800A12E63</string>
 										</array>
 									</dict>
 									<key>SplitCount</key>