From ab023b1700877e09d7ed03b327fc64838cf58a69 Mon Sep 17 00:00:00 2001
From: Mikko Mononen <memononen@gmail.com>
Date: Fri, 20 Nov 2009 13:26:13 +0000
Subject: [PATCH] Added dtNavMesh, which is combination of dtStatNavMesh and
 dtTiledNavMesh. Added Sample_DynMesh which is used for dtNavMesh testing for
 now.

---
 Detour/Include/DetourCommon.h                 |   14 +-
 Detour/Include/DetourDebugDraw.h              |    4 +
 Detour/Include/DetourNavMesh.h                |  343 ++
 Detour/Include/DetourNavMeshBuilder.h         |   29 +
 Detour/Source/DetourDebugDraw.cpp             |  269 ++
 Detour/Source/DetourNavMesh.cpp               | 1530 +++++++
 Detour/Source/DetourNavMeshBuilder.cpp        |  408 ++
 .../Bin/Recast.app/Contents/MacOS/Recast      |  Bin 387408 -> 447812 bytes
 .../Xcode/Recast.xcodeproj/memon.pbxuser      | 4052 ++++++++++++++++-
 .../Recast.xcodeproj/memon.perspectivev3      |  317 +-
 .../Xcode/Recast.xcodeproj/project.pbxproj    |   18 +
 RecastDemo/Include/Sample_DynMesh.h           |  114 +
 RecastDemo/Source/Sample_DynMesh.cpp          |  931 ++++
 RecastDemo/Source/main.cpp                    |    4 +-
 14 files changed, 7902 insertions(+), 131 deletions(-)
 create mode 100644 Detour/Include/DetourNavMesh.h
 create mode 100644 Detour/Include/DetourNavMeshBuilder.h
 create mode 100644 Detour/Source/DetourNavMesh.cpp
 create mode 100644 Detour/Source/DetourNavMeshBuilder.cpp
 create mode 100644 RecastDemo/Include/Sample_DynMesh.h
 create mode 100644 RecastDemo/Source/Sample_DynMesh.cpp

diff --git a/Detour/Include/DetourCommon.h b/Detour/Include/DetourCommon.h
index 1881d80..5486098 100644
--- a/Detour/Include/DetourCommon.h
+++ b/Detour/Include/DetourCommon.h
@@ -113,7 +113,7 @@ inline bool vequal(const float* p0, const float* p1)
 	return d < thr;
 }
 
-inline int nextPow2(int v)
+inline unsigned int nextPow2(unsigned int v)
 {
 	v--;
 	v |= v >> 1;
@@ -125,6 +125,18 @@ inline int nextPow2(int v)
 	return v;
 }
 
+inline unsigned int ilog2(unsigned int v)
+{
+	unsigned int r;
+	unsigned int shift;
+	r = (v > 0xffff) << 4; v >>= r;
+	shift = (v > 0xff) << 3; v >>= shift; r |= shift;
+	shift = (v > 0xf) << 2; v >>= shift; r |= shift;
+	shift = (v > 0x3) << 1; v >>= shift; r |= shift;
+	r |= (v >> 1);
+	return r;
+}
+
 inline int align4(int x) { return (x+3) & ~3; }
 
 inline float vdot2D(const float* u, const float* v)
diff --git a/Detour/Include/DetourDebugDraw.h b/Detour/Include/DetourDebugDraw.h
index 8e1cfe4..6c46208 100755
--- a/Detour/Include/DetourDebugDraw.h
+++ b/Detour/Include/DetourDebugDraw.h
@@ -21,6 +21,7 @@
 
 #include "DetourStatNavMesh.h"
 #include "DetourTileNavMesh.h"
+#include "DetourNavMesh.h"
 
 void dtDebugDrawStatNavMeshPoly(const dtStatNavMesh* mesh, dtStatPolyRef ref, const float* col);
 void dtDebugDrawStatNavMeshBVTree(const dtStatNavMesh* mesh);
@@ -29,4 +30,7 @@ void dtDebugDrawStatNavMesh(const dtStatNavMesh* mesh, bool drawClosedList = fal
 void dtDebugDrawTiledNavMesh(const dtTiledNavMesh* mesh);
 void dtDebugDrawTiledNavMeshPoly(const dtTiledNavMesh* mesh, dtTilePolyRef ref, const float* col);
 
+void dtDebugDrawNavMesh(const dtNavMesh* mesh);
+void dtDebugDrawNavMeshPoly(const dtNavMesh* mesh, dtPolyRef ref, const float* col);
+
 #endif // DETOURDEBUGDRAW_H
\ No newline at end of file
diff --git a/Detour/Include/DetourNavMesh.h b/Detour/Include/DetourNavMesh.h
new file mode 100644
index 0000000..e275709
--- /dev/null
+++ b/Detour/Include/DetourNavMesh.h
@@ -0,0 +1,343 @@
+//
+// Copyright (c) 2009 Mikko Mononen memon@inside.org
+//
+// This software is provided 'as-is', without any express or implied
+// warranty.  In no event will the authors be held liable for any damages
+// arising from the use of this software.
+// Permission is granted to anyone to use this software for any purpose,
+// including commercial applications, and to alter it and redistribute it
+// freely, subject to the following restrictions:
+// 1. The origin of this software must not be misrepresented; you must not
+//    claim that you wrote the original software. If you use this software
+//    in a product, an acknowledgment in the product documentation would be
+//    appreciated but is not required.
+// 2. Altered source versions must be plainly marked as such, and must not be
+//    misrepresented as being the original software.
+// 3. This notice may not be removed or altered from any source distribution.
+//
+
+#ifndef DETOURNAVMESH_H
+#define DETOURNAVMESH_H
+
+// Reference to navigation polygon.
+typedef unsigned int dtPolyRef;
+
+// The bits used in the poly ref.
+/*static const int DT_REF_SALT_BITS = 12;
+static const int DT_REF_TILE_BITS = 12;
+static const int DT_REF_POLY_BITS = 8;
+static const int DT_REF_SALT_MASK = (1<<DT_REF_SALT_BITS)-1;
+static const int DT_REF_TILE_MASK = (1<<DT_REF_TILE_BITS)-1;
+static const int DT_REF_POLY_MASK = (1<<DT_REF_POLY_BITS)-1;*/
+
+// Maximum number of vertices per navigation polygon.
+static const int DT_VERTS_PER_POLYGON = 6;
+
+/*
+static const int DT_MAX_TILES = 1 << DT_REF_TILE_BITS;
+static const int DT_MAX_POLYGONS = 1 << DT_REF_POLY_BITS;
+*/
+
+static const int DT_NAVMESH_MAGIC = 'DNAV';
+static const int DT_NAVMESH_VERSION = 1;
+
+// Structure holding the navigation polygon data.
+struct dtPoly
+{
+	unsigned short v[DT_VERTS_PER_POLYGON];	// Indices to vertices of the poly.
+	unsigned short n[DT_VERTS_PER_POLYGON];	// Refs to neighbours of the poly.
+	unsigned short links;							// Base index to header 'links' array. 
+	unsigned char nlinks;							// Number of links for 
+	unsigned char nv;								// Number of vertices.
+	unsigned char flags;							// Flags (not used).
+};
+
+struct dtPolyDetail
+{
+	unsigned short vbase;	// Offset to detail vertex array.
+	unsigned short nverts;	// Number of vertices in the detail mesh.
+	unsigned short tbase;	// Offset to detail triangle array.
+	unsigned short ntris;	// Number of triangles.
+};
+
+// Stucture holding a link to another polygon.
+struct dtLink
+{
+	dtPolyRef ref;				// Neighbour reference.
+	unsigned short p;			// Index to polygon which owns this link.
+	unsigned char e;			// Index to polygon edge which owns this link. 
+	unsigned char side;			// If boundary link, defines on which side the link is.
+	unsigned char bmin, bmax;	// If boundary link, defines the sub edge area.
+};
+
+struct dtBVNode
+{
+	unsigned short bmin[3], bmax[3];
+	int i;
+};
+
+struct dtMeshHeader
+{
+	int magic;					// Magic number, used to identify the data.
+	int version;				// Data version number.
+	int npolys;					// Number of polygons in the tile.
+	int nverts;					// Number of vertices in the tile.
+	int nlinks;					// Number of links in the tile (will be updated when tile is added).
+	int maxlinks;				// Number of allocated links.
+	int ndmeshes;
+	int ndverts;
+	int ndtris;
+	int nbvtree;
+	float bmin[3], bmax[3];		// Bounding box of the tile.
+	float bvquant;
+	dtPoly* polys;				// Pointer to the polygons (will be updated when tile is added).
+	float* verts;				// Pointer to the vertices (will be updated when tile added).
+	dtLink* links;				// Pointer to the links (will be updated when tile added).
+	dtPolyDetail* dmeshes;
+	float* dverts;
+	unsigned char* dtris;
+	dtBVNode* bvtree;
+};
+
+struct dtMeshTile
+{
+	int salt;				// Counter describing modifications to the tile.
+	int x,y;				// Grid location of the tile.
+	dtMeshHeader* header;	// Pointer to tile header.
+	unsigned char* data;	// Pointer to tile data.
+	int dataSize;			// Size of the tile data.
+	bool ownsData;			// Flag indicating of the navmesh should release the data.
+	dtMeshTile* next;		// Next free tile or, next tile in spatial grid.
+};
+
+class dtNavMesh
+{
+public:
+	dtNavMesh();
+	~dtNavMesh();
+
+	// Initializes the nav mesh.
+	// Params:
+	//  orig - (in) origin of the nav mesh tile space.
+	//  tileSiz - (in) size of a tile.
+	//  portalheight - (in) height of the portal region between tiles.
+	// Returns: True if succeed, else false.
+	bool init(const float* orig, float tileSize, float portalHeight,
+			  int maxTiles, int maxPolys, int maxNodes);
+
+	// Adds new tile into the navmesh.
+	// The add will fail if the data is in wrong format,
+	// there is not enough tiles left, or if there is a tile already at the location.
+	// Params:
+	//  x,y - (in) Location of the new tile.
+	//  data - (in) Data of the new tile mesh.
+	//  dataSize - (in) Data size of the new tile mesh.
+	//	ownsData - (in) Flag indicating if the navmesh should own and delete the data.
+	// Returns: True if tile was added, else false. 
+	bool addTileAt(int x, int y, unsigned char* data, int dataSize, bool ownsData);
+	
+	// Removes tile at specified location.
+	// Params:
+	//  x,y - (in) Location of the tile to remove.
+	//  data - (out) Data associated with deleted tile.
+	//  dataSize - (out) Size of the data associated with deleted tile. 
+	// Returns: True if remove suceed, else false.
+	bool removeTileAt(int x, int y, unsigned char** data, int* dataSize);
+
+	// Returns pointer to tile at specified location.
+	// Params:
+	//  x,y - (in) Location of the tile to get.
+	// Returns: pointer to tile if tile exists or 0 tile does not exists.
+	dtMeshTile* getTileAt(int x, int y);
+
+	// Returns max number of tiles.
+	int getMaxTiles() const;
+		
+	// Returns pointer to tile in the tile array.
+	// Params:
+	//  i - (in) Index to the tile to retrieve, max index is getMaxTiles()-1.
+	// Returns: Pointer to specified tile.
+	dtMeshTile* getTile(int i);
+	const dtMeshTile* getTile(int i) const;
+	
+	// Returns pointer to tile in the tile array.
+	// Params:
+	//  ref - (in) reference to a polygon inside the tile.
+	//  plyIndex - (out,optional) pointer to value where polygon index within the tile is stored.
+	// Returns: Pointer to specified tile.
+	const dtMeshTile* getTileByRef(dtPolyRef ref, int* polyIndex) const;
+	
+	// Finds the nearest navigation polygon around the center location.
+	// Params:
+	//	center - (in) The center of the search box.
+	//	extents - (in) The extents of the search box.
+	// Returns: Reference identifier for the polygon, or 0 if no polygons found.
+	dtPolyRef findNearestPoly(const float* center, const float* extents);
+	
+	// Returns polygons which touch the query box.
+	// Params:
+	//	center - (in) the center of the search box.
+	//	extents - (in) the extents of the search box.
+	//	polys - (out) array holding the search result.
+	//	maxPolys - (in) The max number of polygons the polys array can hold.
+	// Returns: Number of polygons in search result array.
+	int queryPolygons(const float* center, const float* extents,
+					  dtPolyRef* polys, const int maxPolys);
+	
+	// Finds path from start polygon to end polygon.
+	// If target polygon canno be reached through the navigation graph,
+	// the last node on the array is nearest node to the end polygon.
+	// Params:
+	//	startRef - (in) ref to path start polygon.
+	//	endRef - (in) ref to path end polygon.
+	//	path - (out) array holding the search result.
+	//	maxPathSize - (in) The max number of polygons the path array can hold.
+	// Returns: Number of polygons in search result array.
+	int findPath(dtPolyRef startRef, dtPolyRef endRef,
+				 const float* startPos, const float* endPos,
+				 dtPolyRef* path, const int maxPathSize);
+
+	// Finds a straight path from start to end locations within the corridor
+	// described by the path polygons.
+	// Start and end locations will be clamped on the corridor.
+	// Params:
+	//	startPos - (in) Path start location.
+	//	endPos - (in) Path end location.
+	//	path - (in) Array of connected polygons describing the corridor.
+	//	pathSize - (in) Number of polygons in path array.
+	//	straightPath - (out) Points describing the straight path.
+	//	maxStraightPathSize - (in) The max number of points the straight path array can hold.
+	// Returns: Number of points in the path.
+	int findStraightPath(const float* startPos, const float* endPos,
+						 const dtPolyRef* path, const int pathSize,
+						 float* straightPath, const int maxStraightPathSize);
+
+	// Finds intersection againts walls starting from start pos.
+	// Params:
+	//	startRef - (in) ref to the polygon where the start lies.
+	//	startPos - (in) start position of the query.
+	//	endPos - (in) end position of the query.
+	//	t - (out) hit parameter along the segment, 0 if no hit.
+	//	endRef - (out) ref to the last polygon which was processed.
+	// Returns: Number of polygons in path or 0 if failed.
+	int raycast(dtPolyRef startRef, const float* startPos, const float* endPos,
+				float& t, dtPolyRef* path, const int pathSize);
+
+	// Returns distance to nearest wall from the specified location.
+	// Params:
+	//	centerRef - (in) ref to the polygon where the center lies.
+	//	centerPos - (in) center if the query circle.
+	//	maxRadius - (in) max search radius.
+	//	hitPos - (out) location of the nearest hit.
+	//	hitNormal - (out) normal of the nearest hit.
+	// Returns: Distance to nearest wall from the test location.
+	float findDistanceToWall(dtPolyRef centerRef, const float* centerPos, float maxRadius,
+							 float* hitPos, float* hitNormal);
+
+	// Finds polygons found along the navigation graph which touch the specified circle.
+	// Params:
+	//	centerRef - (in) ref to the polygon where the center lies.
+	//	centerPos - (in) center if the query circle
+	//	radius - (in) radius of the query circle
+	//	resultRef - (out, opt) refs to the polygons touched by the circle.
+	//	resultParent - (out, opt) parent of each result polygon.
+	//	resultCost - (out, opt) search cost at each result polygon.
+	//	maxResult - (int) maximum capacity of search results.
+	// Returns: Number of results.
+	int	findPolysAround(dtPolyRef centerRef, const float* centerPos, float radius,
+						dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost,
+						const int maxResult);
+	
+	// Returns closest point on navigation polygon.
+	// Params:
+	//	ref - (in) ref to the polygon.
+	//	pos - (in) the point to check.
+	//	closest - (out) closest point.
+	// Returns: true if closest point found.
+	bool closestPointToPoly(dtPolyRef ref, const float* pos, float* closest) const;
+
+	// Returns height of the polygon at specified location.
+	// Params:
+	//	ref - (in) ref to the polygon.
+	//	pos - (in) the point where to locate the height.
+	//	height - (out) height at the location.
+	// Returns: true if over polygon.
+	bool getPolyHeight(dtPolyRef ref, const float* pos, float* height) const;
+	
+	// Returns pointer to a polygon based on ref.
+	const dtPoly* getPolyByRef(dtPolyRef ref) const;
+
+	// Returns pointer to a polygon vertices based on ref.
+	const float* getPolyVertsByRef(dtPolyRef ref) const;
+
+	// Returns pointer to a polygon link based on ref.
+	const dtLink* getPolyLinksByRef(dtPolyRef ref) const;
+	
+private:
+
+	// Encodes a tile id.
+	inline dtPolyRef dtEncodePolyId(unsigned int salt, unsigned int it, unsigned int ip) const
+	{
+		return (salt << (m_polyBits+m_tileBits)) | ((it+1) << m_polyBits) | ip;
+	}
+	
+	// Decodes a tile id.
+	inline void dtDecodePolyId(dtPolyRef ref, unsigned int& salt, unsigned int& it, unsigned int& ip) const
+	{
+		salt = (ref >> (m_polyBits+m_tileBits)) & ((1<<m_saltBits)-1);
+		it = ((ref >> m_polyBits) - 1) & ((1<<m_tileBits)-1);
+		ip = ref & ((1<<m_polyBits)-1);
+	}
+	
+	// Returns base id for the tile.
+	dtPolyRef getTileId(dtMeshTile* tile);
+	// Returns neighbour tile based on side. 
+	dtMeshTile* getNeighbourTileAt(int x, int y, int side);
+	// Returns all polygons in neighbour tile based on portal defined by the segment.
+	int findConnectingPolys(const float* va, const float* vb,
+							dtMeshTile* tile, int side,
+							dtPolyRef* con, float* conarea, int maxcon);
+	// Builds internal polygons links for a tile.
+	void buildIntLinks(dtMeshTile* tile);
+	// Builds external polygon links for a tile.
+	void buildExtLinks(dtMeshTile* tile, dtMeshTile* target, int side);
+	// Removes external links at specified side.
+	void removeExtLinks(dtMeshTile* tile, int side);
+	// Queries polygons within a tile.
+	int queryTilePolygons(dtMeshTile* tile, const float* qmin, const float* qmax,
+						  dtPolyRef* polys, const int maxPolys);
+						  
+	float getCost(dtPolyRef prev, dtPolyRef from, dtPolyRef to) const;
+	float getFirstCost(const float* pos, dtPolyRef from, dtPolyRef to) const;
+	float getLastCost(dtPolyRef from, dtPolyRef to, const float* pos) const;
+	float getHeuristic(const float* from, const float* to) const;
+	
+	// Returns portal points between two polygons.
+	bool getPortalPoints(dtPolyRef from, dtPolyRef to, float* left, float* right) const;
+	// Returns edge mid point between two polygons.
+	bool getEdgeMidPoint(dtPolyRef from, dtPolyRef to, float* mid) const;
+
+	float m_orig[3];
+	float m_tileSize;
+	float m_portalHeight;
+	int m_maxTiles;
+	int m_tileLutSize;
+	int m_tileLutMask;
+
+	dtMeshTile** m_posLookup; //[DT_TILE_LOOKUP_SIZE];
+	dtMeshTile* m_nextFree;
+	dtMeshTile* m_tiles; //[DT_MAX_TILES];
+	
+	// TODO: dont grow!
+	dtLink* m_tmpLinks;
+	int m_ntmpLinks;
+	
+	unsigned int m_saltBits;
+	unsigned int m_tileBits;
+	unsigned int m_polyBits;
+
+	class dtNodePool* m_nodePool;
+	class dtNodeQueue* m_openList;
+};
+
+#endif // DETOURNAVMESH_H
diff --git a/Detour/Include/DetourNavMeshBuilder.h b/Detour/Include/DetourNavMeshBuilder.h
new file mode 100644
index 0000000..921026b
--- /dev/null
+++ b/Detour/Include/DetourNavMeshBuilder.h
@@ -0,0 +1,29 @@
+//
+// Copyright (c) 2009 Mikko Mononen memon@inside.org
+//
+// This software is provided 'as-is', without any express or implied
+// warranty.  In no event will the authors be held liable for any damages
+// arising from the use of this software.
+// Permission is granted to anyone to use this software for any purpose,
+// including commercial applications, and to alter it and redistribute it
+// freely, subject to the following restrictions:
+// 1. The origin of this software must not be misrepresented; you must not
+//    claim that you wrote the original software. If you use this software
+//    in a product, an acknowledgment in the product documentation would be
+//    appreciated but is not required.
+// 2. Altered source versions must be plainly marked as such, and must not be
+//    misrepresented as being the original software.
+// 3. This notice may not be removed or altered from any source distribution.
+//
+
+#ifndef DETOURNAVMESHBUILDER_H
+#define DETOURNAVMESHBUILDER_H
+
+bool dtCreateNavMeshData(const unsigned short* verts, const int nverts,
+						 const unsigned short* polys, const int npolys, const int nvp,
+						 const unsigned short* dmeshes, const float* dverts, const int ndverts,
+						 const unsigned char* dtris, const int ndtris, 
+						 const float* bmin, const float* bmax, float cs, float ch, int tileSize, int walkableClimb,
+						 unsigned char** outData, int* outDataSize);
+
+#endif // DETOURNAVMESHBUILDER_H
diff --git a/Detour/Source/DetourDebugDraw.cpp b/Detour/Source/DetourDebugDraw.cpp
index 14cec41..1887bff 100755
--- a/Detour/Source/DetourDebugDraw.cpp
+++ b/Detour/Source/DetourDebugDraw.cpp
@@ -18,6 +18,8 @@
 
 #include "DetourDebugDraw.h"
 #include "DetourStatNavMesh.h"
+#include "DetourTileNavMesh.h"
+#include "DetourNavMesh.h"
 #include "SDL.h"
 #include "SDL_opengl.h"
 
@@ -494,3 +496,270 @@ void dtDebugDrawTiledNavMeshPoly(const dtTiledNavMesh* mesh, dtTilePolyRef ref,
 	glEnd();
 }
 
+
+
+
+
+static void drawPolyBoundaries(const dtMeshHeader* header, bool inner)
+{
+	static const float thr = 0.01f*0.01f;
+	
+	glBegin(GL_LINES);
+	for (int i = 0; i < header->npolys; ++i)
+	{
+		const dtPoly* p = &header->polys[i];
+		const dtPolyDetail* pd = &header->dmeshes[i];
+		
+		for (int j = 0, nj = (int)p->nv; j < nj; ++j)
+		{
+			if (inner)
+			{
+				if (p->n[j] == 0) continue;
+				if (p->n[j] & 0x8000)
+				{
+					bool con = false;
+					for (int k = 0; k < p->nlinks; ++k)
+					{
+						if (header->links[p->links+k].e == j)
+						{
+							con = true;
+							break;
+						}
+					}
+					if (con)
+						glColor4ub(255,255,255,128);
+					else
+						glColor4ub(0,0,0,128);
+				}
+				else
+					glColor4ub(0,48,64,32);
+			}
+			else
+			{
+				if (p->n[j] != 0) continue;
+			}
+			
+			const float* v0 = &header->verts[p->v[j]*3];
+			const float* v1 = &header->verts[p->v[(j+1)%nj]*3];
+			
+			// Draw detail mesh edges which align with the actual poly edge.
+			// This is really slow.
+			for (int k = 0; k < pd->ntris; ++k)
+			{
+				const unsigned char* t = &header->dtris[(pd->tbase+k)*4];
+				const float* tv[3];
+				for (int m = 0; m < 3; ++m)
+				{
+					if (t[m] < p->nv)
+						tv[m] = &header->verts[p->v[t[m]]*3];
+					else
+						tv[m] = &header->dverts[(pd->vbase+(t[m]-p->nv))*3];
+				}
+				for (int m = 0, n = 2; m < 3; n=m++)
+				{
+					if (((t[3] >> (n*2)) & 0x3) == 0) continue;	// Skip inner detail edges.
+					if (distancePtLine2d(tv[n],v0,v1) < thr &&
+						distancePtLine2d(tv[m],v0,v1) < thr)
+					{
+						glVertex3fv(tv[n]);
+						glVertex3fv(tv[m]);
+					}
+				}
+			}
+		}
+	}
+	glEnd();
+}
+
+static void drawMeshTile(const dtMeshHeader* header)
+{
+	glBegin(GL_TRIANGLES);
+	for (int i = 0; i < header->npolys; ++i)
+	{
+		const dtPoly* p = &header->polys[i];
+		const dtPolyDetail* pd = &header->dmeshes[i];
+		
+		glColor4ub(0,196,255,64);
+		
+		for (int j = 0; j < pd->ntris; ++j)
+		{
+			const unsigned char* t = &header->dtris[(pd->tbase+j)*4];
+			for (int k = 0; k < 3; ++k)
+			{
+				if (t[k] < p->nv)
+					glVertex3fv(&header->verts[p->v[t[k]]*3]);
+				else
+					glVertex3fv(&header->dverts[(pd->vbase+t[k]-p->nv)*3]);
+			}
+		}
+	}
+	glEnd();
+	
+	// Draw inter poly boundaries
+	glColor4ub(0,48,64,32);
+	glLineWidth(1.5f);
+	
+	drawPolyBoundaries(header, true);
+	
+	// Draw outer poly boundaries
+	glLineWidth(2.5f);
+	glColor4ub(0,48,64,220);
+	
+	drawPolyBoundaries(header, false);
+	
+	glLineWidth(1.0f);
+	
+	glPointSize(3.0f);
+	glColor4ub(0,0,0,196);
+	glBegin(GL_POINTS);
+	for (int i = 0; i < header->nverts; ++i)
+	{
+		const float* v = &header->verts[i*3];
+		glVertex3f(v[0], v[1], v[2]);
+	}
+	glEnd();
+	glPointSize(1.0f);	
+	
+/*	
+	// Draw BV nodes.
+	const float col[] = { 1,1,1,0.5f };
+	const float cs = 1.0f / header->bvquant;
+	glBegin(GL_LINES);
+	for (int i = 0; i < header->nbvtree; ++i)
+	{
+		const dtBVNode* n = &header->bvtree[i];
+		if (n->i < 0) // Leaf indices are positive.
+			continue;
+		drawBoxWire(header->bmin[0] + n->bmin[0]*cs,
+					header->bmin[1] + n->bmin[1]*cs,
+					header->bmin[2] + n->bmin[2]*cs,
+					header->bmin[0] + n->bmax[0]*cs,
+					header->bmin[1] + n->bmax[1]*cs,
+					header->bmin[2] + n->bmax[2]*cs, col);
+	}
+	glEnd();
+*/
+	
+	// Draw portals
+	/*	glBegin(GL_LINES);
+	 
+	 for (int i = 0; i < header->nportals[0]; ++i)
+	 {
+	 const dtTilePortal* p = &header->portals[0][i];		
+	 if (p->ncon)
+	 glColor4ub(255,255,255,192);
+	 else
+	 glColor4ub(255,0,0,64);
+	 glVertex3f(header->bmax[0]-0.1f, p->bmin[1], p->bmin[0]);
+	 glVertex3f(header->bmax[0]-0.1f, p->bmax[1], p->bmin[0]);
+	 
+	 glVertex3f(header->bmax[0]-0.1f, p->bmax[1], p->bmin[0]);
+	 glVertex3f(header->bmax[0]-0.1f, p->bmax[1], p->bmax[0]);
+	 
+	 glVertex3f(header->bmax[0]-0.1f, p->bmax[1], p->bmax[0]);
+	 glVertex3f(header->bmax[0]-0.1f, p->bmin[1], p->bmax[0]);
+	 
+	 glVertex3f(header->bmax[0]-0.1f, p->bmin[1], p->bmax[0]);
+	 glVertex3f(header->bmax[0]-0.1f, p->bmin[1], p->bmin[0]);
+	 }
+	 for (int i = 0; i < header->nportals[1]; ++i)
+	 {
+	 const dtTilePortal* p = &header->portals[1][i];
+	 if (p->ncon)
+	 glColor4ub(255,255,255,192);
+	 else
+	 glColor4ub(255,0,0,64);
+	 glVertex3f(p->bmin[0], p->bmin[1], header->bmax[2]-0.1f);
+	 glVertex3f(p->bmin[0], p->bmax[1], header->bmax[2]-0.1f);
+	 
+	 glVertex3f(p->bmin[0], p->bmax[1], header->bmax[2]-0.1f);
+	 glVertex3f(p->bmax[0], p->bmax[1], header->bmax[2]-0.1f);
+	 
+	 glVertex3f(p->bmax[0], p->bmax[1], header->bmax[2]-0.1f);
+	 glVertex3f(p->bmax[0], p->bmin[1], header->bmax[2]-0.1f);
+	 
+	 glVertex3f(p->bmax[0], p->bmin[1], header->bmax[2]-0.1f);
+	 glVertex3f(p->bmin[0], p->bmin[1], header->bmax[2]-0.1f);
+	 }
+	 for (int i = 0; i < header->nportals[2]; ++i)
+	 {
+	 const dtTilePortal* p = &header->portals[2][i];
+	 if (p->ncon)
+	 glColor4ub(255,255,255,192);
+	 else
+	 glColor4ub(255,0,0,64);
+	 glVertex3f(header->bmin[0]+0.1f, p->bmin[1], p->bmin[0]);
+	 glVertex3f(header->bmin[0]+0.1f, p->bmax[1], p->bmin[0]);
+	 
+	 glVertex3f(header->bmin[0]+0.1f, p->bmax[1], p->bmin[0]);
+	 glVertex3f(header->bmin[0]+0.1f, p->bmax[1], p->bmax[0]);
+	 
+	 glVertex3f(header->bmin[0]+0.1f, p->bmax[1], p->bmax[0]);
+	 glVertex3f(header->bmin[0]+0.1f, p->bmin[1], p->bmax[0]);
+	 
+	 glVertex3f(header->bmin[0]+0.1f, p->bmin[1], p->bmax[0]);
+	 glVertex3f(header->bmin[0]+0.1f, p->bmin[1], p->bmin[0]);
+	 }
+	 for (int i = 0; i < header->nportals[3]; ++i)
+	 {
+	 const dtTilePortal* p = &header->portals[3][i];
+	 if (p->ncon)
+	 glColor4ub(255,255,255,192);
+	 else
+	 glColor4ub(255,0,0,64);
+	 glVertex3f(p->bmin[0], p->bmin[1], header->bmin[2]+0.1f);
+	 glVertex3f(p->bmin[0], p->bmax[1], header->bmin[2]+0.1f);
+	 
+	 glVertex3f(p->bmin[0], p->bmax[1], header->bmin[2]+0.1f);
+	 glVertex3f(p->bmax[0], p->bmax[1], header->bmin[2]+0.1f);
+	 
+	 glVertex3f(p->bmax[0], p->bmax[1], header->bmin[2]+0.1f);
+	 glVertex3f(p->bmax[0], p->bmin[1], header->bmin[2]+0.1f);
+	 
+	 glVertex3f(p->bmax[0], p->bmin[1], header->bmin[2]+0.1f);
+	 glVertex3f(p->bmin[0], p->bmin[1], header->bmin[2]+0.1f);
+	 }
+	 glEnd();*/
+}
+
+void dtDebugDrawNavMesh(const dtNavMesh* mesh)
+{
+	if (!mesh) return;
+	
+	for (int i = 0; i < mesh->getMaxTiles(); ++i)
+	{
+		const dtMeshTile* tile = mesh->getTile(i);
+		if (!tile->header) continue;
+		drawMeshTile(tile->header);
+	}
+}
+
+
+
+void dtDebugDrawNavMeshPoly(const dtNavMesh* mesh, dtPolyRef ref, const float* col)
+{
+	int ip = 0;
+	const dtMeshTile* tile = mesh->getTileByRef(ref, &ip);
+	if (!tile)
+		return;
+	const dtMeshHeader* header = tile->header;
+	const dtPoly* p = &header->polys[ip];
+	const dtPolyDetail* pd = &header->dmeshes[ip];
+	
+	glColor4f(col[0],col[1],col[2],0.25f);
+	
+	glBegin(GL_TRIANGLES);
+	for (int i = 0; i < pd->ntris; ++i)
+	{
+		const unsigned char* t = &header->dtris[(pd->tbase+i)*4];
+		for (int j = 0; j < 3; ++j)
+		{
+			if (t[j] < p->nv)
+				glVertex3fv(&header->verts[p->v[t[j]]*3]);
+			else
+				glVertex3fv(&header->dverts[(pd->vbase+t[j]-p->nv)*3]);
+		}
+	}
+	glEnd();
+}
+
diff --git a/Detour/Source/DetourNavMesh.cpp b/Detour/Source/DetourNavMesh.cpp
new file mode 100644
index 0000000..29a0e9d
--- /dev/null
+++ b/Detour/Source/DetourNavMesh.cpp
@@ -0,0 +1,1530 @@
+//
+// Copyright (c) 2009 Mikko Mononen memon@inside.org
+//
+// This software is provided 'as-is', without any express or implied
+// warranty.  In no event will the authors be held liable for any damages
+// arising from the use of this software.
+// Permission is granted to anyone to use this software for any purpose,
+// including commercial applications, and to alter it and redistribute it
+// freely, subject to the following restrictions:
+// 1. The origin of this software must not be misrepresented; you must not
+//    claim that you wrote the original software. If you use this software
+//    in a product, an acknowledgment in the product documentation would be
+//    appreciated but is not required.
+// 2. Altered source versions must be plainly marked as such, and must not be
+//    misrepresented as being the original software.
+// 3. This notice may not be removed or altered from any source distribution.
+//
+
+#include <math.h>
+#include <float.h>
+#include <string.h>
+#include <stdio.h>
+#include "DetourNavMesh.h"
+#include "DetourNode.h"
+#include "DetourCommon.h"
+
+
+static const unsigned short EXT_LINK = 0x8000;
+
+inline int opposite(int side) { return (side+2) & 0x3; }
+
+inline bool overlapBoxes(const float* amin, const float* amax,
+						 const float* bmin, const float* bmax)
+{
+	bool overlap = true;
+	overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap;
+	overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap;
+	overlap = (amin[2] > bmax[2] || amax[2] < bmin[2]) ? false : overlap;
+	return overlap;
+}
+
+inline bool overlapRects(const float* amin, const float* amax,
+						 const float* bmin, const float* bmax)
+{
+	bool overlap = true;
+	overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap;
+	overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap;
+	return overlap;
+}
+
+static void calcRect(const float* va, const float* vb,
+					 float* bmin, float* bmax,
+					 int side, float padx, float pady)
+{
+	if ((side&1) == 0)
+	{
+		bmin[0] = min(va[2],vb[2]) + padx;
+		bmin[1] = min(va[1],vb[1]) - pady;
+		bmax[0] = max(va[2],vb[2]) - padx;
+		bmax[1] = max(va[1],vb[1]) + pady;
+	}
+	else
+	{
+		bmin[0] = min(va[0],vb[0]) + padx;
+		bmin[1] = min(va[1],vb[1]) - pady;
+		bmax[0] = max(va[0],vb[0]) - padx;
+		bmax[1] = max(va[1],vb[1]) + pady;
+	}
+}
+
+inline int computeTileHash(int x, int y, const int mask)
+{
+	const unsigned int h1 = 0x8da6b343; // Large multiplicative constants;
+	const unsigned int h2 = 0xd8163841; // here arbitrarily chosen primes
+	unsigned int n = h1 * x + h2 * y;
+	return (int)(n & mask);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////
+dtNavMesh::dtNavMesh() :
+	m_tileSize(0),
+	m_portalHeight(0),
+	m_nextFree(0),
+	m_tmpLinks(0),
+	m_ntmpLinks(0),
+	m_nodePool(0),
+	m_openList(0),
+	m_posLookup(0),
+	m_tiles(0)
+{
+}
+
+dtNavMesh::~dtNavMesh()
+{
+	for (int i = 0; i < m_maxTiles; ++i)
+	{
+		if (m_tiles[i].data && m_tiles[i].ownsData)
+		{
+			delete [] m_tiles[i].data;
+			m_tiles[i].data = 0;
+			m_tiles[i].dataSize = 0;
+		}
+	}
+	delete [] m_tmpLinks;
+	delete m_nodePool;
+	delete m_openList;
+	delete [] m_posLookup;
+	delete [] m_tiles;
+}
+		
+bool dtNavMesh::init(const float* orig, float tileSize, float portalHeight,
+					 int maxTiles, int maxPolys, int maxNodes)
+{
+	vcopy(m_orig, orig);
+	m_tileSize = tileSize;
+	m_portalHeight = portalHeight;
+	
+	// Init tiles
+	m_maxTiles = maxTiles;
+	m_tileLutSize = nextPow2(maxTiles/4);
+	if (!m_tileLutSize) m_tileLutSize = 1;
+	m_tileLutMask = m_tileLutSize-1;
+	
+	m_tiles = new dtMeshTile[m_maxTiles];
+	if (!m_tiles)
+		return false;
+	m_posLookup = new dtMeshTile*[m_tileLutSize];
+	if (!m_posLookup)
+		return false;
+	memset(m_tiles, 0, sizeof(dtMeshTile)*m_maxTiles);
+	memset(m_posLookup, 0, sizeof(dtMeshTile*)*m_tileLutSize);
+	m_nextFree = 0;
+	for (int i = m_maxTiles-1; i >= 0; --i)
+	{
+		m_tiles[i].next = m_nextFree;
+		m_nextFree = &m_tiles[i];
+	}
+
+	if (!m_nodePool)
+	{
+		m_nodePool = new dtNodePool(maxNodes, nextPow2(maxNodes/4));
+		if (!m_nodePool)
+			return false;
+	}
+	
+	if (!m_openList)
+	{
+		m_openList = new dtNodeQueue(maxNodes);
+		if (!m_openList)
+			return false;
+	}
+	
+	// Init ID generator values.
+	m_tileBits = max((unsigned int)1,ilog2(nextPow2((unsigned int)maxTiles)));
+	m_polyBits = max((unsigned int)1,ilog2(nextPow2((unsigned int)maxPolys)));
+	m_saltBits = 32 - m_tileBits - m_polyBits;
+	if (m_saltBits < 10)
+		return false;
+	
+	return true;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////
+int dtNavMesh::findConnectingPolys(const float* va, const float* vb,
+								   dtMeshTile* tile, int side,
+								   dtPolyRef* con, float* conarea, int maxcon)
+{
+	if (!tile) return 0;
+	dtMeshHeader* h = tile->header;
+	
+	float amin[2], amax[2];
+	calcRect(va,vb, amin,amax, side, 0.01f, m_portalHeight);
+
+	// Remove links pointing to 'side' and compact the links array. 
+	float bmin[2], bmax[2];
+	unsigned short m = EXT_LINK | (unsigned short)side;
+	int n = 0;
+	
+	dtPolyRef base = getTileId(tile);
+	
+	for (int i = 0; i < h->npolys; ++i)
+	{
+		dtPoly* poly = &h->polys[i];
+		for (int j = 0; j < poly->nv; ++j)
+		{
+			// Skip edges which do not point to the right side.
+			if (poly->n[j] != m) continue;
+			// Check if the segments touch.
+			const float* vc = &h->verts[poly->v[j]*3];
+			const float* vd = &h->verts[poly->v[(j+1) % (int)poly->nv]*3];
+			calcRect(vc,vd, bmin,bmax, side, 0.01f, m_portalHeight);
+			if (!overlapRects(amin,amax, bmin,bmax)) continue;
+			// Add return value.
+			if (n < maxcon)
+			{
+				conarea[n*2+0] = max(amin[0], bmin[0]);
+				conarea[n*2+1] = min(amax[0], bmax[0]);
+				con[n] = base | (unsigned int)i;
+				n++;
+			}
+			break;
+		}
+	}
+	return n;
+}
+
+void dtNavMesh::removeExtLinks(dtMeshTile* tile, int side)
+{
+	if (!tile) return;
+	dtMeshHeader* h = tile->header;
+	
+	// Remove links pointing to 'side' and compact the links array. 
+	dtLink* pool = m_tmpLinks;
+	int nlinks = 0;
+	for (int i = 0; i < h->npolys; ++i)
+	{
+		dtPoly* poly = &h->polys[i];
+		int plinks = nlinks;
+		int nplinks = 0;		
+		for (int j = 0; j < poly->nlinks; ++j)
+		{
+			dtLink* link = &h->links[poly->links+j];
+			if ((int)link->side != side)
+			{
+				if (nlinks < h->maxlinks)
+				{
+					dtLink* dst = &pool[nlinks++];
+					memcpy(dst, link, sizeof(dtLink));
+					nplinks++;
+				}
+			}
+		}
+		poly->links = plinks;
+		poly->nlinks = nplinks;
+	}
+	h->nlinks = nlinks;
+	if (h->nlinks)
+		memcpy(h->links, m_tmpLinks, sizeof(dtLink)*nlinks);
+}
+
+void dtNavMesh::buildExtLinks(dtMeshTile* tile, dtMeshTile* target, int side)
+{
+	if (!tile) return;
+	dtMeshHeader* h = tile->header;
+	
+	// Remove links pointing to 'side' and compact the links array. 
+	dtLink* pool = m_tmpLinks;
+	int nlinks = 0;
+	for (int i = 0; i < h->npolys; ++i)
+	{
+		dtPoly* poly = &h->polys[i];
+		int plinks = nlinks;
+		int nplinks = 0;
+		// Copy internal and other external links.
+		for (int j = 0; j < poly->nlinks; ++j)
+		{
+			dtLink* link = &h->links[poly->links+j];
+			if ((int)link->side != side)
+			{
+				if (nlinks < h->maxlinks)
+				{
+					dtLink* dst = &pool[nlinks++];
+					memcpy(dst, link, sizeof(dtLink));
+					nplinks++;
+				}
+			}
+		}
+		// Create new links.
+		unsigned short m = EXT_LINK | (unsigned short)side;
+		for (int j = 0; j < poly->nv; ++j)
+		{
+			// Skip edges which do not point to the right side.
+			if (poly->n[j] != m) continue;
+			
+			// Create new links
+			const float* va = &h->verts[poly->v[j]*3];
+			const float* vb = &h->verts[poly->v[(j+1)%(int)poly->nv]*3];
+			dtPolyRef nei[4];
+			float neia[4*2];
+			int nnei = findConnectingPolys(va,vb, target, opposite(side), nei,neia,4);
+			for (int k = 0; k < nnei; ++k)
+			{
+				if (nlinks < h->maxlinks)
+				{
+					dtLink* link = &pool[nlinks++];
+					link->ref = nei[k];
+					link->p = (unsigned short)i;
+					link->e = (unsigned char)j;
+					link->side = (unsigned char)side;
+
+					// Compress portal limits to a byte value.
+					if (side == 0 || side == 2)
+					{
+						const float lmin = min(va[2], vb[2]);
+						const float lmax = max(va[2], vb[2]);
+						link->bmin = (unsigned char)(clamp((neia[k*2+0]-lmin)/(lmax-lmin), 0.0f, 1.0f)*255.0f);
+						link->bmax = (unsigned char)(clamp((neia[k*2+1]-lmin)/(lmax-lmin), 0.0f, 1.0f)*255.0f);
+					}
+					else
+					{
+						const float lmin = min(va[0], vb[0]);
+						const float lmax = max(va[0], vb[0]);
+						link->bmin = (unsigned char)(clamp((neia[k*2+0]-lmin)/(lmax-lmin), 0.0f, 1.0f)*255.0f);
+						link->bmax = (unsigned char)(clamp((neia[k*2+1]-lmin)/(lmax-lmin), 0.0f, 1.0f)*255.0f);
+					}					
+					nplinks++;
+				}
+			}
+		}
+		
+		poly->links = plinks;
+		poly->nlinks = nplinks;
+	}
+	h->nlinks = nlinks;
+	if (h->nlinks)
+		memcpy(h->links, m_tmpLinks, sizeof(dtLink)*nlinks);
+}
+
+void dtNavMesh::buildIntLinks(dtMeshTile* tile)
+{
+	if (!tile) return;
+	dtMeshHeader* h = tile->header;
+
+	dtPolyRef base = getTileId(tile);
+	dtLink* pool = h->links;
+	int nlinks = 0;
+	for (int i = 0; i < h->npolys; ++i)
+	{
+		dtPoly* poly = &h->polys[i];
+		poly->links = nlinks;
+		poly->nlinks = 0;
+		for (int j = 0; j < poly->nv; ++j)
+		{
+			// Skip hard and non-internal edges.
+			if (poly->n[j] == 0 || (poly->n[j] & EXT_LINK)) continue;
+			
+			if (nlinks < h->maxlinks)
+			{
+				dtLink* link = &pool[nlinks++];
+				link->ref = base | (unsigned int)(poly->n[j]-1);
+				link->p = (unsigned short)i;
+				link->e = (unsigned char)j;
+				link->side = 0xff;
+				link->bmin = link->bmax = 0;
+				poly->nlinks++;
+			}
+		}
+	}
+	h->nlinks = nlinks;
+}
+
+bool dtNavMesh::addTileAt(int x, int y, unsigned char* data, int dataSize, bool ownsData)
+{
+	if (getTileAt(x,y))
+		return false;
+	// Make sure there is enough space for new tile.
+	if (!m_nextFree)
+		return false;
+	// Make sure the data is in right format.
+	dtMeshHeader* header = (dtMeshHeader*)data;
+	if (header->magic != DT_NAVMESH_MAGIC)
+		return false;
+	if (header->version != DT_NAVMESH_VERSION)
+		return false;
+	
+	// Make sure the tmp link array is large enough.
+	if (header->maxlinks > m_ntmpLinks)
+	{
+		m_ntmpLinks = header->maxlinks;
+		delete [] m_tmpLinks;
+		m_tmpLinks = 0;
+		m_tmpLinks = new dtLink[m_ntmpLinks];
+	}
+	if (!m_tmpLinks)
+		return false;
+	
+	// Allocate a tile.
+	dtMeshTile* tile = m_nextFree;
+	m_nextFree = tile->next;
+	tile->next = 0;
+
+	// Insert tile into the position lut.
+	int h = computeTileHash(x,y,m_tileLutMask);
+	tile->next = m_posLookup[h];
+	m_posLookup[h] = tile;
+	
+	// Patch header pointers.
+	const int headerSize = align4(sizeof(dtMeshHeader));
+	const int vertsSize = align4(sizeof(float)*3*header->nverts);
+	const int polysSize = align4(sizeof(dtPoly)*header->npolys);
+	const int linksSize = align4(sizeof(dtLink)*(header->maxlinks));
+	const int detailMeshesSize = align4(sizeof(dtPolyDetail)*header->ndmeshes);
+	const int detailVertsSize = align4(sizeof(float)*3*header->ndverts);
+	const int detailTrisSize = align4(sizeof(unsigned char)*4*header->ndtris);
+	const int bvtreeSize = header->nbvtree ? align4(sizeof(dtBVNode)*header->npolys*2) : 0;
+	
+	unsigned char* d = data + headerSize;
+	header->verts = (float*)d; d += vertsSize;
+	header->polys = (dtPoly*)d; d += polysSize;
+	header->links = (dtLink*)d; d += linksSize;
+	header->dmeshes = (dtPolyDetail*)d; d += detailMeshesSize;
+	header->dverts = (float*)d; d += detailVertsSize;
+	header->dtris = (unsigned char*)d; d += detailTrisSize;
+	header->bvtree = header->nbvtree ? (dtBVNode*)d : 0; d += bvtreeSize;
+
+	// Init tile.
+	tile->header = header;
+	tile->x = x;
+	tile->y = y;
+	tile->data = data;
+	tile->dataSize = dataSize;
+	tile->ownsData = ownsData;
+
+	buildIntLinks(tile);
+
+	// Create connections connections.
+	for (int i = 0; i < 4; ++i)
+	{
+		dtMeshTile* nei = getNeighbourTileAt(x,y,i);
+		if (nei)
+		{
+			buildExtLinks(tile, nei, i);
+			buildExtLinks(nei, tile, opposite(i));
+		}
+	}
+	
+	return true;
+}
+
+dtMeshTile* dtNavMesh::getTileAt(int x, int y)
+{
+	// Find tile based on hash.
+	int h = computeTileHash(x,y,m_tileLutMask);
+	dtMeshTile* tile = m_posLookup[h];
+	while (tile)
+	{
+		if (tile->x == x && tile->y == y)
+			return tile;
+		tile = tile->next;
+	}
+	return 0;
+}
+
+int dtNavMesh::getMaxTiles() const
+{
+	return m_maxTiles;
+}
+
+dtMeshTile* dtNavMesh::getTile(int i)
+{
+	return &m_tiles[i];
+}
+
+const dtMeshTile* dtNavMesh::getTile(int i) const
+{
+	return &m_tiles[i];
+}
+
+const dtMeshTile* dtNavMesh::getTileByRef(dtPolyRef ref, int* polyIndex) const
+{
+	unsigned int salt, it, ip;
+	dtDecodePolyId(ref, salt, it, ip);
+	if (it >= (unsigned int)m_maxTiles) return 0;
+	if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return 0;
+	if (ip >= (unsigned int)m_tiles[it].header->npolys) return 0;
+	if (polyIndex) *polyIndex = (int)ip;
+	return &m_tiles[it];
+}
+
+dtMeshTile* dtNavMesh::getNeighbourTileAt(int x, int y, int side)
+{
+	switch (side)
+	{
+	case 0: x++; break;
+	case 1: y++; break;
+	case 2: x--; break;
+	case 3: y--; break;
+	};
+	return getTileAt(x,y);
+}
+
+bool dtNavMesh::removeTileAt(int x, int y, unsigned char** data, int* dataSize)
+{
+	// Remove tile from hash lookup.
+	int h = computeTileHash(x,y,m_tileLutMask);
+	dtMeshTile* prev = 0;
+	dtMeshTile* tile = m_posLookup[h];
+	while (tile)
+	{
+		if (tile->x == x && tile->y == y)
+		{
+			if (prev)
+				prev->next = tile->next;
+			else
+				m_posLookup[h] = tile->next;
+			break;
+		}
+		prev = tile;
+		tile = tile->next;
+	}
+	if (!tile)
+		return false;
+	
+	// Remove connections to neighbour tiles.
+	for (int i = 0; i < 4; ++i)
+	{
+		dtMeshTile* nei = getNeighbourTileAt(x,y,i);
+		if (!nei) continue;
+		removeExtLinks(nei, opposite(i));
+	}
+	
+	
+	// Reset tile.
+	if (tile->ownsData)
+	{
+		// Owns data
+		delete [] tile->data;
+		tile->data = 0;
+		tile->dataSize = 0;
+		if (data) *data = 0;
+		if (dataSize) *dataSize = 0;
+	}
+	else
+	{
+		if (data) *data = tile->data;
+		if (dataSize) *dataSize = tile->dataSize;
+	}
+	tile->header = 0;
+	tile->x = tile->y = 0;
+	tile->salt++;
+
+	// Add to free list.
+	tile->next = m_nextFree;
+	m_nextFree = tile;
+
+	return true;
+}
+
+
+
+bool dtNavMesh::closestPointToPoly(dtPolyRef ref, const float* pos, float* closest) const
+{
+	unsigned int salt, it, ip;
+	dtDecodePolyId(ref, salt, it, ip);
+	if (it >= m_maxTiles) return false;
+	if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return false;
+	const dtMeshHeader* header = m_tiles[it].header;
+
+	if (ip >= (unsigned int)header->npolys) return false;
+	const dtPoly* poly = &header->polys[ip];
+	
+	float closestDistSqr = FLT_MAX;
+	const dtPolyDetail* pd = &header->dmeshes[ip];
+	
+	for (int j = 0; j < pd->ntris; ++j)
+	{
+		const unsigned char* t = &header->dtris[(pd->tbase+j)*4];
+		const float* v[3];
+		for (int k = 0; k < 3; ++k)
+		{
+			if (t[k] < poly->nv)
+				v[k] = &header->verts[poly->v[t[k]]*3];
+			else
+				v[k] = &header->dverts[(pd->vbase+(t[k]-poly->nv))*3];
+		}
+		float pt[3];
+		closestPtPointTriangle(pt, pos, v[0], v[1], v[2]);
+		float d = vdistSqr(pos, pt);
+		if (d < closestDistSqr)
+		{
+			vcopy(closest, pt);
+			closestDistSqr = d;
+		}
+	}
+	
+	return true;
+}
+
+bool dtNavMesh::getPolyHeight(dtPolyRef ref, const float* pos, float* height) const
+{
+	unsigned int salt, it, ip;
+	dtDecodePolyId(ref, salt, it, ip);
+	if (it >= (unsigned int)m_maxTiles) return false;
+	if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return false;
+	const dtMeshHeader* header = m_tiles[it].header;
+	
+	if (ip >= (unsigned int)header->npolys) return false;
+	const dtPoly* poly = &header->polys[ip];
+	
+	const dtPolyDetail* pd = &header->dmeshes[ip];
+	for (int j = 0; j < pd->ntris; ++j)
+	{
+		const unsigned char* t = &header->dtris[(pd->tbase+j)*4];
+		const float* v[3];
+		for (int k = 0; k < 3; ++k)
+		{
+			if (t[k] < poly->nv)
+				v[k] = &header->verts[poly->v[t[k]]*3];
+			else
+				v[k] = &header->dverts[(pd->vbase+(t[k]-poly->nv))*3];
+		}
+		float h;
+		if (closestHeightPointTriangle(pos, v[0], v[1], v[2], h))
+		{
+			if (height)
+				*height = h;
+			return true;
+		}
+	}
+	
+	return false;
+}
+
+
+dtPolyRef dtNavMesh::findNearestPoly(const float* center, const float* extents)
+{
+	// Get nearby polygons from proximity grid.
+	dtPolyRef polys[128];
+	int npolys = queryPolygons(center, extents, polys, 128);
+	
+	// Find nearest polygon amongst the nearby polygons.
+	dtPolyRef nearest = 0;
+	float nearestDistanceSqr = FLT_MAX;
+	for (int i = 0; i < npolys; ++i)
+	{
+		dtPolyRef ref = polys[i];
+		float closest[3];
+		if (!closestPointToPoly(ref, center, closest))
+			continue;
+		float d = vdistSqr(center, closest);
+		if (d < nearestDistanceSqr)
+		{
+			nearestDistanceSqr = d;
+			nearest = ref;
+		}
+	}
+	
+	return nearest;
+}
+
+dtPolyRef dtNavMesh::getTileId(dtMeshTile* tile)
+{
+	if (!tile) return 0;
+	const unsigned int it = tile - m_tiles;
+	return dtEncodePolyId(tile->salt, it, 0);
+}
+
+int dtNavMesh::queryTilePolygons(dtMeshTile* tile,
+								 const float* qmin, const float* qmax,
+								 dtPolyRef* polys, const int maxPolys)
+{
+	const dtMeshHeader* header = tile->header;
+	if (header->bvtree)
+	{
+		const dtBVNode* node = &header->bvtree[0];
+		const dtBVNode* end = &header->bvtree[header->nbvtree];
+			
+		// Calculate quantized box
+		unsigned short bmin[3], bmax[3];
+		// Clamp query box to world box.
+		float minx = clamp(qmin[0], header->bmin[0], header->bmax[0]) - header->bmin[0];
+		float miny = clamp(qmin[1], header->bmin[1], header->bmax[1]) - header->bmin[1];
+		float minz = clamp(qmin[2], header->bmin[2], header->bmax[2]) - header->bmin[2];
+		float maxx = clamp(qmax[0], header->bmin[0], header->bmax[0]) - header->bmin[0];
+		float maxy = clamp(qmax[1], header->bmin[1], header->bmax[1]) - header->bmin[1];
+		float maxz = clamp(qmax[2], header->bmin[2], header->bmax[2]) - header->bmin[2];
+		// Quantize
+		bmin[0] = (unsigned short)(header->bvquant * minx) & 0xfffe;
+		bmin[1] = (unsigned short)(header->bvquant * miny) & 0xfffe;
+		bmin[2] = (unsigned short)(header->bvquant * minz) & 0xfffe;
+		bmax[0] = (unsigned short)(header->bvquant * maxx + 1) | 1;
+		bmax[1] = (unsigned short)(header->bvquant * maxy + 1) | 1;
+		bmax[2] = (unsigned short)(header->bvquant * maxz + 1) | 1;
+			
+		// Traverse tree
+		dtPolyRef base = getTileId(tile);
+		int n = 0;
+		while (node < end)
+		{
+			bool overlap = checkOverlapBox(bmin, bmax, node->bmin, node->bmax);
+			bool isLeafNode = node->i >= 0;
+			
+			if (isLeafNode && overlap)
+			{
+				if (n < maxPolys)
+					polys[n++] = base | (dtPolyRef)node->i;
+			}
+			
+			if (overlap || isLeafNode)
+				node++;
+			else
+			{
+				const int escapeIndex = -node->i;
+				node += escapeIndex;
+			}
+		}
+	
+		return n;
+	}
+	else
+	{
+		float bmin[3], bmax[3];
+		const dtMeshHeader* header = tile->header;
+		int n = 0;
+		dtPolyRef base = getTileId(tile);
+		for (int i = 0; i < header->npolys; ++i)
+		{
+			// Calc polygon bounds.
+			dtPoly* p = &header->polys[i];
+			const float* v = &header->verts[p->v[0]*3];
+			vcopy(bmin, v);
+			vcopy(bmax, v);
+			for (int j = 1; j < p->nv; ++j)
+			{
+				v = &header->verts[p->v[j]*3];
+				vmin(bmin, v);
+				vmax(bmax, v);
+			}
+			if (overlapBoxes(qmin,qmax, bmin,bmax))
+			{
+				if (n < maxPolys)
+					polys[n++] = base | (dtPolyRef)i;
+			}
+		}
+		return n;
+	}
+}
+
+int dtNavMesh::queryPolygons(const float* center, const float* extents,
+							 dtPolyRef* polys, const int maxPolys)
+{
+	float bmin[3], bmax[3];
+	bmin[0] = center[0] - extents[0];
+	bmin[1] = center[1] - extents[1];
+	bmin[2] = center[2] - extents[2];
+	
+	bmax[0] = center[0] + extents[0];
+	bmax[1] = center[1] + extents[1];
+	bmax[2] = center[2] + extents[2];
+	
+	// Find tiles the query touches.
+	const int minx = (int)floorf((bmin[0]-m_orig[0]) / m_tileSize);
+	const int maxx = (int)ceilf((bmax[0]-m_orig[0]) / m_tileSize);
+
+	const int miny = (int)floorf((bmin[2]-m_orig[2]) / m_tileSize);
+	const int maxy = (int)ceilf((bmax[2]-m_orig[2]) / m_tileSize);
+
+	int n = 0;
+	for (int y = miny; y < maxy; ++y)
+	{
+		for (int x = minx; x < maxx; ++x)
+		{
+			dtMeshTile* tile = getTileAt(x,y);
+			if (!tile) continue;
+			n += queryTilePolygons(tile, bmin, bmax, polys+n, maxPolys-n);
+			if (n >= maxPolys) return n;
+		}
+	}
+
+	printf("---\n");
+	for (int i = 0; i < n; ++i)
+	{
+		unsigned int salt, it, ip;
+		dtDecodePolyId(polys[i], salt, it, ip);
+		printf("0x%08x s:%d t:%d p:%d\n", (unsigned int)polys[i], salt, it, ip);
+	}
+
+	return n;
+}
+
+int dtNavMesh::findPath(dtPolyRef startRef, dtPolyRef endRef,
+							 const float* startPos, const float* endPos,
+							 dtPolyRef* path, const int maxPathSize)
+{
+	if (!startRef || !endRef)
+		return 0;
+	
+	if (!maxPathSize)
+		return 0;
+	
+	if (!getPolyByRef(startRef) || !getPolyByRef(endRef))
+		return 0;
+	
+	if (startRef == endRef)
+	{
+		path[0] = startRef;
+		return 1;
+	}
+	
+	if (!m_nodePool || !m_openList)
+		return 0;
+		
+	m_nodePool->clear();
+	m_openList->clear();
+	
+	static const float H_SCALE = 1.1f;	// Heuristic scale.
+	
+	dtNode* startNode = m_nodePool->getNode(startRef);
+	startNode->pidx = 0;
+	startNode->cost = 0;
+	startNode->total = vdist(startPos, endPos) * H_SCALE;
+	startNode->id = startRef;
+	startNode->flags = DT_NODE_OPEN;
+	m_openList->push(startNode);
+	
+	dtNode* lastBestNode = startNode;
+	float lastBestNodeCost = startNode->total;
+	while (!m_openList->empty())
+	{
+		dtNode* bestNode = m_openList->pop();
+		
+		if (bestNode->id == endRef)
+		{
+			lastBestNode = bestNode;
+			break;
+		}
+
+		// Get poly and tile.
+		unsigned int salt, it, ip;
+		dtDecodePolyId(bestNode->id, salt, it, ip);
+		// The API input has been cheked already, skip checking internal data.
+		const dtMeshHeader* header = m_tiles[it].header;
+		const dtPoly* poly = &header->polys[ip];
+		
+		for (int i = 0; i < poly->nlinks; ++i)
+		{
+			dtPolyRef neighbour = header->links[poly->links+i].ref;
+			if (neighbour)
+			{
+				// Skip parent node.
+				if (bestNode->pidx && m_nodePool->getNodeAtIdx(bestNode->pidx)->id == neighbour)
+					continue;
+
+				dtNode* parent = bestNode;
+				dtNode newNode;
+				newNode.pidx = m_nodePool->getNodeIdx(parent);
+				newNode.id = neighbour;
+
+				// Calculate cost.
+				float p0[3], p1[3];
+				if (!parent->pidx)
+					vcopy(p0, startPos);
+				else
+					getEdgeMidPoint(m_nodePool->getNodeAtIdx(parent->pidx)->id, parent->id, p0);
+				getEdgeMidPoint(parent->id, newNode.id, p1);
+				newNode.cost = parent->cost + vdist(p0,p1);
+				// Special case for last node.
+				if (newNode.id == endRef)
+					newNode.cost += vdist(p1, endPos);
+
+				// Heuristic
+				const float h = vdist(p1,endPos)*H_SCALE;
+				newNode.total = newNode.cost + h;
+				
+				dtNode* actualNode = m_nodePool->getNode(newNode.id);
+				if (!actualNode)
+					continue;
+				
+				if (!((actualNode->flags & DT_NODE_OPEN) && newNode.total > actualNode->total) &&
+					!((actualNode->flags & DT_NODE_CLOSED) && newNode.total > actualNode->total))
+				{
+					actualNode->flags &= ~DT_NODE_CLOSED;
+					actualNode->pidx = newNode.pidx;
+					actualNode->cost = newNode.cost;
+					actualNode->total = newNode.total;
+					
+					if (h < lastBestNodeCost)
+					{
+						lastBestNodeCost = h;
+						lastBestNode = actualNode;
+					}
+					
+					if (actualNode->flags & DT_NODE_OPEN)
+					{
+						m_openList->modify(actualNode);
+					}
+					else
+					{
+						actualNode->flags |= DT_NODE_OPEN;
+						m_openList->push(actualNode);
+					}
+				}
+			}
+		}
+		bestNode->flags |= DT_NODE_CLOSED;
+	}
+	
+	// Reverse the path.
+	dtNode* prev = 0;
+	dtNode* node = lastBestNode;
+	do
+	{
+		dtNode* next = m_nodePool->getNodeAtIdx(node->pidx);
+		node->pidx = m_nodePool->getNodeIdx(prev);
+		prev = node;
+		node = next;
+	}
+	while (node);
+	
+	// Store path
+	node = prev;
+	int n = 0;
+	do
+	{
+		path[n++] = node->id;
+		node = m_nodePool->getNodeAtIdx(node->pidx);
+	}
+	while (node && n < maxPathSize);
+	
+	return n;
+}
+
+int dtNavMesh::findStraightPath(const float* startPos, const float* endPos,
+									 const dtPolyRef* path, const int pathSize,
+									 float* straightPath, const int maxStraightPathSize)
+{
+	if (!maxStraightPathSize)
+		return 0;
+	
+	if (!path[0])
+		return 0;
+	
+	int straightPathSize = 0;
+	
+	float closestStartPos[3];
+	if (!closestPointToPoly(path[0], startPos, closestStartPos))
+		return 0;
+	
+	// Add start point.
+	vcopy(&straightPath[straightPathSize*3], closestStartPos);
+	straightPathSize++;
+	if (straightPathSize >= maxStraightPathSize)
+		return straightPathSize;
+	
+	float closestEndPos[3];
+	if (!closestPointToPoly(path[pathSize-1], endPos, closestEndPos))
+		return 0;
+	
+	float portalApex[3], portalLeft[3], portalRight[3];
+	
+	if (pathSize > 1)
+	{
+		vcopy(portalApex, closestStartPos);
+		vcopy(portalLeft, portalApex);
+		vcopy(portalRight, portalApex);
+		int apexIndex = 0;
+		int leftIndex = 0;
+		int rightIndex = 0;
+		
+		for (int i = 0; i < pathSize; ++i)
+		{
+			float left[3], right[3];
+			if (i < pathSize-1)
+			{
+				// Next portal.
+				if (!getPortalPoints(path[i], path[i+1], left, right))
+				{
+					if (!closestPointToPoly(path[i], endPos, closestEndPos))
+						return 0;
+					vcopy(&straightPath[straightPathSize*3], closestEndPos);
+					straightPathSize++;
+					return straightPathSize;
+				}
+			}
+			else
+			{
+				// End of the path.
+				vcopy(left, closestEndPos);
+				vcopy(right, closestEndPos);
+			}
+			
+			// Right vertex.
+			if (vequal(portalApex, portalRight))
+			{
+				vcopy(portalRight, right);
+				rightIndex = i;
+			}
+			else
+			{
+				if (triArea2D(portalApex, portalRight, right) <= 0.0f)
+				{
+					if (triArea2D(portalApex, portalLeft, right) > 0.0f)
+					{
+						vcopy(portalRight, right);
+						rightIndex = i;
+					}
+					else
+					{
+						vcopy(portalApex, portalLeft);
+						apexIndex = leftIndex;
+						
+						if (!vequal(&straightPath[(straightPathSize-1)*3], portalApex))
+						{
+							vcopy(&straightPath[straightPathSize*3], portalApex);
+							straightPathSize++;
+							if (straightPathSize >= maxStraightPathSize)
+								return straightPathSize;
+						}
+						
+						vcopy(portalLeft, portalApex);
+						vcopy(portalRight, portalApex);
+						leftIndex = apexIndex;
+						rightIndex = apexIndex;
+						
+						// Restart
+						i = apexIndex;
+						
+						continue;
+					}
+				}
+			}
+			
+			// Left vertex.
+			if (vequal(portalApex, portalLeft))
+			{
+				vcopy(portalLeft, left);
+				leftIndex = i;
+			}
+			else
+			{
+				if (triArea2D(portalApex, portalLeft, left) >= 0.0f)
+				{
+					if (triArea2D(portalApex, portalRight, left) < 0.0f)
+					{
+						vcopy(portalLeft, left);
+						leftIndex = i;
+					}
+					else
+					{
+						vcopy(portalApex, portalRight);
+						apexIndex = rightIndex;
+						
+						if (!vequal(&straightPath[(straightPathSize-1)*3], portalApex))
+						{
+							vcopy(&straightPath[straightPathSize*3], portalApex);
+							straightPathSize++;
+							if (straightPathSize >= maxStraightPathSize)
+								return straightPathSize;
+						}
+						
+						vcopy(portalLeft, portalApex);
+						vcopy(portalRight, portalApex);
+						leftIndex = apexIndex;
+						rightIndex = apexIndex;
+						
+						// Restart
+						i = apexIndex;
+						
+						continue;
+					}
+				}
+			}
+		}
+	}
+	
+	// Add end point.
+	vcopy(&straightPath[straightPathSize*3], closestEndPos);
+	straightPathSize++;
+	
+	return straightPathSize;
+}
+
+// Returns portal points between two polygons.
+bool dtNavMesh::getPortalPoints(dtPolyRef from, dtPolyRef to, float* left, float* right) const
+{
+	unsigned int salt, it, ip;
+	dtDecodePolyId(from, salt, it, ip);
+	if (it >= (unsigned int)m_maxTiles) return false;
+	if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return false;
+	if (ip >= (unsigned int)m_tiles[it].header->npolys) return false;
+	const dtMeshHeader* fromHeader = m_tiles[it].header;
+	const dtPoly* fromPoly = &fromHeader->polys[ip];
+
+	for (int i = 0; i < fromPoly->nlinks; ++i)
+	{
+		const dtLink* link = &fromHeader->links[fromPoly->links+i];
+		if (link->ref == to)
+		{
+			// Find portal vertices.
+			const int v0 = fromPoly->v[link->e];
+			const int v1 = fromPoly->v[(link->e+1) % fromPoly->nv];
+			vcopy(left, &fromHeader->verts[v0*3]);
+			vcopy(right, &fromHeader->verts[v1*3]);
+			// If the link is at tile boundary, clamp the vertices to
+			// the link width.
+			if (link->side == 0 || link->side == 2)
+			{
+				// Unpack portal limits.
+				const float smin = min(left[2],right[2]);
+				const float smax = max(left[2],right[2]);
+				const float s = (smax-smin) / 255.0f;
+				const float lmin = smin + link->bmin*s;
+				const float lmax = smin + link->bmax*s;
+				left[2] = max(left[2],lmin);
+				left[2] = min(left[2],lmax);
+				right[2] = max(right[2],lmin);
+				right[2] = min(right[2],lmax);
+			}
+			else if (link->side == 1 || link->side == 3)
+			{
+				// Unpack portal limits.
+				const float smin = min(left[0],right[0]);
+				const float smax = max(left[0],right[0]);
+				const float s = (smax-smin) / 255.0f;
+				const float lmin = smin + link->bmin*s;
+				const float lmax = smin + link->bmax*s;
+				left[0] = max(left[0],lmin);
+				left[0] = min(left[0],lmax);
+				right[0] = max(right[0],lmin);
+				right[0] = min(right[0],lmax);
+			}
+			return true;
+		}
+	}
+	return false;
+}
+
+// Returns edge mid point between two polygons.
+bool dtNavMesh::getEdgeMidPoint(dtPolyRef from, dtPolyRef to, float* mid) const
+{
+	float left[3], right[3];
+	if (!getPortalPoints(from, to, left,right)) return false;
+	mid[0] = (left[0]+right[0])*0.5f;
+	mid[1] = (left[1]+right[1])*0.5f;
+	mid[2] = (left[2]+right[2])*0.5f;
+	return true;
+}
+
+int dtNavMesh::raycast(dtPolyRef centerRef, const float* startPos, const float* endPos,
+					   float& t, dtPolyRef* path, const int pathSize)
+{
+	t = 0;
+	
+	if (!centerRef || !getPolyByRef(centerRef))
+		return 0;
+	
+	dtPolyRef curRef = centerRef;
+	float verts[DT_VERTS_PER_POLYGON*3];	
+	int n = 0;
+	
+	while (curRef)
+	{
+		// Cast ray against current polygon.
+		
+		// The API input has been cheked already, skip checking internal data.
+		unsigned int salt, it, ip;
+		dtDecodePolyId(curRef, salt, it, ip);
+		const dtMeshHeader* header = m_tiles[it].header;
+		const dtPoly* poly = &header->polys[ip];
+
+		// Collect vertices.
+		int nv = 0;
+		for (int i = 0; i < (int)poly->nv; ++i)
+		{
+			vcopy(&verts[nv*3], &header->verts[poly->v[i]*3]);
+			nv++;
+		}		
+		if (nv < 3)
+		{
+			// Hit bad polygon, report hit.
+			return n;
+		}
+		
+		float tmin, tmax;
+		int segMin, segMax;
+		if (!intersectSegmentPoly2D(startPos, endPos, verts, nv, tmin, tmax, segMin, segMax))
+		{
+			// Could not hit the polygon, keep the old t and report hit.
+			return n;
+		}
+		// Keep track of furthest t so far.
+		if (tmax > t)
+			t = tmax;
+
+		if (n < pathSize)
+			path[n++] = curRef;
+		
+		// Follow neighbours.
+		dtPolyRef nextRef = 0;
+		for (int i = 0; i < poly->nlinks; ++i)
+		{
+			const dtLink* link = &header->links[poly->links+i];
+			if ((int)link->e == segMax)
+			{
+				// If the link is internal, just return the ref.
+				if (link->side == 0xff)
+				{
+					nextRef = link->ref;
+					break;
+				}
+				
+				// If the link is at tile boundary,
+				const int v0 = poly->v[link->e];
+				const int v1 = poly->v[(link->e+1) % poly->nv];
+				const float* left = &header->verts[v0*3];
+				const float* right = &header->verts[v1*3];
+				
+				// Check that the intersection lies inside the link portal.
+				if (link->side == 0 || link->side == 2)
+				{
+					// Calculate link size.
+					const float smin = min(left[2],right[2]);
+					const float smax = max(left[2],right[2]);
+					const float s = (smax-smin) / 255.0f;
+					const float lmin = smin + link->bmin*s;
+					const float lmax = smin + link->bmax*s;
+					// Find Z intersection.
+					float z = startPos[2] + (endPos[2]-startPos[2])*tmax;
+					if (z >= lmin && z <= lmax)
+					{
+						nextRef = link->ref;
+						break;
+					}
+				}
+				else if (link->side == 1 || link->side == 3)
+				{
+					// Calculate link size.
+					const float smin = min(left[0],right[0]);
+					const float smax = max(left[0],right[0]);
+					const float s = (smax-smin) / 255.0f;
+					const float lmin = smin + link->bmin*s;
+					const float lmax = smin + link->bmax*s;
+					// Find X intersection.
+					float x = startPos[0] + (endPos[0]-startPos[0])*tmax;
+					if (x >= lmin && x <= lmax)
+					{
+						nextRef = link->ref;
+						break;
+					}
+				}
+			}
+		}
+		
+		if (!nextRef)
+		{
+			// No neighbour, we hit a wall.
+			return n;
+		}
+		
+		// No hit, advance to neighbour polygon.
+		curRef = nextRef;
+	}
+	
+	return n;
+}
+
+int dtNavMesh::findPolysAround(dtPolyRef centerRef, const float* centerPos, float radius,
+									dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost,
+									const int maxResult)
+{
+	if (!centerRef) return 0;
+	if (!getPolyByRef(centerRef)) return 0;
+	if (!m_nodePool || !m_openList) return 0;
+	
+	m_nodePool->clear();
+	m_openList->clear();
+	
+	dtNode* startNode = m_nodePool->getNode(centerRef);
+	startNode->pidx = 0;
+	startNode->cost = 0;
+	startNode->total = 0;
+	startNode->id = centerRef;
+	startNode->flags = DT_NODE_OPEN;
+	m_openList->push(startNode);
+	
+	int n = 0;
+	if (n < maxResult)
+	{
+		if (resultRef)
+			resultRef[n] = startNode->id;
+		if (resultParent)
+			resultParent[n] = 0;
+		if (resultCost)
+			resultCost[n] = 0;
+		++n;
+	}
+	
+	const float radiusSqr = sqr(radius);
+	
+	while (!m_openList->empty())
+	{
+		dtNode* bestNode = m_openList->pop();
+
+		// Get poly and tile.
+		unsigned int salt, it, ip;
+		dtDecodePolyId(bestNode->id, salt, it, ip);
+		// The API input has been cheked already, skip checking internal data.
+		const dtMeshHeader* header = m_tiles[it].header;
+		const dtPoly* poly = &header->polys[ip];
+		
+		for (int i = 0; i < poly->nlinks; ++i)
+		{
+			const dtLink* link = &header->links[poly->links+i];
+			dtPolyRef neighbour = link->ref;
+			if (neighbour)
+			{
+				// Skip parent node.
+				if (bestNode->pidx && m_nodePool->getNodeAtIdx(bestNode->pidx)->id == neighbour)
+					continue;
+				
+				// Calc distance to the edge.
+				const float* va = &header->verts[poly->v[link->e]*3];
+				const float* vb = &header->verts[poly->v[(link->e+1)%poly->nv]*3];
+				float tseg;
+				float distSqr = distancePtSegSqr2D(centerPos, va, vb, tseg);
+				
+				// If the circle is not touching the next polygon, skip it.
+				if (distSqr > radiusSqr)
+					continue;
+				
+				dtNode* parent = bestNode;
+				dtNode newNode;
+				newNode.pidx = m_nodePool->getNodeIdx(parent);
+				newNode.id = neighbour;
+
+				// Cost
+				float p0[3], p1[3];
+				if (!parent->pidx)
+					vcopy(p0, centerPos);
+				else
+					getEdgeMidPoint(m_nodePool->getNodeAtIdx(parent->pidx)->id, parent->id, p0);
+				getEdgeMidPoint(parent->id, newNode.id, p1);
+				newNode.total = parent->total + vdist(p0,p1);
+				
+				dtNode* actualNode = m_nodePool->getNode(newNode.id);
+				if (!actualNode)
+					continue;
+				
+				if (!((actualNode->flags & DT_NODE_OPEN) && newNode.total > actualNode->total) &&
+					!((actualNode->flags & DT_NODE_CLOSED) && newNode.total > actualNode->total))
+				{
+					actualNode->flags &= ~DT_NODE_CLOSED;
+					actualNode->pidx = newNode.pidx;
+					actualNode->total = newNode.total;
+					
+					if (actualNode->flags & DT_NODE_OPEN)
+					{
+						m_openList->modify(actualNode);
+					}
+					else
+					{
+						if (n < maxResult)
+						{
+							if (resultRef)
+								resultRef[n] = actualNode->id;
+							if (resultParent)
+								resultParent[n] = m_nodePool->getNodeAtIdx(actualNode->pidx)->id;
+							if (resultCost)
+								resultCost[n] = actualNode->total;
+							++n;
+						}
+						actualNode->flags = DT_NODE_OPEN;
+						m_openList->push(actualNode);
+					}
+				}
+			}
+		}
+	}
+	
+	return n;
+}
+
+float dtNavMesh::findDistanceToWall(dtPolyRef centerRef, const float* centerPos, float maxRadius,
+						 float* hitPos, float* hitNormal)
+{
+	if (!centerRef) return 0;
+	if (!getPolyByRef(centerRef)) return 0;
+	if (!m_nodePool || !m_openList) return 0;
+	
+	m_nodePool->clear();
+	m_openList->clear();
+	
+	dtNode* startNode = m_nodePool->getNode(centerRef);
+	startNode->pidx = 0;
+	startNode->cost = 0;
+	startNode->total = 0;
+	startNode->id = centerRef;
+	startNode->flags = DT_NODE_OPEN;
+	m_openList->push(startNode);
+	
+	float radiusSqr = sqr(maxRadius);
+	
+	while (!m_openList->empty())
+	{
+		dtNode* bestNode = m_openList->pop();
+		
+		// Get poly and tile.
+		unsigned int salt, it, ip;
+		dtDecodePolyId(bestNode->id, salt, it, ip);
+		// The API input has been cheked already, skip checking internal data.
+		const dtMeshHeader* header = m_tiles[it].header;
+		const dtPoly* poly = &header->polys[ip];
+		
+		// Hit test walls.
+		for (int i = 0, j = (int)poly->nv-1; i < (int)poly->nv; j = i++)
+		{
+			// Skip non-solid edges.
+			if (poly->n[j] & EXT_LINK)
+			{
+				// Tile border.
+				bool solid = true;
+				for (int i = 0; i < poly->nlinks; ++i)
+				{
+					const dtLink* link = &header->links[poly->links+i];
+					if (link->e == j && link->ref != 0)
+					{
+						solid = false;
+						break;
+					}
+				}
+				if (!solid) continue;
+			}
+			else if (poly->n[j])
+			{
+				// Internal edge
+				continue;
+			}
+			
+			// Calc distance to the edge.
+			const float* vj = &header->verts[poly->v[j]*3];
+			const float* vi = &header->verts[poly->v[i]*3];
+			float tseg;
+			float distSqr = distancePtSegSqr2D(centerPos, vj, vi, tseg);
+			
+			// Edge is too far, skip.
+			if (distSqr > radiusSqr)
+				continue;
+			
+			// Hit wall, update radius.
+			radiusSqr = distSqr;
+			// Calculate hit pos.
+			hitPos[0] = vj[0] + (vi[0] - vj[0])*tseg;
+			hitPos[1] = vj[1] + (vi[1] - vj[1])*tseg;
+			hitPos[2] = vj[2] + (vi[2] - vj[2])*tseg;
+		}
+		
+		for (int i = 0; i < poly->nlinks; ++i)
+		{
+			const dtLink* link = &header->links[poly->links+i];
+			dtPolyRef neighbour = link->ref;
+			if (neighbour)
+			{
+				// Skip parent node.
+				if (bestNode->pidx && m_nodePool->getNodeAtIdx(bestNode->pidx)->id == neighbour)
+					continue;
+				
+				// Calc distance to the edge.
+				const float* va = &header->verts[poly->v[link->e]*3];
+				const float* vb = &header->verts[poly->v[(link->e+1)%poly->nv]*3];
+				float tseg;
+				float distSqr = distancePtSegSqr2D(centerPos, va, vb, tseg);
+				
+				// If the circle is not touching the next polygon, skip it.
+				if (distSqr > radiusSqr)
+					continue;
+				
+				dtNode* parent = bestNode;
+				dtNode newNode;
+				newNode.pidx = m_nodePool->getNodeIdx(parent);
+				newNode.id = neighbour;
+
+				float p0[3], p1[3];
+				if (!parent->pidx)
+					vcopy(p0, centerPos);
+				else
+					getEdgeMidPoint(m_nodePool->getNodeAtIdx(parent->pidx)->id, parent->id, p0);
+				getEdgeMidPoint(parent->id, newNode.id, p1);
+				newNode.total = parent->total + vdist(p0,p1);
+				
+				dtNode* actualNode = m_nodePool->getNode(newNode.id);
+				if (!actualNode)
+					continue;
+				
+				if (!((actualNode->flags & DT_NODE_OPEN) && newNode.total > actualNode->total) &&
+					!((actualNode->flags & DT_NODE_CLOSED) && newNode.total > actualNode->total))
+				{
+					actualNode->flags &= ~DT_NODE_CLOSED;
+					actualNode->pidx = newNode.pidx;
+					actualNode->total = newNode.total;
+					
+					if (actualNode->flags & DT_NODE_OPEN)
+					{
+						m_openList->modify(actualNode);
+					}
+					else
+					{
+						actualNode->flags = DT_NODE_OPEN;
+						m_openList->push(actualNode);
+					}
+				}
+			}
+		}
+	}
+	
+	// Calc hit normal.
+	vsub(hitNormal, centerPos, hitPos);
+	vnormalize(hitNormal);
+	
+	return sqrtf(radiusSqr);
+}
+
+const dtPoly* dtNavMesh::getPolyByRef(dtPolyRef ref) const
+{
+	unsigned int salt, it, ip;
+	dtDecodePolyId(ref, salt, it, ip);
+	if (it >= (unsigned int)m_maxTiles) return 0;
+	if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return 0;
+	if (ip >= (unsigned int)m_tiles[it].header->npolys) return 0;
+	return &m_tiles[it].header->polys[ip];
+}
+
+const float* dtNavMesh::getPolyVertsByRef(dtPolyRef ref) const
+{
+	unsigned int salt, it, ip;
+	dtDecodePolyId(ref, salt, it, ip);
+	if (it >= (unsigned int)m_maxTiles) return 0;
+	if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return 0;
+	if (ip >= (unsigned int)m_tiles[it].header->npolys) return 0;
+	return m_tiles[it].header->verts;
+}
+
+const dtLink* dtNavMesh::getPolyLinksByRef(dtPolyRef ref) const
+{
+	unsigned int salt, it, ip;
+	dtDecodePolyId(ref, salt, it, ip);
+	if (it >= (unsigned int)m_maxTiles) return 0;
+	if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return 0;
+	if (ip >= (unsigned int)m_tiles[it].header->npolys) return 0;
+	return m_tiles[it].header->links;
+}
diff --git a/Detour/Source/DetourNavMeshBuilder.cpp b/Detour/Source/DetourNavMeshBuilder.cpp
new file mode 100644
index 0000000..c5d92e8
--- /dev/null
+++ b/Detour/Source/DetourNavMeshBuilder.cpp
@@ -0,0 +1,408 @@
+//
+// Copyright (c) 2009 Mikko Mononen memon@inside.org
+//
+// This software is provided 'as-is', without any express or implied
+// warranty.  In no event will the authors be held liable for any damages
+// arising from the use of this software.
+// Permission is granted to anyone to use this software for any purpose,
+// including commercial applications, and to alter it and redistribute it
+// freely, subject to the following restrictions:
+// 1. The origin of this software must not be misrepresented; you must not
+//    claim that you wrote the original software. If you use this software
+//    in a product, an acknowledgment in the product documentation would be
+//    appreciated but is not required.
+// 2. Altered source versions must be plainly marked as such, and must not be
+//    misrepresented as being the original software.
+// 3. This notice may not be removed or altered from any source distribution.
+//
+
+#include <math.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include "DetourNavMesh.h"
+#include "DetourCommon.h"
+
+
+
+struct BVItem
+{
+	unsigned short bmin[3];
+	unsigned short bmax[3];
+	int i;
+};
+
+static int compareItemX(const void* va, const void* vb)
+{
+	const BVItem* a = (const BVItem*)va;
+	const BVItem* b = (const BVItem*)vb;
+	if (a->bmin[0] < b->bmin[0])
+		return -1;
+	if (a->bmin[0] > b->bmin[0])
+		return 1;
+	return 0;
+}
+
+static int compareItemY(const void* va, const void* vb)
+{
+	const BVItem* a = (const BVItem*)va;
+	const BVItem* b = (const BVItem*)vb;
+	if (a->bmin[1] < b->bmin[1])
+		return -1;
+	if (a->bmin[1] > b->bmin[1])
+		return 1;
+	return 0;
+}
+
+static int compareItemZ(const void* va, const void* vb)
+{
+	const BVItem* a = (const BVItem*)va;
+	const BVItem* b = (const BVItem*)vb;
+	if (a->bmin[2] < b->bmin[2])
+		return -1;
+	if (a->bmin[2] > b->bmin[2])
+		return 1;
+	return 0;
+}
+
+static void calcExtends(BVItem* items, int nitems, int imin, int imax,
+						unsigned short* bmin, unsigned short* bmax)
+{
+	bmin[0] = items[imin].bmin[0];
+	bmin[1] = items[imin].bmin[1];
+	bmin[2] = items[imin].bmin[2];
+	
+	bmax[0] = items[imin].bmax[0];
+	bmax[1] = items[imin].bmax[1];
+	bmax[2] = items[imin].bmax[2];
+	
+	for (int i = imin+1; i < imax; ++i)
+	{
+		const BVItem& it = items[i];
+		if (it.bmin[0] < bmin[0]) bmin[0] = it.bmin[0];
+		if (it.bmin[1] < bmin[1]) bmin[1] = it.bmin[1];
+		if (it.bmin[2] < bmin[2]) bmin[2] = it.bmin[2];
+		
+		if (it.bmax[0] > bmax[0]) bmax[0] = it.bmax[0];
+		if (it.bmax[1] > bmax[1]) bmax[1] = it.bmax[1];
+		if (it.bmax[2] > bmax[2]) bmax[2] = it.bmax[2];
+	}
+}
+
+inline int longestAxis(unsigned short x, unsigned short y, unsigned short z)
+{
+	int	axis = 0;
+	unsigned short maxVal = x;
+	if (y > maxVal)
+	{
+		axis = 1;
+		maxVal = y;
+	}
+	if (z > maxVal)
+	{
+		axis = 2;
+		maxVal = z;
+	}
+	return axis;
+}
+
+static void subdivide(BVItem* items, int nitems, int imin, int imax, int& curNode, dtBVNode* nodes)
+{
+	int inum = imax - imin;
+	int icur = curNode;
+	
+	dtBVNode& node = nodes[curNode++];
+	
+	if (inum == 1)
+	{
+		// Leaf
+		node.bmin[0] = items[imin].bmin[0];
+		node.bmin[1] = items[imin].bmin[1];
+		node.bmin[2] = items[imin].bmin[2];
+		
+		node.bmax[0] = items[imin].bmax[0];
+		node.bmax[1] = items[imin].bmax[1];
+		node.bmax[2] = items[imin].bmax[2];
+		
+		node.i = items[imin].i;
+	}
+	else
+	{
+		// Split
+		calcExtends(items, nitems, imin, imax, node.bmin, node.bmax);
+		
+		int	axis = longestAxis(node.bmax[0] - node.bmin[0],
+							   node.bmax[1] - node.bmin[1],
+							   node.bmax[2] - node.bmin[2]);
+		
+		if (axis == 0)
+		{
+			// Sort along x-axis
+			qsort(items+imin, inum, sizeof(BVItem), compareItemX);
+		}
+		else if (axis == 1)
+		{
+			// Sort along y-axis
+			qsort(items+imin, inum, sizeof(BVItem), compareItemY);
+		}
+		else
+		{
+			// Sort along z-axis
+			qsort(items+imin, inum, sizeof(BVItem), compareItemZ);
+		}
+		
+		int isplit = imin+inum/2;
+		
+		// Left
+		subdivide(items, nitems, imin, isplit, curNode, nodes);
+		// Right
+		subdivide(items, nitems, isplit, imax, curNode, nodes);
+		
+		int iescape = curNode - icur;
+		// Negative index means escape.
+		node.i = -iescape;
+	}
+}
+
+static int createBVTree(const unsigned short* verts, const int nverts,
+						const unsigned short* polys, const int npolys, const int nvp,
+						float cs, float ch,
+						int nnodes, dtBVNode* nodes)
+{
+	// Build tree
+	BVItem* items = new BVItem[npolys];
+	for (int i = 0; i < npolys; i++)
+	{
+		BVItem& it = items[i];
+		it.i = i;
+		// Calc polygon bounds.
+		const unsigned short* p = &polys[i*nvp*2];
+		it.bmin[0] = it.bmax[0] = verts[p[0]*3+0];
+		it.bmin[1] = it.bmax[1] = verts[p[0]*3+1];
+		it.bmin[2] = it.bmax[2] = verts[p[0]*3+2];
+		
+		for (int j = 1; j < nvp; ++j)
+		{
+			if (p[j] == 0xffff) break;
+			unsigned short x = verts[p[j]*3+0];
+			unsigned short y = verts[p[j]*3+1];
+			unsigned short z = verts[p[j]*3+2];
+			
+			if (x < it.bmin[0]) it.bmin[0] = x;
+			if (y < it.bmin[1]) it.bmin[1] = y;
+			if (z < it.bmin[2]) it.bmin[2] = z;
+			
+			if (x > it.bmax[0]) it.bmax[0] = x;
+			if (y > it.bmax[1]) it.bmax[1] = y;
+			if (z > it.bmax[2]) it.bmax[2] = z;
+		}
+		// Remap y
+		it.bmin[1] = (unsigned short)floorf((float)it.bmin[1]*ch/cs);
+		it.bmax[1] = (unsigned short)ceilf((float)it.bmax[1]*ch/cs);
+	}
+	
+	int curNode = 0;
+	subdivide(items, npolys, 0, npolys, curNode, nodes);
+	
+	delete [] items;
+	
+	return curNode;
+}
+
+
+bool dtCreateNavMeshData(const unsigned short* verts, const int nverts,
+						 const unsigned short* polys, const int npolys, const int nvp,
+						 const unsigned short* dmeshes, const float* dverts, const int ndverts,
+						 const unsigned char* dtris, const int ndtris, 
+						 const float* bmin, const float* bmax, float cs, float ch, int tileSize, int walkableClimb,
+						 unsigned char** outData, int* outDataSize)
+{
+	if (nvp != DT_VERTS_PER_POLYGON)
+		return false;
+	if (nverts >= 0xffff)
+		return false;
+	
+	if (!nverts)
+		return false;
+	if (!npolys)
+		return false;
+	if (!dmeshes || !dverts || ! dtris)
+		return false;
+	
+	// Find portal edges which are at tile borders.
+	int nedges = 0;
+	int nportals = 0;
+	for (int i = 0; i < npolys; ++i)
+	{
+		const unsigned short* p = &polys[i*2*nvp];
+		for (int j = 0; j < nvp; ++j)
+		{
+			if (p[j] == 0xffff) break;
+			int nj = j+1;
+			if (nj >= nvp || p[nj] == 0xffff) nj = 0;
+			const unsigned short* va = &verts[p[j]*3];
+			const unsigned short* vb = &verts[p[nj]*3];
+			
+			nedges++;
+			
+			if (va[0] == tileSize && vb[0] == tileSize)
+				nportals++; // x+
+			else if (va[2] == tileSize && vb[2]  == tileSize)
+				nportals++; // z+
+			else if (va[0] == 0 && vb[0] == 0)
+				nportals++; // x-
+			else if (va[2] == 0 && vb[2] == 0)
+				nportals++; // z-
+		}
+	}
+
+	const int maxLinks = nedges + nportals*2;
+	
+	
+	// Find unique detail vertices.
+	int uniqueDetailVerts = 0;
+	if (dmeshes)
+	{
+		for (int i = 0; i < npolys; ++i)
+		{
+			const unsigned short* p = &polys[i*nvp*2];
+			int ndv = dmeshes[i*4+1];
+			int nv = 0;
+			for (int j = 0; j < nvp; ++j)
+			{
+				if (p[j] == 0xffff) break;
+				nv++;
+			}
+			ndv -= nv;
+			uniqueDetailVerts += ndv;
+		}
+	}
+	
+	// Calculate data size
+	const int headerSize = align4(sizeof(dtMeshHeader));
+	const int vertsSize = align4(sizeof(float)*3*nverts);
+	const int polysSize = align4(sizeof(dtPoly)*npolys);
+	const int linksSize = align4(sizeof(dtLink)*maxLinks);
+	const int detailMeshesSize = align4(sizeof(dtPolyDetail)*npolys);
+	const int detailVertsSize = align4(sizeof(float)*3*uniqueDetailVerts);
+	const int detailTrisSize = align4(sizeof(unsigned char)*4*ndtris);
+	const int bvtreeSize = align4(sizeof(dtBVNode)*npolys*2);
+	
+	const int dataSize = headerSize + vertsSize + polysSize + linksSize +
+						 detailMeshesSize + detailVertsSize + detailTrisSize + bvtreeSize;
+	unsigned char* data = new unsigned char[dataSize];
+	if (!data)
+		return false;
+	memset(data, 0, dataSize);
+	
+	unsigned char* d = data;
+	dtMeshHeader* header = (dtMeshHeader*)d; d += headerSize;
+	float* navVerts = (float*)d; d += vertsSize;
+	dtPoly* navPolys = (dtPoly*)d; d += polysSize;
+	d += linksSize;
+	dtPolyDetail* navDMeshes = (dtPolyDetail*)d; d += detailMeshesSize;
+	float* navDVerts = (float*)d; d += detailVertsSize;
+	unsigned char* navDTris = (unsigned char*)d; d += detailTrisSize;
+	dtBVNode* navBvtree = (dtBVNode*)d; d += bvtreeSize;
+	
+	
+	// Store header
+	header->magic = DT_NAVMESH_MAGIC;
+	header->version = DT_NAVMESH_VERSION;
+	header->npolys = npolys;
+	header->nverts = nverts;
+	header->maxlinks = maxLinks;
+	header->bmin[0] = bmin[0];
+	header->bmin[1] = bmin[1];
+	header->bmin[2] = bmin[2];
+	header->bmax[0] = bmax[0];
+	header->bmax[1] = bmax[1];
+	header->bmax[2] = bmax[2];
+	header->ndmeshes = npolys;
+	header->ndverts = uniqueDetailVerts;
+	header->ndtris = ndtris;
+	header->bvquant = 1.0f/cs;
+	
+	// Store vertices
+	for (int i = 0; i < nverts; ++i)
+	{
+		const unsigned short* iv = &verts[i*3];
+		float* v = &navVerts[i*3];
+		v[0] = bmin[0] + iv[0] * cs;
+		v[1] = bmin[1] + iv[1] * ch;
+		v[2] = bmin[2] + iv[2] * cs;
+	}
+	
+	// Store polygons
+	const unsigned short* src = polys;
+	for (int i = 0; i < npolys; ++i)
+	{
+		dtPoly* p = &navPolys[i];
+		p->nv = 0;
+		for (int j = 0; j < nvp; ++j)
+		{
+			if (src[j] == 0xffff) break;
+			p->v[j] = src[j];
+			p->n[j] = (src[nvp+j]+1) & 0xffff;
+			p->nv++;
+		}
+		src += nvp*2;
+	}
+
+	// Store portal edges.
+	for (int i = 0; i < npolys; ++i)
+	{
+		dtPoly* poly = &navPolys[i];
+		for (int j = 0; j < poly->nv; ++j)
+		{
+			int nj = j+1;
+			if (nj >= poly->nv) nj = 0;
+
+			const unsigned short* va = &verts[poly->v[j]*3];
+			const unsigned short* vb = &verts[poly->v[nj]*3];
+						
+			if (va[0] == tileSize && vb[0] == tileSize) // x+
+				poly->n[j] = 0x8000 | 0;
+			else if (va[2] == tileSize && vb[2]  == tileSize) // z+
+				poly->n[j] = 0x8000 | 1;
+			else if (va[0] == 0 && vb[0] == 0) // x-
+				poly->n[j] = 0x8000 | 2;
+			else if (va[2] == 0 && vb[2] == 0) // z-
+				poly->n[j] = 0x8000 | 3;
+		}
+	}
+
+	// Store detail meshes and vertices.
+	// The nav polygon vertices are stored as the first vertices on each mesh.
+	// We compress the mesh data by skipping them and using the navmesh coordinates.
+	unsigned short vbase = 0;
+	for (int i = 0; i < npolys; ++i)
+	{
+		dtPolyDetail& dtl = navDMeshes[i];
+		const int vb = dmeshes[i*4+0];
+		const int ndv = dmeshes[i*4+1];
+		const int nv = navPolys[i].nv;
+		dtl.vbase = vbase;
+		dtl.nverts = ndv-nv;
+		dtl.tbase = dmeshes[i*4+2];
+		dtl.ntris = dmeshes[i*4+3];
+		// Copy vertices except the first 'nv' verts which are equal to nav poly verts.
+		if (ndv-nv)
+		{
+			memcpy(&navDVerts[vbase*3], &dverts[(vb+nv)*3], sizeof(float)*3*(ndv-nv));
+			vbase += ndv-nv;
+		}
+	}
+	// Store triangles.
+	memcpy(navDTris, dtris, sizeof(unsigned char)*4*ndtris);
+
+	// Store and create BVtree.
+	// TODO: take detail mesh into account! use byte per bbox extent?
+	header->nbvtree = createBVTree(verts, nverts, polys, npolys, nvp,
+								   cs, ch, npolys*2, navBvtree);
+	
+	*outData = data;
+	*outDataSize = dataSize;
+	
+	return true;
+}
diff --git a/RecastDemo/Bin/Recast.app/Contents/MacOS/Recast b/RecastDemo/Bin/Recast.app/Contents/MacOS/Recast
index 79c9ca9c433329516e29940402ac1df3b858c6f4..17cc4e7a441993f7c480161c284b05cf0869fd93 100755
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diff --git a/RecastDemo/Build/Xcode/Recast.xcodeproj/memon.pbxuser b/RecastDemo/Build/Xcode/Recast.xcodeproj/memon.pbxuser
index bf37f1f..d3925dd 100644
--- a/RecastDemo/Build/Xcode/Recast.xcodeproj/memon.pbxuser
+++ b/RecastDemo/Build/Xcode/Recast.xcodeproj/memon.pbxuser
@@ -428,9 +428,359 @@
 			6B8DE87F10B68A7500DF20FB /* PBXTextBookmark */ = 6B8DE87F10B68A7500DF20FB /* PBXTextBookmark */;
 			6B8DE88010B68A7500DF20FB /* PBXTextBookmark */ = 6B8DE88010B68A7500DF20FB /* PBXTextBookmark */;
 			6B8DE88110B68A7500DF20FB /* PBXTextBookmark */ = 6B8DE88110B68A7500DF20FB /* PBXTextBookmark */;
+			6B8DE89910B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE89910B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE89A10B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE89A10B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE89B10B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE89B10B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE89C10B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE89C10B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE89D10B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE89D10B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE89E10B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE89E10B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE89F10B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE89F10B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8A010B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8A010B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8A110B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8A110B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8A210B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8A210B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8A310B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8A310B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8A410B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8A410B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8A510B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8A510B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8A610B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8A610B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8A710B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8A710B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8A810B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8A810B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8A910B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8A910B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8AA10B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8AA10B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8AB10B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8AB10B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8AC10B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8AC10B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8AD10B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8AD10B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8AE10B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8AE10B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8AF10B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8AF10B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8B010B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8B010B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8B110B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8B110B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8B210B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8B210B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8B310B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8B310B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8B410B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8B410B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8B510B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8B510B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8B610B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8B610B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8B710B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8B710B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8B810B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8B810B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8B910B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8B910B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8BA10B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8BA10B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8BB10B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8BB10B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8BC10B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8BC10B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8BD10B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8BD10B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8BE10B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8BE10B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8BF10B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8BF10B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8C010B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8C010B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8C110B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8C110B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8C210B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8C210B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8C310B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8C310B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8C410B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8C410B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8C510B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8C510B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8C610B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8C610B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8C710B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8C710B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8C810B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8C810B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8C910B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8C910B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8CA10B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8CA10B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8CB10B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8CB10B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8CC10B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8CC10B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8CD10B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8CD10B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8CE10B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8CE10B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8CF10B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8CF10B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8D010B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8D010B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8D110B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8D110B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8D210B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8D210B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8D310B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8D310B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8D410B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8D410B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8D510B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8D510B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8D610B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8D610B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8D710B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8D710B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8D810B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8D810B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8D910B6B3F800DF20FB /* PBXTextBookmark */ = 6B8DE8D910B6B3F800DF20FB /* PBXTextBookmark */;
+			6B8DE8E610B6B59A00DF20FB /* PBXTextBookmark */ = 6B8DE8E610B6B59A00DF20FB /* PBXTextBookmark */;
+			6B8DE8E710B6B59A00DF20FB /* PBXTextBookmark */ = 6B8DE8E710B6B59A00DF20FB /* PBXTextBookmark */;
+			6B8DE8E810B6B59A00DF20FB /* PBXTextBookmark */ = 6B8DE8E810B6B59A00DF20FB /* PBXTextBookmark */;
+			6B8DE8E910B6B59A00DF20FB /* PBXTextBookmark */ = 6B8DE8E910B6B59A00DF20FB /* PBXTextBookmark */;
+			6B8DE8EA10B6B59A00DF20FB /* PBXTextBookmark */ = 6B8DE8EA10B6B59A00DF20FB /* PBXTextBookmark */;
+			6B8DE8EB10B6B59A00DF20FB /* PBXTextBookmark */ = 6B8DE8EB10B6B59A00DF20FB /* PBXTextBookmark */;
+			6B8DE8EC10B6B59A00DF20FB /* PBXTextBookmark */ = 6B8DE8EC10B6B59A00DF20FB /* PBXTextBookmark */;
+			6B8DE8ED10B6B59A00DF20FB /* PBXTextBookmark */ = 6B8DE8ED10B6B59A00DF20FB /* PBXTextBookmark */;
+			6B8DE8EE10B6B59A00DF20FB /* PBXTextBookmark */ = 6B8DE8EE10B6B59A00DF20FB /* PBXTextBookmark */;
+			6B8DE8EF10B6B59A00DF20FB /* PBXTextBookmark */ = 6B8DE8EF10B6B59A00DF20FB /* PBXTextBookmark */;
+			6B8DE8F010B6B59A00DF20FB /* PBXTextBookmark */ = 6B8DE8F010B6B59A00DF20FB /* PBXTextBookmark */;
+			6B8DE8F110B6B59A00DF20FB /* PBXTextBookmark */ = 6B8DE8F110B6B59A00DF20FB /* PBXTextBookmark */;
+			6B8DE8F210B6B59A00DF20FB /* PBXTextBookmark */ = 6B8DE8F210B6B59A00DF20FB /* PBXTextBookmark */;
+			6B8DE8FB10B6B76800DF20FB /* PBXTextBookmark */ = 6B8DE8FB10B6B76800DF20FB /* PBXTextBookmark */;
+			6B8DE8FC10B6B76800DF20FB /* PBXTextBookmark */ = 6B8DE8FC10B6B76800DF20FB /* PBXTextBookmark */;
+			6B8DE8FD10B6B76800DF20FB /* PBXTextBookmark */ = 6B8DE8FD10B6B76800DF20FB /* PBXTextBookmark */;
+			6B8DE8FE10B6B76800DF20FB /* PBXTextBookmark */ = 6B8DE8FE10B6B76800DF20FB /* PBXTextBookmark */;
+			6B8DE8FF10B6B76800DF20FB /* PBXTextBookmark */ = 6B8DE8FF10B6B76800DF20FB /* PBXTextBookmark */;
+			6B8DE90010B6B76800DF20FB /* PBXTextBookmark */ = 6B8DE90010B6B76800DF20FB /* PBXTextBookmark */;
+			6B8DE90110B6B76800DF20FB /* PBXTextBookmark */ = 6B8DE90110B6B76800DF20FB /* PBXTextBookmark */;
+			6B8DE90210B6B76800DF20FB /* PBXTextBookmark */ = 6B8DE90210B6B76800DF20FB /* PBXTextBookmark */;
+			6B8DE90310B6B76800DF20FB /* PBXTextBookmark */ = 6B8DE90310B6B76800DF20FB /* PBXTextBookmark */;
+			6B8DE90410B6B76800DF20FB /* PBXTextBookmark */ = 6B8DE90410B6B76800DF20FB /* PBXTextBookmark */;
+			6B8DE90510B6B76800DF20FB /* PBXTextBookmark */ = 6B8DE90510B6B76800DF20FB /* PBXTextBookmark */;
+			6B8DE90610B6B76800DF20FB /* PBXTextBookmark */ = 6B8DE90610B6B76800DF20FB /* PBXTextBookmark */;
+			6B8DE90710B6B76800DF20FB /* PBXTextBookmark */ = 6B8DE90710B6B76800DF20FB /* PBXTextBookmark */;
+			6B8DE90810B6B76800DF20FB /* PBXTextBookmark */ = 6B8DE90810B6B76800DF20FB /* PBXTextBookmark */;
+			6B8DE90910B6BAD500DF20FB /* PBXTextBookmark */ = 6B8DE90910B6BAD500DF20FB /* PBXTextBookmark */;
+			6B8DE90A10B6BAD500DF20FB /* PBXTextBookmark */ = 6B8DE90A10B6BAD500DF20FB /* PBXTextBookmark */;
+			6B8DE90B10B6BAD500DF20FB /* PBXTextBookmark */ = 6B8DE90B10B6BAD500DF20FB /* PBXTextBookmark */;
+			6B8DE90C10B6BAD500DF20FB /* PBXTextBookmark */ = 6B8DE90C10B6BAD500DF20FB /* PBXTextBookmark */;
+			6B8DE90D10B6BAD500DF20FB /* PBXTextBookmark */ = 6B8DE90D10B6BAD500DF20FB /* PBXTextBookmark */;
+			6B8DE90E10B6BAD500DF20FB /* PBXTextBookmark */ = 6B8DE90E10B6BAD500DF20FB /* PBXTextBookmark */;
+			6B8DE90F10B6BAD500DF20FB /* PBXTextBookmark */ = 6B8DE90F10B6BAD500DF20FB /* PBXTextBookmark */;
+			6B8DE91010B6BAD500DF20FB /* PBXTextBookmark */ = 6B8DE91010B6BAD500DF20FB /* PBXTextBookmark */;
+			6B8DE91110B6BAD500DF20FB /* PBXTextBookmark */ = 6B8DE91110B6BAD500DF20FB /* PBXTextBookmark */;
+			6B8DE91210B6BAD500DF20FB /* PBXTextBookmark */ = 6B8DE91210B6BAD500DF20FB /* PBXTextBookmark */;
+			6B8DE91310B6BAD500DF20FB /* PBXTextBookmark */ = 6B8DE91310B6BAD500DF20FB /* PBXTextBookmark */;
+			6B8DE91410B6BAD500DF20FB /* PBXTextBookmark */ = 6B8DE91410B6BAD500DF20FB /* PBXTextBookmark */;
+			6B8DE91510B6BAD500DF20FB /* PBXTextBookmark */ = 6B8DE91510B6BAD500DF20FB /* PBXTextBookmark */;
+			6B8DE91610B6BAD500DF20FB /* PBXTextBookmark */ = 6B8DE91610B6BAD500DF20FB /* PBXTextBookmark */;
+			6B8DE91710B6BAD500DF20FB /* PBXTextBookmark */ = 6B8DE91710B6BAD500DF20FB /* PBXTextBookmark */;
+			6B8DE91810B6BAD500DF20FB /* PBXTextBookmark */ = 6B8DE91810B6BAD500DF20FB /* PBXTextBookmark */;
+			6B8DE91910B6BAD500DF20FB /* PBXTextBookmark */ = 6B8DE91910B6BAD500DF20FB /* PBXTextBookmark */;
+			6B8DE91A10B6BAD500DF20FB /* PBXTextBookmark */ = 6B8DE91A10B6BAD500DF20FB /* PBXTextBookmark */;
+			6B8DE91B10B6BAD500DF20FB /* PBXTextBookmark */ = 6B8DE91B10B6BAD500DF20FB /* PBXTextBookmark */;
+			6B8DE91C10B6BAD500DF20FB /* PBXTextBookmark */ = 6B8DE91C10B6BAD500DF20FB /* PBXTextBookmark */;
+			6B8DE91D10B6BAD500DF20FB /* PBXTextBookmark */ = 6B8DE91D10B6BAD500DF20FB /* PBXTextBookmark */;
+			6B8DE91E10B6BAD500DF20FB /* PBXTextBookmark */ = 6B8DE91E10B6BAD500DF20FB /* PBXTextBookmark */;
+			6B8DE91F10B6BAD500DF20FB /* PBXTextBookmark */ = 6B8DE91F10B6BAD500DF20FB /* PBXTextBookmark */;
+			6B8DE92010B6BAD500DF20FB /* PBXTextBookmark */ = 6B8DE92010B6BAD500DF20FB /* PBXTextBookmark */;
+			6B8DE92110B6BAD500DF20FB /* PBXTextBookmark */ = 6B8DE92110B6BAD500DF20FB /* PBXTextBookmark */;
+			6B8DE92210B6BAD500DF20FB /* PBXTextBookmark */ = 6B8DE92210B6BAD500DF20FB /* PBXTextBookmark */;
+			6B8DE92310B6BBCC00DF20FB /* PBXTextBookmark */ = 6B8DE92310B6BBCC00DF20FB /* PBXTextBookmark */;
+			6B8DE92410B6BC3B00DF20FB /* PBXTextBookmark */ = 6B8DE92410B6BC3B00DF20FB /* PBXTextBookmark */;
+			6B8DE92B10B6BCDA00DF20FB /* PBXTextBookmark */ = 6B8DE92B10B6BCDA00DF20FB /* PBXTextBookmark */;
+			6B8DE92C10B6BCDA00DF20FB /* PBXTextBookmark */ = 6B8DE92C10B6BCDA00DF20FB /* PBXTextBookmark */;
+			6B8DE92D10B6BCDA00DF20FB /* PBXTextBookmark */ = 6B8DE92D10B6BCDA00DF20FB /* PBXTextBookmark */;
+			6B8DE92E10B6BCDA00DF20FB /* PBXTextBookmark */ = 6B8DE92E10B6BCDA00DF20FB /* PBXTextBookmark */;
+			6B8DE92F10B6BCDA00DF20FB /* PBXTextBookmark */ = 6B8DE92F10B6BCDA00DF20FB /* PBXTextBookmark */;
+			6B8DE93010B6BCDA00DF20FB /* PBXTextBookmark */ = 6B8DE93010B6BCDA00DF20FB /* PBXTextBookmark */;
+			6B8DE93110B6BCDA00DF20FB /* PBXTextBookmark */ = 6B8DE93110B6BCDA00DF20FB /* PBXTextBookmark */;
+			6B8DE93210B6BCDA00DF20FB /* PBXTextBookmark */ = 6B8DE93210B6BCDA00DF20FB /* PBXTextBookmark */;
+			6B8DE93310B6BCDA00DF20FB /* PBXTextBookmark */ = 6B8DE93310B6BCDA00DF20FB /* PBXTextBookmark */;
+			6B8DE93410B6BCDA00DF20FB /* PBXTextBookmark */ = 6B8DE93410B6BCDA00DF20FB /* PBXTextBookmark */;
+			6B8DE93510B6BCDA00DF20FB /* PBXTextBookmark */ = 6B8DE93510B6BCDA00DF20FB /* PBXTextBookmark */;
+			6B8DE93610B6BCDA00DF20FB /* PBXTextBookmark */ = 6B8DE93610B6BCDA00DF20FB /* PBXTextBookmark */;
+			6B8DE93710B6BCDA00DF20FB /* PBXTextBookmark */ = 6B8DE93710B6BCDA00DF20FB /* PBXTextBookmark */;
+			6B8DE93810B6BCDD00DF20FB /* PBXTextBookmark */ = 6B8DE93810B6BCDD00DF20FB /* PBXTextBookmark */;
+			6B8DE93910B6BD1300DF20FB /* PBXTextBookmark */ = 6B8DE93910B6BD1300DF20FB /* PBXTextBookmark */;
+			6B8DE93A10B6BD1300DF20FB /* PBXTextBookmark */ = 6B8DE93A10B6BD1300DF20FB /* PBXTextBookmark */;
+			6B8DE93B10B6BD1E00DF20FB /* PBXTextBookmark */ = 6B8DE93B10B6BD1E00DF20FB /* PBXTextBookmark */;
+			6B8DE93C10B6BD1E00DF20FB /* PBXTextBookmark */ = 6B8DE93C10B6BD1E00DF20FB /* PBXTextBookmark */;
+			6B8DE93D10B6BD1E00DF20FB /* PBXTextBookmark */ = 6B8DE93D10B6BD1E00DF20FB /* PBXTextBookmark */;
+			6B8DE93E10B6BD1E00DF20FB /* PBXTextBookmark */ = 6B8DE93E10B6BD1E00DF20FB /* PBXTextBookmark */;
+			6B8DE94610B6BEDB00DF20FB /* PBXTextBookmark */ = 6B8DE94610B6BEDB00DF20FB /* PBXTextBookmark */;
+			6B8DE94710B6BEDB00DF20FB /* PBXTextBookmark */ = 6B8DE94710B6BEDB00DF20FB /* PBXTextBookmark */;
+			6B8DE94810B6BEDB00DF20FB /* PBXTextBookmark */ = 6B8DE94810B6BEDB00DF20FB /* PBXTextBookmark */;
+			6B8DE94910B6BEDB00DF20FB /* PBXTextBookmark */ = 6B8DE94910B6BEDB00DF20FB /* PBXTextBookmark */;
+			6B8DE94A10B6BEDB00DF20FB /* PBXTextBookmark */ = 6B8DE94A10B6BEDB00DF20FB /* PBXTextBookmark */;
+			6B8DE94B10B6BEDB00DF20FB /* PBXTextBookmark */ = 6B8DE94B10B6BEDB00DF20FB /* PBXTextBookmark */;
+			6B8DE94C10B6BEDB00DF20FB /* PBXTextBookmark */ = 6B8DE94C10B6BEDB00DF20FB /* PBXTextBookmark */;
+			6B8DE94D10B6BEDB00DF20FB /* PBXTextBookmark */ = 6B8DE94D10B6BEDB00DF20FB /* PBXTextBookmark */;
+			6B8DE94E10B6BEDB00DF20FB /* PBXTextBookmark */ = 6B8DE94E10B6BEDB00DF20FB /* PBXTextBookmark */;
+			6B8DE94F10B6BEDB00DF20FB /* PBXTextBookmark */ = 6B8DE94F10B6BEDB00DF20FB /* PBXTextBookmark */;
+			6B8DE95010B6BEDB00DF20FB /* PBXTextBookmark */ = 6B8DE95010B6BEDB00DF20FB /* PBXTextBookmark */;
+			6B8DE95110B6BEDB00DF20FB /* PBXTextBookmark */ = 6B8DE95110B6BEDB00DF20FB /* PBXTextBookmark */;
+			6B8DE95210B6BEDB00DF20FB /* PBXTextBookmark */ = 6B8DE95210B6BEDB00DF20FB /* PBXTextBookmark */;
+			6B8DE95310B6BEDB00DF20FB /* PBXTextBookmark */ = 6B8DE95310B6BEDB00DF20FB /* PBXTextBookmark */;
+			6B8DE95410B6BEDB00DF20FB /* PBXTextBookmark */ = 6B8DE95410B6BEDB00DF20FB /* PBXTextBookmark */;
+			6B8DE95510B6BEDB00DF20FB /* PBXTextBookmark */ = 6B8DE95510B6BEDB00DF20FB /* PBXTextBookmark */;
+			6B8DE95D10B6BF0100DF20FB /* PBXTextBookmark */ = 6B8DE95D10B6BF0100DF20FB /* PBXTextBookmark */;
+			6B8DE95E10B6BF0100DF20FB /* PBXTextBookmark */ = 6B8DE95E10B6BF0100DF20FB /* PBXTextBookmark */;
+			6B8DE95F10B6BF0100DF20FB /* PBXTextBookmark */ = 6B8DE95F10B6BF0100DF20FB /* PBXTextBookmark */;
+			6B8DE96010B6BF0100DF20FB /* PBXTextBookmark */ = 6B8DE96010B6BF0100DF20FB /* PBXTextBookmark */;
+			6B8DE96110B6BF0100DF20FB /* PBXTextBookmark */ = 6B8DE96110B6BF0100DF20FB /* PBXTextBookmark */;
+			6B8DE96610B6BF2A00DF20FB /* PBXTextBookmark */ = 6B8DE96610B6BF2A00DF20FB /* PBXTextBookmark */;
+			6B8DE96910B6BF6100DF20FB /* PBXTextBookmark */ = 6B8DE96910B6BF6100DF20FB /* PBXTextBookmark */;
+			6B8DE96A10B6BF6100DF20FB /* PBXTextBookmark */ = 6B8DE96A10B6BF6100DF20FB /* PBXTextBookmark */;
+			6B8DE96B10B6BF6100DF20FB /* PBXTextBookmark */ = 6B8DE96B10B6BF6100DF20FB /* PBXTextBookmark */;
+			6B8DE96C10B6BF6100DF20FB /* PBXTextBookmark */ = 6B8DE96C10B6BF6100DF20FB /* PBXTextBookmark */;
+			6B8DE96F10B6BF6900DF20FB /* PBXTextBookmark */ = 6B8DE96F10B6BF6900DF20FB /* PBXTextBookmark */;
+			6B8DE97310B6C04900DF20FB /* PBXTextBookmark */ = 6B8DE97310B6C04900DF20FB /* PBXTextBookmark */;
+			6B8DE97410B6C04900DF20FB /* PBXTextBookmark */ = 6B8DE97410B6C04900DF20FB /* PBXTextBookmark */;
+			6B8DE97510B6C04900DF20FB /* PBXTextBookmark */ = 6B8DE97510B6C04900DF20FB /* PBXTextBookmark */;
+			6B8DE97610B6C04900DF20FB /* PBXTextBookmark */ = 6B8DE97610B6C04900DF20FB /* PBXTextBookmark */;
+			6B8DE97710B6C04900DF20FB /* PBXTextBookmark */ = 6B8DE97710B6C04900DF20FB /* PBXTextBookmark */;
+			6B8DE97810B6C04900DF20FB /* PBXTextBookmark */ = 6B8DE97810B6C04900DF20FB /* PBXTextBookmark */;
+			6B8DE97910B6C04900DF20FB /* PBXTextBookmark */ = 6B8DE97910B6C04900DF20FB /* PBXTextBookmark */;
+			6B8DE97E10B6C08700DF20FB /* PBXTextBookmark */ = 6B8DE97E10B6C08700DF20FB /* PBXTextBookmark */;
+			6B8DE97F10B6C0A100DF20FB /* PBXTextBookmark */ = 6B8DE97F10B6C0A100DF20FB /* PBXTextBookmark */;
+			6B8DE98010B6C0A600DF20FB /* PBXTextBookmark */ = 6B8DE98010B6C0A600DF20FB /* PBXTextBookmark */;
+			6B8DE98110B6C0A600DF20FB /* PBXTextBookmark */ = 6B8DE98110B6C0A600DF20FB /* PBXTextBookmark */;
+			6B8DE98B10B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE98B10B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE98C10B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE98C10B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE98D10B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE98D10B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE98E10B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE98E10B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE98F10B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE98F10B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE99010B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE99010B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE99110B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE99110B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE99210B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE99210B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE99310B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE99310B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE99410B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE99410B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE99510B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE99510B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE99610B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE99610B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE99710B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE99710B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE99810B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE99810B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE99910B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE99910B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE99A10B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE99A10B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE99B10B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE99B10B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE99C10B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE99C10B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE99D10B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE99D10B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE99E10B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE99E10B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE99F10B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE99F10B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE9A010B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE9A010B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE9A110B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE9A110B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE9A210B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE9A210B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE9A310B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE9A310B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE9A410B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE9A410B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE9A510B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE9A510B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE9A610B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE9A610B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE9A710B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE9A710B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE9A810B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE9A810B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE9A910B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE9A910B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE9AA10B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE9AA10B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE9AB10B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE9AB10B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE9AC10B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE9AC10B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE9AD10B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE9AD10B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE9AE10B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE9AE10B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE9AF10B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE9AF10B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE9B010B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE9B010B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE9B110B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE9B110B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE9B210B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE9B210B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE9B310B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE9B310B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE9B410B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE9B410B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE9B510B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE9B510B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE9B610B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE9B610B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE9B710B6C53B00DF20FB /* PBXTextBookmark */ = 6B8DE9B710B6C53B00DF20FB /* PBXTextBookmark */;
+			6B8DE9BB10B6C61D00DF20FB /* PBXTextBookmark */ = 6B8DE9BB10B6C61D00DF20FB /* PBXTextBookmark */;
+			6B8DE9BC10B6C61D00DF20FB /* PBXTextBookmark */ = 6B8DE9BC10B6C61D00DF20FB /* PBXTextBookmark */;
+			6B8DE9BD10B6C61D00DF20FB /* PBXTextBookmark */ = 6B8DE9BD10B6C61D00DF20FB /* PBXTextBookmark */;
+			6B8DE9BE10B6C61D00DF20FB /* PBXTextBookmark */ = 6B8DE9BE10B6C61D00DF20FB /* PBXTextBookmark */;
+			6B8DE9C310B6C64100DF20FB /* PBXTextBookmark */ = 6B8DE9C310B6C64100DF20FB /* PBXTextBookmark */;
+			6B8DE9C410B6C64100DF20FB /* PBXTextBookmark */ = 6B8DE9C410B6C64100DF20FB /* PBXTextBookmark */;
+			6B8DE9C510B6C64100DF20FB /* PBXTextBookmark */ = 6B8DE9C510B6C64100DF20FB /* PBXTextBookmark */;
+			6B8DE9C610B6C64100DF20FB /* PBXTextBookmark */ = 6B8DE9C610B6C64100DF20FB /* PBXTextBookmark */;
+			6B8DE9CE10B6C75600DF20FB /* PBXTextBookmark */ = 6B8DE9CE10B6C75600DF20FB /* PBXTextBookmark */;
+			6B8DE9CF10B6C75600DF20FB /* PBXTextBookmark */ = 6B8DE9CF10B6C75600DF20FB /* PBXTextBookmark */;
+			6B8DE9D010B6C75600DF20FB /* PBXTextBookmark */ = 6B8DE9D010B6C75600DF20FB /* PBXTextBookmark */;
+			6B8DE9D110B6C75600DF20FB /* PBXTextBookmark */ = 6B8DE9D110B6C75600DF20FB /* PBXTextBookmark */;
+			6B8DE9D410B6C7DD00DF20FB /* PBXTextBookmark */ = 6B8DE9D410B6C7DD00DF20FB /* PBXTextBookmark */;
+			6B8DE9D510B6C7DD00DF20FB /* PBXTextBookmark */ = 6B8DE9D510B6C7DD00DF20FB /* PBXTextBookmark */;
+			6B8DE9D610B6C7DD00DF20FB /* PBXTextBookmark */ = 6B8DE9D610B6C7DD00DF20FB /* PBXTextBookmark */;
+			6B8DE9D710B6C7DD00DF20FB /* PBXTextBookmark */ = 6B8DE9D710B6C7DD00DF20FB /* PBXTextBookmark */;
+			6B8DE9DA10B6C83E00DF20FB /* PBXTextBookmark */ = 6B8DE9DA10B6C83E00DF20FB /* PBXTextBookmark */;
+			6B8DE9DB10B6C83E00DF20FB /* PBXTextBookmark */ = 6B8DE9DB10B6C83E00DF20FB /* PBXTextBookmark */;
+			6B8DE9DC10B6C83E00DF20FB /* PBXTextBookmark */ = 6B8DE9DC10B6C83E00DF20FB /* PBXTextBookmark */;
+			6B8DE9E110B6C8BE00DF20FB /* PBXTextBookmark */ = 6B8DE9E110B6C8BE00DF20FB /* PBXTextBookmark */;
+			6B8DE9E210B6C8BE00DF20FB /* PBXTextBookmark */ = 6B8DE9E210B6C8BE00DF20FB /* PBXTextBookmark */;
+			6B8DE9E310B6C8BE00DF20FB /* PBXTextBookmark */ = 6B8DE9E310B6C8BE00DF20FB /* PBXTextBookmark */;
+			6B8DE9E410B6C8BE00DF20FB /* PBXTextBookmark */ = 6B8DE9E410B6C8BE00DF20FB /* PBXTextBookmark */;
+			6B8DE9E510B6C8BE00DF20FB /* PBXTextBookmark */ = 6B8DE9E510B6C8BE00DF20FB /* PBXTextBookmark */;
+			6B8DE9E610B6C8BE00DF20FB /* PBXTextBookmark */ = 6B8DE9E610B6C8BE00DF20FB /* PBXTextBookmark */;
+			6B8DE9EA10B6C97B00DF20FB /* PBXTextBookmark */ = 6B8DE9EA10B6C97B00DF20FB /* PBXTextBookmark */;
+			6B8DE9EB10B6C97B00DF20FB /* PBXTextBookmark */ = 6B8DE9EB10B6C97B00DF20FB /* PBXTextBookmark */;
+			6B8DE9EC10B6C97B00DF20FB /* PBXTextBookmark */ = 6B8DE9EC10B6C97B00DF20FB /* PBXTextBookmark */;
+			6B8DE9ED10B6C97B00DF20FB /* PBXTextBookmark */ = 6B8DE9ED10B6C97B00DF20FB /* PBXTextBookmark */;
+			6B8DE9EE10B6C97B00DF20FB /* PBXTextBookmark */ = 6B8DE9EE10B6C97B00DF20FB /* PBXTextBookmark */;
+			6B8DE9EF10B6C97B00DF20FB /* PBXTextBookmark */ = 6B8DE9EF10B6C97B00DF20FB /* PBXTextBookmark */;
+			6B8DE9F010B6C98D00DF20FB /* PBXTextBookmark */ = 6B8DE9F010B6C98D00DF20FB /* PBXTextBookmark */;
+			6B8DE9F110B6C9A400DF20FB /* PBXTextBookmark */ = 6B8DE9F110B6C9A400DF20FB /* PBXTextBookmark */;
+			6B8DE9F510B6C9B700DF20FB /* PBXTextBookmark */ = 6B8DE9F510B6C9B700DF20FB /* PBXTextBookmark */;
+			6B8DE9F610B6C9B700DF20FB /* PBXTextBookmark */ = 6B8DE9F610B6C9B700DF20FB /* PBXTextBookmark */;
+			6B8DE9F710B6C9B700DF20FB /* PBXTextBookmark */ = 6B8DE9F710B6C9B700DF20FB /* PBXTextBookmark */;
+			6B8DE9F810B6C9B700DF20FB /* PBXTextBookmark */ = 6B8DE9F810B6C9B700DF20FB /* PBXTextBookmark */;
+			6B8DE9F910B6C9B700DF20FB /* PBXTextBookmark */ = 6B8DE9F910B6C9B700DF20FB /* PBXTextBookmark */;
+			6B8DE9FC10B6C9BD00DF20FB /* PBXTextBookmark */ = 6B8DE9FC10B6C9BD00DF20FB /* PBXTextBookmark */;
+			6B8DEA0110B6CA1500DF20FB /* PBXTextBookmark */ = 6B8DEA0110B6CA1500DF20FB /* PBXTextBookmark */;
+			6B8DEA0210B6CA1500DF20FB /* PBXTextBookmark */ = 6B8DEA0210B6CA1500DF20FB /* PBXTextBookmark */;
+			6B8DEA0310B6CA1500DF20FB /* PBXTextBookmark */ = 6B8DEA0310B6CA1500DF20FB /* PBXTextBookmark */;
+			6B8DEA0410B6CA1500DF20FB /* PBXTextBookmark */ = 6B8DEA0410B6CA1500DF20FB /* PBXTextBookmark */;
+			6B8DEA0510B6CA1500DF20FB /* PBXTextBookmark */ = 6B8DEA0510B6CA1500DF20FB /* PBXTextBookmark */;
+			6B8DEA0610B6CA1500DF20FB /* PBXTextBookmark */ = 6B8DEA0610B6CA1500DF20FB /* PBXTextBookmark */;
+			6B8DEA0710B6CA1500DF20FB /* PBXTextBookmark */ = 6B8DEA0710B6CA1500DF20FB /* PBXTextBookmark */;
+			6B8DEA0810B6CA1500DF20FB /* PBXTextBookmark */ = 6B8DEA0810B6CA1500DF20FB /* PBXTextBookmark */;
+			6B8DEA0910B6CA1500DF20FB /* PBXTextBookmark */ = 6B8DEA0910B6CA1500DF20FB /* PBXTextBookmark */;
+			6B8DEA0A10B6CA6E00DF20FB /* PBXTextBookmark */ = 6B8DEA0A10B6CA6E00DF20FB /* PBXTextBookmark */;
+			6B8DEA0B10B6CA7500DF20FB /* PBXTextBookmark */ = 6B8DEA0B10B6CA7500DF20FB /* PBXTextBookmark */;
+			6B8DEA0C10B6CA8700DF20FB /* PBXTextBookmark */ = 6B8DEA0C10B6CA8700DF20FB /* PBXTextBookmark */;
+			6B8DEA0F10B6CAAD00DF20FB /* PBXTextBookmark */ = 6B8DEA0F10B6CAAD00DF20FB /* PBXTextBookmark */;
+			6B8DEA1010B6CAAD00DF20FB /* PBXTextBookmark */ = 6B8DEA1010B6CAAD00DF20FB /* PBXTextBookmark */;
+			6B8DEA1110B6CAAD00DF20FB /* PBXTextBookmark */ = 6B8DEA1110B6CAAD00DF20FB /* PBXTextBookmark */;
+			6B8DEA1510B6CAF600DF20FB /* PBXTextBookmark */ = 6B8DEA1510B6CAF600DF20FB /* PBXTextBookmark */;
+			6B8DEA1610B6CAF600DF20FB /* PBXTextBookmark */ = 6B8DEA1610B6CAF600DF20FB /* PBXTextBookmark */;
+			6B8DEA1710B6CAF600DF20FB /* PBXTextBookmark */ = 6B8DEA1710B6CAF600DF20FB /* PBXTextBookmark */;
+			6B8DEA1810B6CAF600DF20FB /* PBXTextBookmark */ = 6B8DEA1810B6CAF600DF20FB /* PBXTextBookmark */;
+			6B8DEA1910B6CAF600DF20FB /* PBXTextBookmark */ = 6B8DEA1910B6CAF600DF20FB /* PBXTextBookmark */;
+			6B8DEA1A10B6CB0600DF20FB /* PBXTextBookmark */ = 6B8DEA1A10B6CB0600DF20FB /* PBXTextBookmark */;
+			6B8DEA1B10B6CB0D00DF20FB /* PBXTextBookmark */ = 6B8DEA1B10B6CB0D00DF20FB /* PBXTextBookmark */;
+			6B8DEA1C10B6CB1100DF20FB /* PBXTextBookmark */ = 6B8DEA1C10B6CB1100DF20FB /* PBXTextBookmark */;
+			6B8DEA1D10B6CB1100DF20FB /* PBXTextBookmark */ = 6B8DEA1D10B6CB1100DF20FB /* PBXTextBookmark */;
+			6B8DEA1E10B6CB1300DF20FB /* PBXTextBookmark */ = 6B8DEA1E10B6CB1300DF20FB /* PBXTextBookmark */;
+			6B8DEA1F10B6CB2E00DF20FB /* PBXTextBookmark */ = 6B8DEA1F10B6CB2E00DF20FB /* PBXTextBookmark */;
+			6B8DEA2110B6CB3000DF20FB /* PBXTextBookmark */ = 6B8DEA2110B6CB3000DF20FB /* PBXTextBookmark */;
+			6B8DEA2210B6CB3000DF20FB /* PBXTextBookmark */ = 6B8DEA2210B6CB3000DF20FB /* PBXTextBookmark */;
+			6B8DEA2310B6CB3000DF20FB /* PBXTextBookmark */ = 6B8DEA2310B6CB3000DF20FB /* PBXTextBookmark */;
+			6B8DEA2410B6CB3000DF20FB /* PBXTextBookmark */ = 6B8DEA2410B6CB3000DF20FB /* PBXTextBookmark */;
+			6B8DEA2A10B6CB8A00DF20FB /* PBXTextBookmark */ = 6B8DEA2A10B6CB8A00DF20FB /* PBXTextBookmark */;
+			6B8DEA2B10B6CB8A00DF20FB /* PBXTextBookmark */ = 6B8DEA2B10B6CB8A00DF20FB /* PBXTextBookmark */;
+			6B8DEA2C10B6CB8A00DF20FB /* PBXTextBookmark */ = 6B8DEA2C10B6CB8A00DF20FB /* PBXTextBookmark */;
+			6B8DEA2D10B6CB8A00DF20FB /* PBXTextBookmark */ = 6B8DEA2D10B6CB8A00DF20FB /* PBXTextBookmark */;
+			6B8DEA2E10B6CB8A00DF20FB /* PBXTextBookmark */ = 6B8DEA2E10B6CB8A00DF20FB /* PBXTextBookmark */;
+			6B8DEA2F10B6CB8A00DF20FB /* PBXTextBookmark */ = 6B8DEA2F10B6CB8A00DF20FB /* PBXTextBookmark */;
+			6B8DEA3010B6CB8A00DF20FB /* PBXTextBookmark */ = 6B8DEA3010B6CB8A00DF20FB /* PBXTextBookmark */;
+			6B8DEA3610B6CBC200DF20FB /* PBXTextBookmark */ = 6B8DEA3610B6CBC200DF20FB /* PBXTextBookmark */;
+			6B8DEA3710B6CBC200DF20FB /* PBXTextBookmark */ = 6B8DEA3710B6CBC200DF20FB /* PBXTextBookmark */;
+			6B8DEA3810B6CBC200DF20FB /* PBXTextBookmark */ = 6B8DEA3810B6CBC200DF20FB /* PBXTextBookmark */;
+			6B8DEA3910B6CBC200DF20FB /* PBXTextBookmark */ = 6B8DEA3910B6CBC200DF20FB /* PBXTextBookmark */;
+			6B8DEA3A10B6CBC200DF20FB /* PBXTextBookmark */ = 6B8DEA3A10B6CBC200DF20FB /* PBXTextBookmark */;
+			6B8DEA3B10B6CBC200DF20FB /* PBXTextBookmark */ = 6B8DEA3B10B6CBC200DF20FB /* PBXTextBookmark */;
+			6B8DEA3C10B6CBC200DF20FB /* PBXTextBookmark */ = 6B8DEA3C10B6CBC200DF20FB /* PBXTextBookmark */;
+			6B8DEA3D10B6CBC200DF20FB /* PBXTextBookmark */ = 6B8DEA3D10B6CBC200DF20FB /* PBXTextBookmark */;
+			6B8DEA3E10B6CBC200DF20FB /* PBXTextBookmark */ = 6B8DEA3E10B6CBC200DF20FB /* PBXTextBookmark */;
+			6B8DEA4010B6CC0400DF20FB /* PBXTextBookmark */ = 6B8DEA4010B6CC0400DF20FB /* PBXTextBookmark */;
+			6B8DEA4110B6CC0400DF20FB /* PBXTextBookmark */ = 6B8DEA4110B6CC0400DF20FB /* PBXTextBookmark */;
+			6B8DEA4210B6CC0400DF20FB /* PBXTextBookmark */ = 6B8DEA4210B6CC0400DF20FB /* PBXTextBookmark */;
+			6B8DEA4310B6CC0400DF20FB /* PBXTextBookmark */ = 6B8DEA4310B6CC0400DF20FB /* PBXTextBookmark */;
+			6B8DEA4410B6CC0400DF20FB /* PBXTextBookmark */ = 6B8DEA4410B6CC0400DF20FB /* PBXTextBookmark */;
+			6B8DEA4510B6CC0400DF20FB /* PBXTextBookmark */ = 6B8DEA4510B6CC0400DF20FB /* PBXTextBookmark */;
+			6B8DEA4610B6CC0400DF20FB /* PBXTextBookmark */ = 6B8DEA4610B6CC0400DF20FB /* PBXTextBookmark */;
+			6B8DEA4710B6CC0C00DF20FB /* PBXTextBookmark */ = 6B8DEA4710B6CC0C00DF20FB /* PBXTextBookmark */;
+			6B8DEA4810B6CC0C00DF20FB /* PBXTextBookmark */ = 6B8DEA4810B6CC0C00DF20FB /* PBXTextBookmark */;
+			6B8DEA4B10B6CC1600DF20FB /* PBXTextBookmark */ = 6B8DEA4B10B6CC1600DF20FB /* PBXTextBookmark */;
+			6B8DEA4D10B6CC2600DF20FB /* PBXTextBookmark */ = 6B8DEA4D10B6CC2600DF20FB /* PBXTextBookmark */;
+			6B8DEA4E10B6CC2600DF20FB /* PBXTextBookmark */ = 6B8DEA4E10B6CC2600DF20FB /* PBXTextBookmark */;
+			6B8DEA4F10B6CC2600DF20FB /* PBXTextBookmark */ = 6B8DEA4F10B6CC2600DF20FB /* PBXTextBookmark */;
+			6B8DEA5010B6CC5500DF20FB /* PBXTextBookmark */ = 6B8DEA5010B6CC5500DF20FB /* PBXTextBookmark */;
+			6B8DEA5110B6CC5500DF20FB /* PBXTextBookmark */ = 6B8DEA5110B6CC5500DF20FB /* PBXTextBookmark */;
+			6B8DEA5210B6CC5500DF20FB /* PBXTextBookmark */ = 6B8DEA5210B6CC5500DF20FB /* PBXTextBookmark */;
+			6B8DEA5310B6CC5500DF20FB /* PBXTextBookmark */ = 6B8DEA5310B6CC5500DF20FB /* PBXTextBookmark */;
+			6B8DEA5410B6CC6300DF20FB /* PBXTextBookmark */ = 6B8DEA5410B6CC6300DF20FB /* PBXTextBookmark */;
+			6B8DEA5B10B6CD1D00DF20FB /* PBXTextBookmark */ = 6B8DEA5B10B6CD1D00DF20FB /* PBXTextBookmark */;
+			6B8DEA5C10B6CD1D00DF20FB /* PBXTextBookmark */ = 6B8DEA5C10B6CD1D00DF20FB /* PBXTextBookmark */;
+			6B8DEA6410B6CF6400DF20FB /* PBXTextBookmark */ = 6B8DEA6410B6CF6400DF20FB /* PBXTextBookmark */;
+			6B8DEA6510B6CF6400DF20FB /* PBXTextBookmark */ = 6B8DEA6510B6CF6400DF20FB /* PBXTextBookmark */;
+			6B8DEA6610B6CF6400DF20FB /* PBXTextBookmark */ = 6B8DEA6610B6CF6400DF20FB /* PBXTextBookmark */;
+			6B8DEA6710B6CF6400DF20FB /* PBXTextBookmark */ = 6B8DEA6710B6CF6400DF20FB /* PBXTextBookmark */;
+			6B8DEA6810B6CF6400DF20FB /* PBXTextBookmark */ = 6B8DEA6810B6CF6400DF20FB /* PBXTextBookmark */;
+			6B8DEA6910B6CF6400DF20FB /* PBXTextBookmark */ = 6B8DEA6910B6CF6400DF20FB /* PBXTextBookmark */;
+			6B8DEA6A10B6CF6400DF20FB /* PBXTextBookmark */ = 6B8DEA6A10B6CF6400DF20FB /* PBXTextBookmark */;
+			6B8DEA6B10B6CF6400DF20FB /* PBXTextBookmark */ = 6B8DEA6B10B6CF6400DF20FB /* PBXTextBookmark */;
+			6B8DEA6C10B6CF6400DF20FB /* PBXTextBookmark */ = 6B8DEA6C10B6CF6400DF20FB /* PBXTextBookmark */;
+			6B8DEA6D10B6CF6400DF20FB /* PBXTextBookmark */ = 6B8DEA6D10B6CF6400DF20FB /* PBXTextBookmark */;
+			6B8DEA6E10B6CF6400DF20FB /* PBXTextBookmark */ = 6B8DEA6E10B6CF6400DF20FB /* PBXTextBookmark */;
+			6B8DEA6F10B6CF6400DF20FB /* PBXTextBookmark */ = 6B8DEA6F10B6CF6400DF20FB /* PBXTextBookmark */;
+			6B8DEA7010B6CF6400DF20FB /* PBXTextBookmark */ = 6B8DEA7010B6CF6400DF20FB /* PBXTextBookmark */;
+			6B8DEA7110B6CF6400DF20FB /* PBXTextBookmark */ = 6B8DEA7110B6CF6400DF20FB /* PBXTextBookmark */;
+			6B8DEA7410B6CF8400DF20FB /* PBXTextBookmark */ = 6B8DEA7410B6CF8400DF20FB /* PBXTextBookmark */;
+			6B8DEA7710B6CFC900DF20FB /* PBXTextBookmark */ = 6B8DEA7710B6CFC900DF20FB /* PBXTextBookmark */;
+			6B8DEA7810B6CFC900DF20FB /* PBXTextBookmark */ = 6B8DEA7810B6CFC900DF20FB /* PBXTextBookmark */;
+			6B8DEA7910B6CFC900DF20FB /* PBXTextBookmark */ = 6B8DEA7910B6CFC900DF20FB /* PBXTextBookmark */;
+			6B8DEA7A10B6CFC900DF20FB /* PBXTextBookmark */ = 6B8DEA7A10B6CFC900DF20FB /* PBXTextBookmark */;
+			6B8DEA7B10B6CFC900DF20FB /* PBXTextBookmark */ = 6B8DEA7B10B6CFC900DF20FB /* PBXTextBookmark */;
+			6B8DEA7C10B6CFC900DF20FB /* PBXTextBookmark */ = 6B8DEA7C10B6CFC900DF20FB /* PBXTextBookmark */;
 			6B9BE374107BC6A40036CC81 = 6B9BE374107BC6A40036CC81 /* PBXTextBookmark */;
 		};
 		sourceControlManager = 6B8632A90F78115100E2684A /* Source Control */;
+		userBookmarkGroup = 6B8DE6F010A88F0500DF20FB /* PBXBookmarkGroup */;
 		userBuildSettings = {
 		};
 	};
@@ -455,7 +805,8 @@
 		hitCount = 0;
 		ignoreCount = 0;
 		lineNumber = 48;
-		modificationTime = 277989718.279558;
+		location = Recast;
+		modificationTime = 280415167.302964;
 		state = 1;
 	};
 	6B0249ED10037C0A00CF7107 /* DetourTileNavMesh.cpp:1 */ = {
@@ -471,7 +822,8 @@
 		hitCount = 0;
 		ignoreCount = 0;
 		lineNumber = 1;
-		modificationTime = 277989718.2777531;
+		location = Recast;
+		modificationTime = 280415167.303229;
 		state = 1;
 	};
 	6B0249EF10037C0C00CF7107 /* DetourTileNavMesh.cpp:1 */ = {
@@ -487,7 +839,8 @@
 		hitCount = 0;
 		ignoreCount = 0;
 		lineNumber = 1;
-		modificationTime = 277989718.27859;
+		location = Recast;
+		modificationTime = 280415167.303378;
 		state = 1;
 	};
 	6B024AC01004AB3900CF7107 /* DetourTileNavMesh.cpp:1 */ = {
@@ -503,7 +856,8 @@
 		hitCount = 0;
 		ignoreCount = 0;
 		lineNumber = 1;
-		modificationTime = 277989718.278908;
+		location = Recast;
+		modificationTime = 280415167.30352;
 		state = 1;
 	};
 	6B092B920FFCC2AC0088D3A5 /* DetourTileNavMeshBuilder.h */ = {
@@ -515,30 +869,30 @@
 	};
 	6B092B930FFCC2BD0088D3A5 /* DetourTileNavMeshBuilder.cpp */ = {
 		uiCtxt = {
-			sepNavIntBoundsRect = "{{0, 0}, {915, 3408}}";
-			sepNavSelRange = "{995, 0}";
-			sepNavVisRange = "{0, 1484}";
+			sepNavIntBoundsRect = "{{0, 0}, {915, 3568}}";
+			sepNavSelRange = "{2809, 0}";
+			sepNavVisRange = "{2502, 1013}";
 		};
 	};
 	6B1185F41006895B0018F96F /* DetourNode.cpp */ = {
 		uiCtxt = {
 			sepNavIntBoundsRect = "{{0, 0}, {915, 2304}}";
 			sepNavSelRange = "{2972, 0}";
-			sepNavVisRange = "{2826, 441}";
+			sepNavVisRange = "{2683, 584}";
 		};
 	};
 	6B1185F61006896B0018F96F /* DetourNode.h */ = {
 		uiCtxt = {
-			sepNavIntBoundsRect = "{{0, 0}, {915, 2384}}";
-			sepNavSelRange = "{1988, 0}";
-			sepNavVisRange = "{1840, 386}";
+			sepNavIntBoundsRect = "{{0, 0}, {915, 2224}}";
+			sepNavSelRange = "{2089, 0}";
+			sepNavVisRange = "{1775, 492}";
 		};
 	};
 	6B1185FC10068B040018F96F /* DetourCommon.h */ = {
 		uiCtxt = {
-			sepNavIntBoundsRect = "{{0, 0}, {915, 2832}}";
-			sepNavSelRange = "{3352, 6}";
-			sepNavVisRange = "{3058, 508}";
+			sepNavIntBoundsRect = "{{0, 0}, {915, 2864}}";
+			sepNavSelRange = "{3375, 0}";
+			sepNavVisRange = "{3114, 675}";
 		};
 	};
 	6B1185FD10068B150018F96F /* DetourCommon.cpp */ = {
@@ -635,9 +989,9 @@
 	};
 	6B137C840F7FCC1100459200 /* RecastDebugDraw.cpp */ = {
 		uiCtxt = {
-			sepNavIntBoundsRect = "{{0, 0}, {922, 14512}}";
-			sepNavSelRange = "{8474, 0}";
-			sepNavVisRange = "{0, 1141}";
+			sepNavIntBoundsRect = "{{0, 0}, {915, 14608}}";
+			sepNavSelRange = "{1401, 0}";
+			sepNavVisRange = "{963, 932}";
 		};
 	};
 	6B137C850F7FCC1100459200 /* RecastFilter.cpp */ = {
@@ -706,16 +1060,16 @@
 	};
 	6B25B6140FFA62BE004F1BC4 /* Sample.cpp */ = {
 		uiCtxt = {
-			sepNavIntBoundsRect = "{{0, 0}, {915, 3120}}";
-			sepNavSelRange = "{1280, 20}";
-			sepNavVisRange = "{1158, 618}";
+			sepNavIntBoundsRect = "{{0, 0}, {915, 2832}}";
+			sepNavSelRange = "{3158, 0}";
+			sepNavVisRange = "{2145, 1081}";
 		};
 	};
 	6B25B6150FFA62BE004F1BC4 /* Sample_StatMesh.cpp */ = {
 		uiCtxt = {
-			sepNavIntBoundsRect = "{{0, 0}, {915, 5120}}";
-			sepNavSelRange = "{8415, 0}";
-			sepNavVisRange = "{7879, 892}";
+			sepNavIntBoundsRect = "{{0, 0}, {915, 5216}}";
+			sepNavSelRange = "{6939, 0}";
+			sepNavVisRange = "{6609, 726}";
 		};
 	};
 	6B25B6160FFA62BE004F1BC4 /* Sample_StatMeshSimple.cpp */ = {
@@ -727,24 +1081,24 @@
 	};
 	6B25B6180FFA62BE004F1BC4 /* main.cpp */ = {
 		uiCtxt = {
-			sepNavIntBoundsRect = "{{0, 0}, {915, 12560}}";
-			sepNavSelRange = "{4378, 0}";
-			sepNavVisRange = "{3996, 828}";
+			sepNavIntBoundsRect = "{{0, 0}, {915, 11888}}";
+			sepNavSelRange = "{12743, 36}";
+			sepNavVisRange = "{12381, 681}";
 		};
 	};
 	6B2AEC510FFB8946005BE9CC /* Sample_TileMesh.h */ = {
 		uiCtxt = {
-			sepNavIntBoundsRect = "{{0, 0}, {915, 1776}}";
-			sepNavSelRange = "{2139, 16}";
-			sepNavVisRange = "{441, 990}";
+			sepNavIntBoundsRect = "{{0, 0}, {915, 1840}}";
+			sepNavSelRange = "{2447, 0}";
+			sepNavVisRange = "{2084, 872}";
 			sepNavWindowFrame = "{{15, 78}, {1011, 695}}";
 		};
 	};
 	6B2AEC520FFB8958005BE9CC /* Sample_TileMesh.cpp */ = {
 		uiCtxt = {
-			sepNavIntBoundsRect = "{{0, 0}, {1223, 14672}}";
-			sepNavSelRange = "{6334, 0}";
-			sepNavVisRange = "{6103, 762}";
+			sepNavIntBoundsRect = "{{0, 0}, {1111, 13952}}";
+			sepNavSelRange = "{23237, 0}";
+			sepNavVisRange = "{22586, 1458}";
 		};
 	};
 	6B2AEC550FFB89E7005BE9CC /* Sample_StatMeshTiled.cpp */ = {
@@ -757,22 +1111,22 @@
 	6B2AEC570FFB89F4005BE9CC /* Sample_StatMeshTiled.h */ = {
 		uiCtxt = {
 			sepNavIntBoundsRect = "{{0, 0}, {915, 1568}}";
-			sepNavSelRange = "{367, 0}";
-			sepNavVisRange = "{484, 754}";
+			sepNavSelRange = "{777, 0}";
+			sepNavVisRange = "{270, 918}";
 		};
 	};
 	6B2AEC580FFB8A68005BE9CC /* DetourTileNavMesh.h */ = {
 		uiCtxt = {
-			sepNavIntBoundsRect = "{{0, 0}, {915, 5200}}";
-			sepNavSelRange = "{4856, 0}";
-			sepNavVisRange = "{4655, 1263}";
+			sepNavIntBoundsRect = "{{0, 0}, {915, 4976}}";
+			sepNavSelRange = "{11301, 0}";
+			sepNavVisRange = "{11793, 1250}";
 		};
 	};
 	6B2AEC590FFB8A7A005BE9CC /* DetourTileNavMesh.cpp */ = {
 		uiCtxt = {
 			sepNavIntBoundsRect = "{{0, 0}, {915, 22304}}";
-			sepNavSelRange = "{9687, 0}";
-			sepNavVisRange = "{8764, 756}";
+			sepNavSelRange = "{9271, 0}";
+			sepNavVisRange = "{8764, 799}";
 		};
 	};
 	6B3BFADD107A80E1006284CD /* PBXTextBookmark */ = {
@@ -848,7 +1202,8 @@
 		hitCount = 0;
 		ignoreCount = 0;
 		lineNumber = 280;
-		modificationTime = 277989718.27825;
+		location = Recast;
+		modificationTime = 280415167.30428;
 		state = 1;
 	};
 	6B555DAE100B211D00247EA3 /* imguiRenderGL.h */ = {
@@ -885,7 +1240,8 @@
 		hitCount = 0;
 		ignoreCount = 0;
 		lineNumber = 622;
-		modificationTime = 277989718.27988;
+		location = Recast;
+		modificationTime = 280415167.304427;
 		state = 1;
 	};
 	6B57D358108C66B200DDD053 /* PBXTextBookmark */ = {
@@ -931,7 +1287,8 @@
 		hitCount = 0;
 		ignoreCount = 0;
 		lineNumber = 252;
-		modificationTime = 277989718.2803611;
+		location = Recast;
+		modificationTime = 280415167.304574;
 		state = 1;
 	};
 	6B57D38F108C69E400DDD053 /* PBXTextBookmark */ = {
@@ -956,7 +1313,7 @@
 		fRef = 6B25B6180FFA62BE004F1BC4 /* main.cpp */;
 		name = "main.cpp: 55";
 		rLen = 0;
-		rLoc = 933;
+		rLoc = 961;
 		rType = 0;
 		vrLen = 562;
 		vrLoc = 688;
@@ -991,7 +1348,7 @@
 		fRef = 6B25B6180FFA62BE004F1BC4 /* main.cpp */;
 		name = "main.cpp: 578";
 		rLen = 0;
-		rLoc = 12953;
+		rLoc = 13060;
 		rType = 0;
 		vrLen = 649;
 		vrLoc = 12515;
@@ -1305,6 +1662,13 @@
 		isa = PBXCodeSenseManager;
 		indexTemplatePath = "";
 	};
+	6B8DE6F010A88F0500DF20FB /* PBXBookmarkGroup */ = {
+		isa = PBXBookmarkGroup;
+		children = (
+			6B8DE89210B6A4B900DF20FB /* PBXTextBookmark */,
+		);
+		name = Root;
+	};
 	6B8DE6FE10B01BBF00DF20FB /* PBXTextBookmark */ = {
 		isa = PBXTextBookmark;
 		fRef = 6B2AEC580FFB8A68005BE9CC /* DetourTileNavMesh.h */;
@@ -1320,7 +1684,7 @@
 		fRef = 6B25B6180FFA62BE004F1BC4 /* main.cpp */;
 		name = "main.cpp: 55";
 		rLen = 0;
-		rLoc = 933;
+		rLoc = 961;
 		rType = 0;
 		vrLen = 503;
 		vrLoc = 688;
@@ -1509,7 +1873,7 @@
 		fRef = 6B25B6180FFA62BE004F1BC4 /* main.cpp */;
 		name = "main.cpp: 55";
 		rLen = 0;
-		rLoc = 933;
+		rLoc = 961;
 		rType = 0;
 		vrLen = 503;
 		vrLoc = 688;
@@ -2753,7 +3117,7 @@
 		fRef = 6B2AEC520FFB8958005BE9CC /* Sample_TileMesh.cpp */;
 		name = "Sample_TileMesh.cpp: 417";
 		rLen = 0;
-		rLoc = 11078;
+		rLoc = 11017;
 		rType = 0;
 		vrLen = 825;
 		vrLoc = 10515;
@@ -2763,7 +3127,7 @@
 		fRef = 6B2AEC520FFB8958005BE9CC /* Sample_TileMesh.cpp */;
 		name = "Sample_TileMesh.cpp: 609";
 		rLen = 7;
-		rLoc = 15904;
+		rLoc = 15843;
 		rType = 0;
 		vrLen = 1297;
 		vrLoc = 15422;
@@ -2780,7 +3144,7 @@
 		fRef = 6B2AEC520FFB8958005BE9CC /* Sample_TileMesh.cpp */;
 		name = "Sample_TileMesh.cpp: 609";
 		rLen = 7;
-		rLoc = 15904;
+		rLoc = 15843;
 		rType = 0;
 		vrLen = 1297;
 		vrLoc = 15422;
@@ -2870,7 +3234,7 @@
 		fRef = 6B2AEC520FFB8958005BE9CC /* Sample_TileMesh.cpp */;
 		name = "Sample_TileMesh.cpp: 256";
 		rLen = 0;
-		rLoc = 6334;
+		rLoc = 6313;
 		rType = 0;
 		vrLen = 762;
 		vrLoc = 6103;
@@ -3200,7 +3564,7 @@
 		fRef = 6B2AEC520FFB8958005BE9CC /* Sample_TileMesh.cpp */;
 		name = "Sample_TileMesh.cpp: 256";
 		rLen = 0;
-		rLoc = 6334;
+		rLoc = 6313;
 		rType = 0;
 		vrLen = 762;
 		vrLoc = 6103;
@@ -3270,7 +3634,7 @@
 		fRef = 6BDD9E070F91113800904EEF /* DetourDebugDraw.cpp */;
 		name = "DetourDebugDraw.cpp: 330";
 		rLen = 28;
-		rLoc = 8312;
+		rLoc = 8370;
 		rType = 0;
 		vrLen = 566;
 		vrLoc = 8078;
@@ -3310,7 +3674,7 @@
 		fRef = 6BDD9E070F91113800904EEF /* DetourDebugDraw.cpp */;
 		name = "DetourDebugDraw.cpp: 330";
 		rLen = 28;
-		rLoc = 8312;
+		rLoc = 8370;
 		rType = 0;
 		vrLen = 566;
 		vrLoc = 8078;
@@ -3700,7 +4064,7 @@
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+	};
+	6B8DEA5110B6CC5500DF20FB /* PBXTextBookmark */ = {
+		isa = PBXTextBookmark;
+		fRef = 6B8DE88710B69E3E00DF20FB /* DetourNavMesh.cpp */;
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+		rLoc = 701;
+		rType = 1;
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+	6B8DEA5210B6CC5500DF20FB /* PBXTextBookmark */ = {
+		isa = PBXTextBookmark;
+		fRef = 6BDD9E070F91113800904EEF /* DetourDebugDraw.cpp */;
+		name = "DetourDebugDraw.cpp: 743";
+		rLen = 56;
+		rLoc = 19230;
+		rType = 0;
+		vrLen = 735;
+		vrLoc = 19045;
+	};
+	6B8DEA5310B6CC5500DF20FB /* PBXTextBookmark */ = {
+		isa = PBXTextBookmark;
+		fRef = 6B8DE88710B69E3E00DF20FB /* DetourNavMesh.cpp */;
+		name = "DetourNavMesh.cpp: 702";
+		rLen = 0;
+		rLoc = 18288;
+		rType = 0;
+		vrLen = 656;
+		vrLoc = 18034;
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+	6B8DEA5410B6CC6300DF20FB /* PBXTextBookmark */ = {
+		isa = PBXTextBookmark;
+		fRef = 6B8DE88710B69E3E00DF20FB /* DetourNavMesh.cpp */;
+		name = "DetourNavMesh.cpp: 702";
+		rLen = 0;
+		rLoc = 18288;
+		rType = 0;
+		vrLen = 788;
+		vrLoc = 3719;
+	};
+	6B8DEA5B10B6CD1D00DF20FB /* PBXTextBookmark */ = {
+		isa = PBXTextBookmark;
+		comments = "error: 'header' was not declared in this scope";
+		fRef = 6B8DE88710B69E3E00DF20FB /* DetourNavMesh.cpp */;
+		rLen = 1;
+		rLoc = 652;
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+	6B8DEA5C10B6CD1D00DF20FB /* PBXTextBookmark */ = {
+		isa = PBXTextBookmark;
+		fRef = 6B8DE88710B69E3E00DF20FB /* DetourNavMesh.cpp */;
+		name = "DetourNavMesh.cpp: 407";
+		rLen = 0;
+		rLoc = 11366;
+		rType = 0;
+		vrLen = 809;
+		vrLoc = 10915;
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+	6B8DEA6410B6CF6400DF20FB /* PBXTextBookmark */ = {
+		isa = PBXTextBookmark;
+		fRef = 6B8DE88710B69E3E00DF20FB /* DetourNavMesh.cpp */;
+		name = "DetourNavMesh.cpp: 413";
+		rLen = 0;
+		rLoc = 11471;
+		rType = 0;
+		vrLen = 810;
+		vrLoc = 10915;
+	};
+	6B8DEA6510B6CF6400DF20FB /* PBXTextBookmark */ = {
+		isa = PBXTextBookmark;
+		fRef = 6B25B6140FFA62BE004F1BC4 /* Sample.cpp */;
+		name = "Sample.cpp: 152";
+		rLen = 0;
+		rLoc = 3158;
+		rType = 0;
+		vrLen = 1081;
+		vrLoc = 2145;
+	};
+	6B8DEA6610B6CF6400DF20FB /* PBXTextBookmark */ = {
+		isa = PBXTextBookmark;
+		fRef = 6B25B6180FFA62BE004F1BC4 /* main.cpp */;
+		name = "main.cpp: 566";
+		rLen = 36;
+		rLoc = 12743;
+		rType = 0;
+		vrLen = 681;
+		vrLoc = 12381;
+	};
+	6B8DEA6710B6CF6400DF20FB /* PBXTextBookmark */ = {
+		isa = PBXTextBookmark;
+		fRef = 6B8DE8F610B6B70100DF20FB /* Sample_DynMesh.h */;
+		name = "Sample_DynMesh.h: 89";
+		rLen = 0;
+		rLoc = 2247;
+		rType = 0;
+		vrLen = 631;
+		vrLoc = 1496;
+	};
+	6B8DEA6810B6CF6400DF20FB /* PBXTextBookmark */ = {
+		isa = PBXTextBookmark;
+		comments = "warning: missing whitespace after the macro name";
+		fRef = 6B8DE8F710B6B70E00DF20FB /* Sample_DynMesh.cpp */;
+		rLen = 1;
+		rLoc = 18;
+		rType = 1;
+	};
+	6B8DEA6910B6CF6400DF20FB /* PBXTextBookmark */ = {
+		isa = PBXTextBookmark;
+		fRef = 6B8DE88710B69E3E00DF20FB /* DetourNavMesh.cpp */;
+		name = "DetourNavMesh.cpp: 413";
+		rLen = 0;
+		rLoc = 11471;
+		rType = 0;
+		vrLen = 810;
+		vrLoc = 10915;
+	};
+	6B8DEA6A10B6CF6400DF20FB /* PBXTextBookmark */ = {
+		isa = PBXTextBookmark;
+		fRef = 6B8DE8F710B6B70E00DF20FB /* Sample_DynMesh.cpp */;
+		name = "Sample_DynMesh.cpp: 498";
+		rLen = 0;
+		rLoc = 13799;
+		rType = 0;
+		vrLen = 585;
+		vrLoc = 12583;
+	};
+	6B8DEA6B10B6CF6400DF20FB /* PBXTextBookmark */ = {
+		isa = PBXTextBookmark;
+		fRef = 6B8DE8F610B6B70100DF20FB /* Sample_DynMesh.h */;
+		name = "Sample_DynMesh.h: 89";
+		rLen = 0;
+		rLoc = 2247;
+		rType = 0;
+		vrLen = 631;
+		vrLoc = 1496;
+	};
+	6B8DEA6C10B6CF6400DF20FB /* PBXTextBookmark */ = {
+		isa = PBXTextBookmark;
+		fRef = 6B8DE8F710B6B70E00DF20FB /* Sample_DynMesh.cpp */;
+		name = "Sample_DynMesh.cpp: 206";
+		rLen = 0;
+		rLoc = 5246;
+		rType = 0;
+		vrLen = 803;
+		vrLoc = 4596;
+	};
+	6B8DEA6D10B6CF6400DF20FB /* PBXTextBookmark */ = {
+		isa = PBXTextBookmark;
+		fRef = 6B25B6140FFA62BE004F1BC4 /* Sample.cpp */;
+		name = "Sample.cpp: 152";
+		rLen = 0;
+		rLoc = 3158;
+		rType = 0;
+		vrLen = 1081;
+		vrLoc = 2145;
+	};
+	6B8DEA6E10B6CF6400DF20FB /* PBXTextBookmark */ = {
+		isa = PBXTextBookmark;
+		fRef = 6B25B6180FFA62BE004F1BC4 /* main.cpp */;
+		name = "main.cpp: 566";
+		rLen = 36;
+		rLoc = 12743;
+		rType = 0;
+		vrLen = 681;
+		vrLoc = 12381;
+	};
+	6B8DEA6F10B6CF6400DF20FB /* PBXTextBookmark */ = {
+		isa = PBXTextBookmark;
+		fRef = 6B8DE8F710B6B70E00DF20FB /* Sample_DynMesh.cpp */;
+		name = "Sample_DynMesh.cpp: 221";
+		rLen = 0;
+		rLoc = 6174;
+		rType = 0;
+		vrLen = 715;
+		vrLoc = 5571;
+	};
+	6B8DEA7010B6CF6400DF20FB /* PBXTextBookmark */ = {
+		isa = PBXTextBookmark;
+		fRef = 6B8DE8F610B6B70100DF20FB /* Sample_DynMesh.h */;
+		name = "Sample_DynMesh.h: 89";
+		rLen = 0;
+		rLoc = 2247;
+		rType = 0;
+		vrLen = 631;
+		vrLoc = 1496;
+	};
+	6B8DEA7110B6CF6400DF20FB /* PBXTextBookmark */ = {
+		isa = PBXTextBookmark;
+		fRef = 6B8DE8F710B6B70E00DF20FB /* Sample_DynMesh.cpp */;
+		name = "Sample_DynMesh.cpp: 16";
+		rLen = 0;
+		rLoc = 914;
+		rType = 0;
+		vrLen = 1074;
+		vrLoc = 56;
+	};
+	6B8DEA7410B6CF8400DF20FB /* PBXTextBookmark */ = {
+		isa = PBXTextBookmark;
+		fRef = 6B8DE8F710B6B70E00DF20FB /* Sample_DynMesh.cpp */;
+		name = "Sample_DynMesh.cpp: 541";
+		rLen = 0;
+		rLoc = 13995;
+		rType = 0;
+		vrLen = 586;
+		vrLoc = 13698;
+	};
+	6B8DEA7710B6CFC900DF20FB /* PBXTextBookmark */ = {
+		isa = PBXTextBookmark;
+		fRef = 6B8DE8F710B6B70E00DF20FB /* Sample_DynMesh.cpp */;
+		name = "Sample_DynMesh.cpp: 541";
+		rLen = 0;
+		rLoc = 13995;
+		rType = 0;
+		vrLen = 605;
+		vrLoc = 13698;
+	};
+	6B8DEA7810B6CFC900DF20FB /* PBXTextBookmark */ = {
+		isa = PBXTextBookmark;
+		fRef = 6B137C840F7FCC1100459200 /* RecastDebugDraw.cpp */;
+		name = "RecastDebugDraw.cpp: 37";
+		rLen = 0;
+		rLoc = 1401;
+		rType = 0;
+		vrLen = 932;
+		vrLoc = 963;
+	};
+	6B8DEA7910B6CFC900DF20FB /* PBXTextBookmark */ = {
+		isa = PBXTextBookmark;
+		fRef = 6BDD9E070F91113800904EEF /* DetourDebugDraw.cpp */;
+		name = "DetourDebugDraw.cpp: 743";
+		rLen = 56;
+		rLoc = 19230;
+		rType = 0;
+		vrLen = 734;
+		vrLoc = 19045;
+	};
+	6B8DEA7A10B6CFC900DF20FB /* PBXTextBookmark */ = {
+		isa = PBXTextBookmark;
+		fRef = 6B8DE8F710B6B70E00DF20FB /* Sample_DynMesh.cpp */;
+		name = "Sample_DynMesh.cpp: 541";
+		rLen = 0;
+		rLoc = 13995;
+		rType = 0;
+		vrLen = 605;
+		vrLoc = 13698;
+	};
+	6B8DEA7B10B6CFC900DF20FB /* PBXTextBookmark */ = {
+		isa = PBXTextBookmark;
+		fRef = 6B137C840F7FCC1100459200 /* RecastDebugDraw.cpp */;
+		name = "RecastDebugDraw.cpp: 37";
+		rLen = 0;
+		rLoc = 1401;
+		rType = 0;
+		vrLen = 932;
+		vrLoc = 963;
+	};
+	6B8DEA7C10B6CFC900DF20FB /* PBXTextBookmark */ = {
+		isa = PBXTextBookmark;
+		fRef = 6BDD9E070F91113800904EEF /* DetourDebugDraw.cpp */;
+		name = "DetourDebugDraw.cpp: 624";
+		rLen = 0;
+		rLoc = 15631;
+		rType = 0;
+		vrLen = 726;
+		vrLoc = 15456;
+	};
 	6B9301521032F08300F0C0DA /* Recast.cpp:280 */ = {
 		isa = PBXFileBreakpoint;
 		actions = (
@@ -3996,7 +7877,8 @@
 		hitCount = 0;
 		ignoreCount = 0;
 		lineNumber = 280;
-		modificationTime = 277989718.279228;
+		location = Recast;
+		modificationTime = 280415167.304094;
 		state = 1;
 	};
 	6B93FEFF1030443300F0C0DA /* Recast.cpp:280 */ = {
@@ -4013,7 +7895,7 @@
 		ignoreCount = 0;
 		lineNumber = 280;
 		location = Recast;
-		modificationTime = 277989520.8474849;
+		modificationTime = 280415167.30395;
 		state = 2;
 	};
 	6B9BE374107BC6A40036CC81 /* PBXTextBookmark */ = {
@@ -4047,8 +7929,8 @@
 		hitCount = 0;
 		ignoreCount = 0;
 		lineNumber = 301;
-		modificationTime = 277989520.846603;
-		state = 1;
+		modificationTime = 280415167.641139;
+		state = 0;
 	};
 	6B9D09921028542A009B1A6C /* RecastDebugDraw.cpp:29 */ = {
 		isa = PBXFileBreakpoint;
@@ -4064,7 +7946,7 @@
 		ignoreCount = 0;
 		lineNumber = 29;
 		location = Recast;
-		modificationTime = 277989520.847037;
+		modificationTime = 280415167.303804;
 		state = 2;
 	};
 	6BB788160FC0472B003C24DB /* ChunkyTriMesh.cpp */ = {
@@ -4083,44 +7965,44 @@
 	};
 	6BDD9E040F91112200904EEF /* DetourDebugDraw.h */ = {
 		uiCtxt = {
-			sepNavIntBoundsRect = "{{0, 0}, {915, 512}}";
-			sepNavSelRange = "{0, 0}";
-			sepNavVisRange = "{0, 1279}";
+			sepNavIntBoundsRect = "{{0, 0}, {915, 576}}";
+			sepNavSelRange = "{972, 89}";
+			sepNavVisRange = "{516, 1110}";
 		};
 	};
 	6BDD9E050F91112200904EEF /* DetourStatNavMesh.h */ = {
 		uiCtxt = {
-			sepNavIntBoundsRect = "{{0, 0}, {915, 3520}}";
-			sepNavSelRange = "{6281, 0}";
-			sepNavVisRange = "{5757, 1175}";
+			sepNavIntBoundsRect = "{{0, 0}, {915, 4144}}";
+			sepNavSelRange = "{2120, 6}";
+			sepNavVisRange = "{1748, 521}";
 		};
 	};
 	6BDD9E060F91112200904EEF /* DetourStatNavMeshBuilder.h */ = {
 		uiCtxt = {
-			sepNavIntBoundsRect = "{{0, 0}, {915, 489}}";
-			sepNavSelRange = "{917, 0}";
+			sepNavIntBoundsRect = "{{0, 0}, {915, 559}}";
+			sepNavSelRange = "{822, 0}";
 			sepNavVisRange = "{0, 1416}";
 		};
 	};
 	6BDD9E070F91113800904EEF /* DetourDebugDraw.cpp */ = {
 		uiCtxt = {
-			sepNavIntBoundsRect = "{{0, 0}, {915, 7648}}";
-			sepNavSelRange = "{8312, 28}";
-			sepNavVisRange = "{8078, 566}";
+			sepNavIntBoundsRect = "{{0, 0}, {915, 12272}}";
+			sepNavSelRange = "{15631, 0}";
+			sepNavVisRange = "{15456, 726}";
 		};
 	};
 	6BDD9E080F91113800904EEF /* DetourStatNavMesh.cpp */ = {
 		uiCtxt = {
-			sepNavIntBoundsRect = "{{0, 0}, {915, 13584}}";
-			sepNavSelRange = "{1622, 0}";
-			sepNavVisRange = "{1367, 1211}";
+			sepNavIntBoundsRect = "{{0, 0}, {915, 13488}}";
+			sepNavSelRange = "{19594, 0}";
+			sepNavVisRange = "{18667, 1323}";
 		};
 	};
 	6BDD9E090F91113800904EEF /* DetourStatNavMeshBuilder.cpp */ = {
 		uiCtxt = {
-			sepNavIntBoundsRect = "{{0, 0}, {915, 5568}}";
-			sepNavSelRange = "{1025, 0}";
-			sepNavVisRange = "{0, 1113}";
+			sepNavIntBoundsRect = "{{0, 0}, {915, 5200}}";
+			sepNavSelRange = "{8381, 101}";
+			sepNavVisRange = "{8055, 875}";
 			sepNavWindowFrame = "{{15, 78}, {1011, 695}}";
 		};
 	};
diff --git a/RecastDemo/Build/Xcode/Recast.xcodeproj/memon.perspectivev3 b/RecastDemo/Build/Xcode/Recast.xcodeproj/memon.perspectivev3
index 1da5978..725570e 100644
--- a/RecastDemo/Build/Xcode/Recast.xcodeproj/memon.perspectivev3
+++ b/RecastDemo/Build/Xcode/Recast.xcodeproj/memon.perspectivev3
@@ -279,14 +279,14 @@
 							<key>PBXSmartGroupTreeModuleOutlineStateSelectionKey</key>
 							<array>
 								<array>
-									<integer>11</integer>
+									<integer>9</integer>
 									<integer>3</integer>
 									<integer>1</integer>
 									<integer>0</integer>
 								</array>
 							</array>
 							<key>PBXSmartGroupTreeModuleOutlineStateVisibleRectKey</key>
-							<string>{{0, 35}, {282, 660}}</string>
+							<string>{{0, 39}, {282, 660}}</string>
 						</dict>
 						<key>PBXTopSmartGroupGIDs</key>
 						<array/>
@@ -321,7 +321,7 @@
 								<key>PBXProjectModuleGUID</key>
 								<string>6B8632A30F78115100E2684A</string>
 								<key>PBXProjectModuleLabel</key>
-								<string>DetourTileNavMesh.cpp</string>
+								<string>DetourDebugDraw.cpp</string>
 								<key>PBXSplitModuleInNavigatorKey</key>
 								<dict>
 									<key>Split0</key>
@@ -329,11 +329,11 @@
 										<key>PBXProjectModuleGUID</key>
 										<string>6B8632A40F78115100E2684A</string>
 										<key>PBXProjectModuleLabel</key>
-										<string>DetourTileNavMesh.cpp</string>
+										<string>DetourDebugDraw.cpp</string>
 										<key>_historyCapacity</key>
 										<integer>0</integer>
 										<key>bookmark</key>
-										<string>6B8DE88110B68A7500DF20FB</string>
+										<string>6B8DEA7C10B6CFC900DF20FB</string>
 										<key>history</key>
 										<array>
 											<string>6B3BFADD107A80E1006284CD</string>
@@ -341,37 +341,45 @@
 											<string>6B57D358108C66B200DDD053</string>
 											<string>6B57D38F108C69E400DDD053</string>
 											<string>6B7FB74D1091EBDE001BA51A</string>
-											<string>6B8DE6FE10B01BBF00DF20FB</string>
 											<string>6B8DE70110B01BBF00DF20FB</string>
-											<string>6B8DE70310B01BBF00DF20FB</string>
-											<string>6B8DE70410B01BBF00DF20FB</string>
-											<string>6B8DE70710B01BBF00DF20FB</string>
 											<string>6B8DE70A10B01BBF00DF20FB</string>
 											<string>6B8DE70B10B01BBF00DF20FB</string>
 											<string>6B8DE70D10B01BBF00DF20FB</string>
 											<string>6B8DE76D10B0243500DF20FB</string>
 											<string>6B8DE7F110B0517A00DF20FB</string>
 											<string>6B8DE7F310B0517A00DF20FB</string>
-											<string>6B8DE7F410B0517A00DF20FB</string>
-											<string>6B8DE7F510B0517A00DF20FB</string>
-											<string>6B8DE7F610B0517A00DF20FB</string>
 											<string>6B8DE7F710B0517A00DF20FB</string>
 											<string>6B8DE7F810B0517A00DF20FB</string>
-											<string>6B8DE81F10B0528100DF20FB</string>
-											<string>6B8DE82010B0528100DF20FB</string>
 											<string>6B8DE84910B0584400DF20FB</string>
 											<string>6B8DE84A10B0584400DF20FB</string>
-											<string>6B8DE85110B6873400DF20FB</string>
 											<string>6B8DE85210B6873400DF20FB</string>
 											<string>6B8DE85C10B6899100DF20FB</string>
-											<string>6B8DE86B10B68A1300DF20FB</string>
-											<string>6B8DE86C10B68A1300DF20FB</string>
-											<string>6B8DE86D10B68A1300DF20FB</string>
-											<string>6B8DE86E10B68A1300DF20FB</string>
-											<string>6B8DE87A10B68A7500DF20FB</string>
-											<string>6B8DE87B10B68A7500DF20FB</string>
-											<string>6B8DE87C10B68A7500DF20FB</string>
-											<string>6B8DE87D10B68A7500DF20FB</string>
+											<string>6B8DE89910B6B3F800DF20FB</string>
+											<string>6B8DE89A10B6B3F800DF20FB</string>
+											<string>6B8DE89B10B6B3F800DF20FB</string>
+											<string>6B8DE8A110B6B3F800DF20FB</string>
+											<string>6B8DE8E710B6B59A00DF20FB</string>
+											<string>6B8DE8E910B6B59A00DF20FB</string>
+											<string>6B8DE8EA10B6B59A00DF20FB</string>
+											<string>6B8DE8FD10B6B76800DF20FB</string>
+											<string>6B8DE92D10B6BCDA00DF20FB</string>
+											<string>6B8DE98B10B6C53B00DF20FB</string>
+											<string>6B8DE98C10B6C53B00DF20FB</string>
+											<string>6B8DE98D10B6C53B00DF20FB</string>
+											<string>6B8DE98E10B6C53B00DF20FB</string>
+											<string>6B8DE98F10B6C53B00DF20FB</string>
+											<string>6B8DEA0110B6CA1500DF20FB</string>
+											<string>6B8DEA0310B6CA1500DF20FB</string>
+											<string>6B8DEA3610B6CBC200DF20FB</string>
+											<string>6B8DEA3810B6CBC200DF20FB</string>
+											<string>6B8DEA4010B6CC0400DF20FB</string>
+											<string>6B8DEA6410B6CF6400DF20FB</string>
+											<string>6B8DEA6510B6CF6400DF20FB</string>
+											<string>6B8DEA6610B6CF6400DF20FB</string>
+											<string>6B8DEA6710B6CF6400DF20FB</string>
+											<string>6B8DEA7710B6CFC900DF20FB</string>
+											<string>6B8DEA7810B6CFC900DF20FB</string>
+											<string>6B8DEA7910B6CFC900DF20FB</string>
 										</array>
 										<key>prevStack</key>
 										<array>
@@ -506,6 +514,196 @@
 											<string>6B8DE87E10B68A7500DF20FB</string>
 											<string>6B8DE87F10B68A7500DF20FB</string>
 											<string>6B8DE88010B68A7500DF20FB</string>
+											<string>6B8DE8A310B6B3F800DF20FB</string>
+											<string>6B8DE8A410B6B3F800DF20FB</string>
+											<string>6B8DE8A510B6B3F800DF20FB</string>
+											<string>6B8DE8A610B6B3F800DF20FB</string>
+											<string>6B8DE8A710B6B3F800DF20FB</string>
+											<string>6B8DE8A810B6B3F800DF20FB</string>
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+											<string>6B8DEA2E10B6CB8A00DF20FB</string>
+											<string>6B8DEA2F10B6CB8A00DF20FB</string>
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+											<string>6B8DEA3B10B6CBC200DF20FB</string>
+											<string>6B8DEA3C10B6CBC200DF20FB</string>
+											<string>6B8DEA3D10B6CBC200DF20FB</string>
+											<string>6B8DEA4310B6CC0400DF20FB</string>
+											<string>6B8DEA4410B6CC0400DF20FB</string>
+											<string>6B8DEA4510B6CC0400DF20FB</string>
+											<string>6B8DEA4E10B6CC2600DF20FB</string>
+											<string>6B8DEA5210B6CC5500DF20FB</string>
+											<string>6B8DEA6910B6CF6400DF20FB</string>
+											<string>6B8DEA6A10B6CF6400DF20FB</string>
+											<string>6B8DEA6B10B6CF6400DF20FB</string>
+											<string>6B8DEA6C10B6CF6400DF20FB</string>
+											<string>6B8DEA6D10B6CF6400DF20FB</string>
+											<string>6B8DEA6E10B6CF6400DF20FB</string>
+											<string>6B8DEA6F10B6CF6400DF20FB</string>
+											<string>6B8DEA7010B6CF6400DF20FB</string>
+											<string>6B8DEA7A10B6CFC900DF20FB</string>
+											<string>6B8DEA7B10B6CFC900DF20FB</string>
 										</array>
 									</dict>
 									<key>SplitCount</key>
@@ -519,18 +717,18 @@
 							<key>GeometryConfiguration</key>
 							<dict>
 								<key>Frame</key>
-								<string>{{0, 0}, {976, 521}}</string>
+								<string>{{0, 0}, {976, 548}}</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>521pt</string>
+							<string>548pt</string>
 						</dict>
 						<dict>
 							<key>Proportion</key>
-							<string>152pt</string>
+							<string>125pt</string>
 							<key>Tabs</key>
 							<array>
 								<dict>
@@ -544,7 +742,7 @@
 									<key>GeometryConfiguration</key>
 									<dict>
 										<key>Frame</key>
-										<string>{{10, 27}, {976, -27}}</string>
+										<string>{{10, 27}, {976, 262}}</string>
 									</dict>
 									<key>Module</key>
 									<string>XCDetailModule</string>
@@ -560,7 +758,9 @@
 									<key>GeometryConfiguration</key>
 									<dict>
 										<key>Frame</key>
-										<string>{{10, 27}, {976, 175}}</string>
+										<string>{{10, 27}, {976, 98}}</string>
+										<key>RubberWindowFrame</key>
+										<string>0 59 1280 719 0 0 1280 778 </string>
 									</dict>
 									<key>Module</key>
 									<string>PBXProjectFindModule</string>
@@ -598,9 +798,7 @@
 									<key>GeometryConfiguration</key>
 									<dict>
 										<key>Frame</key>
-										<string>{{10, 27}, {976, 125}}</string>
-										<key>RubberWindowFrame</key>
-										<string>0 59 1280 719 0 0 1280 778 </string>
+										<string>{{10, 27}, {976, 90}}</string>
 									</dict>
 									<key>Module</key>
 									<string>PBXBuildResultsModule</string>
@@ -681,12 +879,12 @@
 					<key>GeometryConfiguration</key>
 					<dict>
 						<key>Frame</key>
-						<string>{{0, 0}, {1280, 305}}</string>
+						<string>{{0, 0}, {1280, 359}}</string>
 					</dict>
 					<key>Module</key>
 					<string>PBXDebugCLIModule</string>
 					<key>Proportion</key>
-					<string>305pt</string>
+					<string>359pt</string>
 				</dict>
 				<dict>
 					<key>ContentConfiguration</key>
@@ -705,8 +903,8 @@
 								<string>yes</string>
 								<key>sizes</key>
 								<array>
-									<string>{{0, 0}, {620, 135}}</string>
-									<string>{{620, 0}, {660, 135}}</string>
+									<string>{{0, 0}, {620, 115}}</string>
+									<string>{{620, 0}, {660, 115}}</string>
 								</array>
 							</dict>
 							<key>VerticalSplitView</key>
@@ -721,8 +919,8 @@
 								<string>yes</string>
 								<key>sizes</key>
 								<array>
-									<string>{{0, 0}, {1280, 135}}</string>
-									<string>{{0, 135}, {1280, 233}}</string>
+									<string>{{0, 0}, {1280, 115}}</string>
+									<string>{{0, 115}, {1280, 199}}</string>
 								</array>
 							</dict>
 						</dict>
@@ -742,7 +940,7 @@
 						<key>DebugSTDIOWindowFrame</key>
 						<string>{{200, 200}, {500, 300}}</string>
 						<key>Frame</key>
-						<string>{{0, 310}, {1280, 368}}</string>
+						<string>{{0, 364}, {1280, 314}}</string>
 						<key>PBXDebugSessionStackFrameViewKey</key>
 						<dict>
 							<key>DebugVariablesTableConfiguration</key>
@@ -755,13 +953,13 @@
 								<real>430</real>
 							</array>
 							<key>Frame</key>
-							<string>{{620, 0}, {660, 135}}</string>
+							<string>{{620, 0}, {660, 115}}</string>
 						</dict>
 					</dict>
 					<key>Module</key>
 					<string>PBXDebugSessionModule</string>
 					<key>Proportion</key>
-					<string>368pt</string>
+					<string>314pt</string>
 				</dict>
 			</array>
 			<key>Name</key>
@@ -816,6 +1014,9 @@
 	<integer>5</integer>
 	<key>WindowOrderList</key>
 	<array>
+		<string>6B8DE95710B6BEDB00DF20FB</string>
+		<string>6B8DE95810B6BEDB00DF20FB</string>
+		<string>6B8DE8DB10B6B3F800DF20FB</string>
 		<string>/Users/memon/Code/recastnavigation/RecastDemo/Build/Xcode/Recast.xcodeproj</string>
 	</array>
 	<key>WindowString</key>
@@ -1465,22 +1666,40 @@
 			<string>100 100 700 500 0 0 1280 1002 </string>
 		</dict>
 		<dict>
+			<key>FirstTimeWindowDisplayed</key>
+			<false/>
 			<key>Identifier</key>
 			<string>windowTool.bookmarks</string>
+			<key>IsVertical</key>
+			<true/>
 			<key>Layout</key>
 			<array>
 				<dict>
 					<key>Dock</key>
 					<array>
 						<dict>
+							<key>ContentConfiguration</key>
+							<dict>
+								<key>PBXProjectModuleGUID</key>
+								<string>6B8DE8DA10B6B3F800DF20FB</string>
+								<key>PBXProjectModuleLabel</key>
+								<string>Bookmarks</string>
+							</dict>
+							<key>GeometryConfiguration</key>
+							<dict>
+								<key>Frame</key>
+								<string>{{0, 0}, {401, 202}}</string>
+								<key>RubberWindowFrame</key>
+								<string>21 533 401 222 0 0 1280 778 </string>
+							</dict>
 							<key>Module</key>
 							<string>PBXBookmarksModule</string>
 							<key>Proportion</key>
-							<string>166pt</string>
+							<string>202pt</string>
 						</dict>
 					</array>
 					<key>Proportion</key>
-					<string>166pt</string>
+					<string>202pt</string>
 				</dict>
 			</array>
 			<key>Name</key>
@@ -1490,9 +1709,19 @@
 				<string>PBXBookmarksModule</string>
 			</array>
 			<key>StatusbarIsVisible</key>
-			<integer>0</integer>
+			<false/>
+			<key>TableOfContents</key>
+			<array>
+				<string>6B8DE8DB10B6B3F800DF20FB</string>
+				<string>6B8DE8DC10B6B3F800DF20FB</string>
+				<string>6B8DE8DA10B6B3F800DF20FB</string>
+			</array>
 			<key>WindowString</key>
-			<string>538 42 401 187 0 0 1280 1002 </string>
+			<string>21 533 401 222 0 0 1280 778 </string>
+			<key>WindowToolGUID</key>
+			<string>6B8DE8DB10B6B3F800DF20FB</string>
+			<key>WindowToolIsVisible</key>
+			<false/>
 		</dict>
 		<dict>
 			<key>Identifier</key>
diff --git a/RecastDemo/Build/Xcode/Recast.xcodeproj/project.pbxproj b/RecastDemo/Build/Xcode/Recast.xcodeproj/project.pbxproj
index 9af2ebb..4a279ea 100644
--- a/RecastDemo/Build/Xcode/Recast.xcodeproj/project.pbxproj
+++ b/RecastDemo/Build/Xcode/Recast.xcodeproj/project.pbxproj
@@ -35,6 +35,9 @@
 		6B62416A103434880002E346 /* RecastMeshDetail.cpp in Sources */ = {isa = PBXBuildFile; fileRef = 6B624169103434880002E346 /* RecastMeshDetail.cpp */; };
 		6B8632DA0F78122C00E2684A /* SDL.framework in Frameworks */ = {isa = PBXBuildFile; fileRef = 6B8632D90F78122C00E2684A /* SDL.framework */; };
 		6B8632DC0F78123E00E2684A /* OpenGL.framework in Frameworks */ = {isa = PBXBuildFile; fileRef = 6B8632DB0F78123E00E2684A /* OpenGL.framework */; };
+		6B8DE88910B69E3E00DF20FB /* DetourNavMesh.cpp in Sources */ = {isa = PBXBuildFile; fileRef = 6B8DE88710B69E3E00DF20FB /* DetourNavMesh.cpp */; };
+		6B8DE88A10B69E3E00DF20FB /* DetourNavMeshBuilder.cpp in Sources */ = {isa = PBXBuildFile; fileRef = 6B8DE88810B69E3E00DF20FB /* DetourNavMeshBuilder.cpp */; };
+		6B8DE8F810B6B70E00DF20FB /* Sample_DynMesh.cpp in Sources */ = {isa = PBXBuildFile; fileRef = 6B8DE8F710B6B70E00DF20FB /* Sample_DynMesh.cpp */; };
 		6BB788170FC0472B003C24DB /* ChunkyTriMesh.cpp in Sources */ = {isa = PBXBuildFile; fileRef = 6BB788160FC0472B003C24DB /* ChunkyTriMesh.cpp */; };
 		6BDD9E0A0F91113800904EEF /* DetourDebugDraw.cpp in Sources */ = {isa = PBXBuildFile; fileRef = 6BDD9E070F91113800904EEF /* DetourDebugDraw.cpp */; };
 		6BDD9E0B0F91113800904EEF /* DetourStatNavMesh.cpp in Sources */ = {isa = PBXBuildFile; fileRef = 6BDD9E080F91113800904EEF /* DetourStatNavMesh.cpp */; };
@@ -96,6 +99,12 @@
 		6B624169103434880002E346 /* RecastMeshDetail.cpp */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.cpp.cpp; name = RecastMeshDetail.cpp; path = ../../../Recast/Source/RecastMeshDetail.cpp; sourceTree = SOURCE_ROOT; };
 		6B8632D90F78122C00E2684A /* SDL.framework */ = {isa = PBXFileReference; lastKnownFileType = wrapper.framework; name = SDL.framework; path = Library/Frameworks/SDL.framework; sourceTree = SDKROOT; };
 		6B8632DB0F78123E00E2684A /* OpenGL.framework */ = {isa = PBXFileReference; lastKnownFileType = wrapper.framework; name = OpenGL.framework; path = System/Library/Frameworks/OpenGL.framework; sourceTree = SDKROOT; };
+		6B8DE88710B69E3E00DF20FB /* DetourNavMesh.cpp */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.cpp.cpp; name = DetourNavMesh.cpp; path = ../../../Detour/Source/DetourNavMesh.cpp; sourceTree = SOURCE_ROOT; };
+		6B8DE88810B69E3E00DF20FB /* DetourNavMeshBuilder.cpp */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.cpp.cpp; name = DetourNavMeshBuilder.cpp; path = ../../../Detour/Source/DetourNavMeshBuilder.cpp; sourceTree = SOURCE_ROOT; };
+		6B8DE88B10B69E4C00DF20FB /* DetourNavMesh.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = DetourNavMesh.h; path = ../../../Detour/Include/DetourNavMesh.h; sourceTree = SOURCE_ROOT; };
+		6B8DE88C10B69E4C00DF20FB /* DetourNavMeshBuilder.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = DetourNavMeshBuilder.h; path = ../../../Detour/Include/DetourNavMeshBuilder.h; sourceTree = SOURCE_ROOT; };
+		6B8DE8F610B6B70100DF20FB /* Sample_DynMesh.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = Sample_DynMesh.h; path = ../../Include/Sample_DynMesh.h; sourceTree = SOURCE_ROOT; };
+		6B8DE8F710B6B70E00DF20FB /* Sample_DynMesh.cpp */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.cpp.cpp; name = Sample_DynMesh.cpp; path = ../../Source/Sample_DynMesh.cpp; sourceTree = SOURCE_ROOT; };
 		6BB788160FC0472B003C24DB /* ChunkyTriMesh.cpp */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.cpp.cpp; name = ChunkyTriMesh.cpp; path = ../../Source/ChunkyTriMesh.cpp; sourceTree = SOURCE_ROOT; };
 		6BB788180FC04753003C24DB /* ChunkyTriMesh.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = ChunkyTriMesh.h; path = ../../Include/ChunkyTriMesh.h; sourceTree = SOURCE_ROOT; };
 		6BDD9E040F91112200904EEF /* DetourDebugDraw.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = DetourDebugDraw.h; path = ../../../Detour/Include/DetourDebugDraw.h; sourceTree = SOURCE_ROOT; };
@@ -238,6 +247,8 @@
 			children = (
 				6B25B6100FFA62AD004F1BC4 /* Sample.h */,
 				6B25B6140FFA62BE004F1BC4 /* Sample.cpp */,
+				6B8DE8F610B6B70100DF20FB /* Sample_DynMesh.h */,
+				6B8DE8F710B6B70E00DF20FB /* Sample_DynMesh.cpp */,
 				6B2AEC510FFB8946005BE9CC /* Sample_TileMesh.h */,
 				6B2AEC520FFB8958005BE9CC /* Sample_TileMesh.cpp */,
 				6B2AEC570FFB89F4005BE9CC /* Sample_StatMeshTiled.h */,
@@ -253,6 +264,10 @@
 		6BDD9E030F91110C00904EEF /* Detour */ = {
 			isa = PBXGroup;
 			children = (
+				6B8DE88B10B69E4C00DF20FB /* DetourNavMesh.h */,
+				6B8DE88710B69E3E00DF20FB /* DetourNavMesh.cpp */,
+				6B8DE88C10B69E4C00DF20FB /* DetourNavMeshBuilder.h */,
+				6B8DE88810B69E3E00DF20FB /* DetourNavMeshBuilder.cpp */,
 				6BDD9E040F91112200904EEF /* DetourDebugDraw.h */,
 				6BDD9E070F91113800904EEF /* DetourDebugDraw.cpp */,
 				6BDD9E050F91112200904EEF /* DetourStatNavMesh.h */,
@@ -355,6 +370,9 @@
 				6B1185FE10068B150018F96F /* DetourCommon.cpp in Sources */,
 				6B555DB1100B212E00247EA3 /* imguiRenderGL.cpp in Sources */,
 				6B62416A103434880002E346 /* RecastMeshDetail.cpp in Sources */,
+				6B8DE88910B69E3E00DF20FB /* DetourNavMesh.cpp in Sources */,
+				6B8DE88A10B69E3E00DF20FB /* DetourNavMeshBuilder.cpp in Sources */,
+				6B8DE8F810B6B70E00DF20FB /* Sample_DynMesh.cpp in Sources */,
 			);
 			runOnlyForDeploymentPostprocessing = 0;
 		};
diff --git a/RecastDemo/Include/Sample_DynMesh.h b/RecastDemo/Include/Sample_DynMesh.h
new file mode 100644
index 0000000..b49f619
--- /dev/null
+++ b/RecastDemo/Include/Sample_DynMesh.h
@@ -0,0 +1,114 @@
+//
+// Copyright (c) 2009 Mikko Mononen memon@inside.org
+//
+// This software is provided 'as-is', without any express or implied
+// warranty.  In no event will the authors be held liable for any damages
+// arising from the use of this software.
+// Permission is granted to anyone to use this software for any purpose,
+// including commercial applications, and to alter it and redistribute it
+// freely, subject to the following restrictions:
+// 1. The origin of this software must not be misrepresented; you must not
+//    claim that you wrote the original software. If you use this software
+//    in a product, an acknowledgment in the product documentation would be
+//    appreciated but is not required.
+// 2. Altered source versions must be plainly marked as such, and must not be
+//    misrepresented as being the original software.
+// 3. This notice may not be removed or altered from any source distribution.
+//
+
+#ifndef RECASTSAMPLEDYNMESH_H
+#define RECASTSAMPLEDYNMESH_H
+
+#include "Sample.h"
+#include "DetourNavMesh.h"
+#include "Recast.h"
+#include "RecastLog.h"
+#include "ChunkyTriMesh.h"
+
+class Sample_DynMesh : public Sample
+{
+protected:
+	
+	bool m_keepInterResults;
+	rcBuildTimes m_buildTimes; 
+
+	dtNavMesh* m_navMesh;
+	rcChunkyTriMesh* m_chunkyMesh;
+	unsigned char* m_triflags;
+	rcHeightfield* m_solid;
+	rcCompactHeightfield* m_chf;
+	rcContourSet* m_cset;
+	rcPolyMesh* m_pmesh;
+	rcPolyMeshDetail* m_dmesh;
+	rcConfig m_cfg;	
+	
+	float m_tileSize;
+			
+	float m_spos[3];
+	float m_epos[3];
+	bool m_sposSet;
+	bool m_eposSet;
+	
+	float m_tileCol[4];
+	float m_tileBmin[3];
+	float m_tileBmax[3];
+	float m_tileBuildTime;
+	float m_tileMemUsage;
+	int m_tileTriCount;
+	
+	enum ToolMode
+	{
+		TOOLMODE_CREATE_TILES,
+		TOOLMODE_PATHFIND,
+		TOOLMODE_RAYCAST,
+		TOOLMODE_DISTANCE_TO_WALL,
+		TOOLMODE_FIND_POLYS_AROUND,
+	};
+	
+	dtPolyRef m_startRef;
+	dtPolyRef m_endRef;
+	float m_polyPickExt[3];
+
+	static const int MAX_POLYS = 256;
+	
+	dtPolyRef m_polys[MAX_POLYS];
+	dtPolyRef m_parent[MAX_POLYS];
+	int m_npolys;
+	float m_straightPath[MAX_POLYS*3];
+	int m_nstraightPath;
+	float m_hitPos[3];
+	float m_hitNormal[3];
+	float m_distanceToWall;
+	
+	ToolMode m_toolMode;
+	
+	void toolRecalc();
+	
+	void buildTile(const float* pos);
+	void removeTile(const float* pos);
+	
+	unsigned char* buildTileMesh(const float* bmin, const float* bmax, int& dataSize);
+
+	void cleanup();
+	
+public:
+	Sample_DynMesh();
+	virtual ~Sample_DynMesh();
+	
+	virtual void handleSettings();
+	virtual void handleTools();
+	virtual void handleDebugMode();
+	
+	virtual void setToolStartPos(const float* p);
+	virtual void setToolEndPos(const float* p);
+	
+	virtual void handleRender();
+	virtual void handleRenderOverlay(double* proj, double* model, int* view);
+	virtual void handleMeshChanged(const float* verts, int nverts,
+								   const int* tris, const float* trinorms, int ntris,
+								   const float* bmin, const float* bmax);
+	virtual bool handleBuild();
+};
+
+
+#endif // RECASTSAMPLEDYNMESH_H
diff --git a/RecastDemo/Source/Sample_DynMesh.cpp b/RecastDemo/Source/Sample_DynMesh.cpp
new file mode 100644
index 0000000..67fdd79
--- /dev/null
+++ b/RecastDemo/Source/Sample_DynMesh.cpp
@@ -0,0 +1,931 @@
+//
+// Copyright (c) 2009 Mikko Mononen memon@inside.org
+//
+// This software is provided 'as-is', without any express or implied
+// warranty.  In no event will the authors be held liable for any damages
+// arising from the use of this software.
+// Permission is granted to anyone to use this software for any purpose,
+// including commercial applications, and to alter it and redistribute it
+// freely, subject to the following restrictions:
+// 1. The origin of this software must not be misrepresented; you must not
+//    claim that you wrote the original software. If you use this software
+//    in a product, an acknowledgment in the product documentation would be
+//    appreciated but is not required.
+// 2. Altered source versions must be plainly marked as such, and must not be
+//    misrepresented as being the original software.
+// 3. This notice may not be removed or altered from any source distribution.
+//
+
+#define _USE_MATH_DEFINES
+#include <math.h>
+#include <stdio.h>
+#include <string.h>
+#include "SDL.h"
+#include "SDL_opengl.h"
+#include "imgui.h"
+#include "Sample.h"
+#include "Sample_DynMesh.h"
+#include "Recast.h"
+#include "RecastTimer.h"
+#include "RecastDebugDraw.h"
+#include "DetourNavMesh.h"
+#include "DetourNavMeshBuilder.h"
+#include "DetourDebugDraw.h"
+
+#ifdef WIN32
+#	define snprintf _snprintf
+#endif
+
+
+Sample_DynMesh::Sample_DynMesh() :
+	m_keepInterResults(false),
+	m_navMesh(0),
+	m_chunkyMesh(0),
+	m_triflags(0),
+	m_solid(0),
+	m_chf(0),
+	m_cset(0),
+	m_pmesh(0),
+	m_dmesh(0),
+	m_tileSize(32),
+	m_sposSet(false),
+	m_eposSet(false),
+	m_tileBuildTime(0),
+	m_tileMemUsage(0),
+	m_tileTriCount(0),
+	m_startRef(0),
+	m_endRef(0),
+	m_npolys(0),
+	m_nstraightPath(0),
+	m_distanceToWall(0),
+	m_toolMode(TOOLMODE_CREATE_TILES)
+{
+	resetCommonSettings();
+	memset(m_tileBmin, 0, sizeof(m_tileBmin));
+	memset(m_tileBmax, 0, sizeof(m_tileBmax));
+	m_polyPickExt[0] = 2;
+	m_polyPickExt[1] = 4;
+	m_polyPickExt[2] = 2;
+}
+
+Sample_DynMesh::~Sample_DynMesh()
+{
+	cleanup();
+	delete m_navMesh;
+	delete m_chunkyMesh;
+}
+
+void Sample_DynMesh::cleanup()
+{
+	delete [] m_triflags;
+	m_triflags = 0;
+	delete m_solid;
+	m_solid = 0;
+	delete m_chf;
+	m_chf = 0;
+	delete m_cset;
+	m_cset = 0;
+	delete m_pmesh;
+	m_pmesh = 0;
+	delete m_dmesh;
+	m_dmesh = 0;
+}
+
+void Sample_DynMesh::handleSettings()
+{
+	Sample::handleCommonSettings();
+
+	imguiLabel("Tiling");
+	imguiSlider("TileSize", &m_tileSize, 16.0f, 1024.0f, 16.0f);
+	
+	char text[64];
+	int gw = 0, gh = 0;
+	rcCalcGridSize(m_bmin, m_bmax, m_cellSize, &gw, &gh);
+	const int ts = (int)m_tileSize;
+	const int tw = (gw + ts-1) / ts;
+	const int th = (gh + ts-1) / ts;
+	snprintf(text, 64, "Tiles  %d x %d", tw, th);
+	imguiValue(text);
+}
+
+void Sample_DynMesh::toolRecalc()
+{
+	m_startRef = 0;
+	if (m_sposSet)
+		m_startRef = m_navMesh->findNearestPoly(m_spos, m_polyPickExt);
+
+	m_endRef = 0;
+	if (m_eposSet)
+		m_endRef = m_navMesh->findNearestPoly(m_epos, m_polyPickExt);
+	
+	if (m_toolMode == TOOLMODE_PATHFIND)
+	{
+		if (m_sposSet && m_eposSet && m_startRef && m_endRef)
+		{
+			m_npolys = m_navMesh->findPath(m_startRef, m_endRef, m_spos, m_epos, m_polys, MAX_POLYS);
+			if (m_npolys)
+				m_nstraightPath = m_navMesh->findStraightPath(m_spos, m_epos, m_polys, m_npolys, m_straightPath, MAX_POLYS);
+		}
+		else
+		{
+			m_npolys = 0;
+			m_nstraightPath = 0;
+		}
+	}
+	else if (m_toolMode == TOOLMODE_RAYCAST)
+	{
+		m_nstraightPath = 0;
+		if (m_sposSet && m_eposSet && m_startRef)
+		{
+			float t = 0;
+			m_npolys = 0;
+			m_nstraightPath = 2;
+			m_straightPath[0] = m_spos[0];
+			m_straightPath[1] = m_spos[1];
+			m_straightPath[2] = m_spos[2];
+			m_npolys = m_navMesh->raycast(m_startRef, m_spos, m_epos, t, m_polys, MAX_POLYS);
+			if (m_npolys && t < 1)
+			{
+				m_straightPath[3] = m_spos[0] + (m_epos[0] - m_spos[0]) * t;
+				m_straightPath[4] = m_spos[1] + (m_epos[1] - m_spos[1]) * t;
+				m_straightPath[5] = m_spos[2] + (m_epos[2] - m_spos[2]) * t;
+			}
+			else
+			{
+				m_straightPath[3] = m_epos[0];
+				m_straightPath[4] = m_epos[1];
+				m_straightPath[5] = m_epos[2];
+			}
+		}
+	}
+	else if (m_toolMode == TOOLMODE_DISTANCE_TO_WALL)
+	{
+		m_distanceToWall = 0;
+		if (m_sposSet && m_startRef)
+			m_distanceToWall = m_navMesh->findDistanceToWall(m_startRef, m_spos, 100.0f, m_hitPos, m_hitNormal);
+	}
+	else if (m_toolMode == TOOLMODE_FIND_POLYS_AROUND)
+	{
+		if (m_sposSet && m_startRef && m_eposSet)
+		{
+			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);
+			m_npolys = m_navMesh->findPolysAround(m_startRef, m_spos, dist, m_polys, m_parent, 0, MAX_POLYS);
+		}
+	}
+	
+}
+
+void Sample_DynMesh::handleTools()
+{
+	if (imguiCheck("Create Tiles", m_toolMode == TOOLMODE_CREATE_TILES))
+	{
+		m_toolMode = TOOLMODE_CREATE_TILES;
+		toolRecalc();
+	}
+	if (imguiCheck("Pathfind", m_toolMode == TOOLMODE_PATHFIND))
+	{
+		m_toolMode = TOOLMODE_PATHFIND;
+		toolRecalc();
+	}
+	if (imguiCheck("Distance to Wall", m_toolMode == TOOLMODE_DISTANCE_TO_WALL))
+	{
+		m_toolMode = TOOLMODE_DISTANCE_TO_WALL;
+		toolRecalc();
+	}
+	if (imguiCheck("Raycast", m_toolMode == TOOLMODE_RAYCAST))
+	{
+		m_toolMode = TOOLMODE_RAYCAST;
+		toolRecalc();
+	}
+	if (imguiCheck("Find Polys Around", m_toolMode == TOOLMODE_FIND_POLYS_AROUND))
+	{
+		m_toolMode = TOOLMODE_FIND_POLYS_AROUND;
+		toolRecalc();
+	}
+	if (imguiButton("Create All"))
+	{
+		int gw = 0, gh = 0;
+		rcCalcGridSize(m_bmin, m_bmax, m_cellSize, &gw, &gh);
+		const int ts = (int)m_tileSize;
+		const int tw = (gw + ts-1) / ts;
+		const int th = (gh + ts-1) / ts;
+		const float tcs = m_tileSize*m_cellSize;
+		
+		for (int y = 0; y < th; ++y)
+		{
+			for (int x = 0; x < tw; ++x)
+			{
+				m_tileBmin[0] = m_bmin[0] + x*tcs;
+				m_tileBmin[1] = m_bmin[1];
+				m_tileBmin[2] = m_bmin[2] + y*tcs;
+				
+				m_tileBmax[0] = m_bmin[0] + (x+1)*tcs;
+				m_tileBmax[1] = m_bmax[1];
+				m_tileBmax[2] = m_bmin[2] + (y+1)*tcs;
+				
+				int dataSize = 0;
+				unsigned char* data = buildTileMesh(m_tileBmin, m_tileBmax, dataSize);
+				if (data)
+				{
+					// Remove any previous data (navmesh owns and deletes the data).
+					m_navMesh->removeTileAt(x,y,0,0);
+					// Let the navmesh own the data.
+					if (!m_navMesh->addTileAt(x,y,data,dataSize,true))
+						delete [] data;
+				}
+			}
+		}
+		
+		toolRecalc();
+	}
+}
+
+void Sample_DynMesh::handleDebugMode()
+{
+	if (m_navMesh)
+	{
+		imguiValue("Navmesh ready.");
+		imguiValue("Use 'Create Tiles' tool to experiment.");
+		imguiValue("LMB: (Re)Create tiles.");
+		imguiValue("LMB+SHIFT: Remove tiles.");
+	}
+	
+}
+
+static void getPolyCenter(dtNavMesh* navMesh, dtPolyRef ref, float* center)
+{
+	const dtPoly* p = navMesh->getPolyByRef(ref);
+	if (!p) return;
+	const float* verts = navMesh->getPolyVertsByRef(ref);
+	center[0] = 0;
+	center[1] = 0;
+	center[2] = 0;
+	for (int i = 0; i < (int)p->nv; ++i)
+	{
+		const float* v = &verts[p->v[i]*3];
+		center[0] += v[0];
+		center[1] += v[1];
+		center[2] += v[2];
+	}
+	const float s = 1.0f / p->nv;
+	center[0] *= s;
+	center[1] *= s;
+	center[2] *= s;
+}
+
+void Sample_DynMesh::handleRender()
+{
+	if (!m_verts || !m_tris || !m_trinorms)
+		return;
+
+	DebugDrawGL dd;
+
+	// Draw mesh
+	if (m_navMesh)
+		rcDebugDrawMesh(&dd, m_verts, m_nverts, m_tris, m_trinorms, m_ntris, 0);
+	else
+		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(&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;
+	int gw = 0, gh = 0;
+	rcCalcGridSize(m_bmin, m_bmax, m_cellSize, &gw, &gh);
+	int tw = (gw + ts-1) / ts;
+	int th = (gh + ts-1) / ts;
+	const float s = ts*m_cellSize;
+	glBegin(GL_LINES);
+	glColor4ub(0,0,0,64);
+	for (int y = 0; y < th; ++y)
+	{
+		for (int x = 0; x < tw; ++x)
+		{
+			float fx, fy, fz;
+			fx = m_bmin[0] + x*s;
+			fy = m_bmin[1];
+			fz = m_bmin[2] + y*s;
+			
+			glVertex3f(fx,fy,fz);
+			glVertex3f(fx+s,fy,fz);
+			glVertex3f(fx,fy,fz);
+			glVertex3f(fx,fy,fz+s);
+			
+			if (x+1 >= tw)
+			{
+				glVertex3f(fx+s,fy,fz);
+				glVertex3f(fx+s,fy,fz+s);
+			}
+			if (y+1 >= th)
+			{
+				glVertex3f(fx,fy,fz+s);
+				glVertex3f(fx+s,fy,fz+s);
+			}
+		}
+	}
+	glEnd();
+	
+	// Draw active tile
+	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)
+		dtDebugDrawNavMesh(m_navMesh);
+	
+	if (m_sposSet)
+	{
+		const float s = 0.5f;
+		glColor4ub(64,16,0,255);
+		glLineWidth(3.0f);
+		glBegin(GL_LINES);
+		glVertex3f(m_spos[0]-s,m_spos[1]+m_cellHeight,m_spos[2]);
+		glVertex3f(m_spos[0]+s,m_spos[1]+m_cellHeight,m_spos[2]);
+		glVertex3f(m_spos[0],m_spos[1]-s+m_cellHeight,m_spos[2]);
+		glVertex3f(m_spos[0],m_spos[1]+s+m_cellHeight,m_spos[2]);
+		glVertex3f(m_spos[0],m_spos[1]+m_cellHeight,m_spos[2]-s);
+		glVertex3f(m_spos[0],m_spos[1]+m_cellHeight,m_spos[2]+s);
+		glEnd();
+		glLineWidth(1.0f);
+	}
+	if (m_eposSet)
+	{
+		const float s = 0.5f;
+		glColor4ub(16,64,0,255);
+		glLineWidth(3.0f);
+		glBegin(GL_LINES);
+		glVertex3f(m_epos[0]-s,m_epos[1]+m_cellHeight,m_epos[2]);
+		glVertex3f(m_epos[0]+s,m_epos[1]+m_cellHeight,m_epos[2]);
+		glVertex3f(m_epos[0],m_epos[1]-s+m_cellHeight,m_epos[2]);
+		glVertex3f(m_epos[0],m_epos[1]+s+m_cellHeight,m_epos[2]);
+		glVertex3f(m_epos[0],m_epos[1]+m_cellHeight,m_epos[2]-s);
+		glVertex3f(m_epos[0],m_epos[1]+m_cellHeight,m_epos[2]+s);
+		glEnd();
+		glLineWidth(1.0f);
+	}
+	
+	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};
+	
+	if (m_toolMode == TOOLMODE_PATHFIND)
+	{
+		dtDebugDrawNavMeshPoly(m_navMesh, m_startRef, startCol);
+		dtDebugDrawNavMeshPoly(m_navMesh, m_endRef, endCol);
+		
+		if (m_npolys)
+		{
+			for (int i = 1; i < m_npolys-1; ++i)
+				dtDebugDrawNavMeshPoly(m_navMesh, m_polys[i], pathCol);
+		}
+		if (m_nstraightPath)
+		{
+			glColor4ub(64,16,0,220);
+			glLineWidth(3.0f);
+			glBegin(GL_LINE_STRIP);
+			for (int i = 0; i < m_nstraightPath; ++i)
+				glVertex3f(m_straightPath[i*3], m_straightPath[i*3+1]+0.4f, m_straightPath[i*3+2]);
+			glEnd();
+			glLineWidth(1.0f);
+			glPointSize(4.0f);
+			glBegin(GL_POINTS);
+			for (int i = 0; i < m_nstraightPath; ++i)
+				glVertex3f(m_straightPath[i*3], m_straightPath[i*3+1]+0.4f, m_straightPath[i*3+2]);
+			glEnd();
+			glPointSize(1.0f);
+		}
+	}
+	else if (m_toolMode == TOOLMODE_RAYCAST)
+	{
+		dtDebugDrawNavMeshPoly(m_navMesh, m_startRef, startCol);
+		
+		if (m_nstraightPath)
+		{
+			for (int i = 1; i < m_npolys; ++i)
+				dtDebugDrawNavMeshPoly(m_navMesh, m_polys[i], pathCol);
+			
+			glColor4ub(64,16,0,220);
+			glLineWidth(3.0f);
+			glBegin(GL_LINE_STRIP);
+			for (int i = 0; i < m_nstraightPath; ++i)
+				glVertex3f(m_straightPath[i*3], m_straightPath[i*3+1]+0.4f, m_straightPath[i*3+2]);
+			glEnd();
+			glLineWidth(1.0f);
+			glPointSize(4.0f);
+			glBegin(GL_POINTS);
+			for (int i = 0; i < m_nstraightPath; ++i)
+				glVertex3f(m_straightPath[i*3], m_straightPath[i*3+1]+0.4f, m_straightPath[i*3+2]);
+			glEnd();
+			glPointSize(1.0f);
+		}
+	}
+	else if (m_toolMode == TOOLMODE_DISTANCE_TO_WALL)
+	{
+		dtDebugDrawNavMeshPoly(m_navMesh, m_startRef, startCol);
+		const float col[4] = {1,1,1,0.5f};
+		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);
+		glBegin(GL_LINES);
+		glVertex3f(m_hitPos[0], m_hitPos[1] + 0.02f, m_hitPos[2]);
+		glVertex3f(m_hitPos[0], m_hitPos[1] + m_agentHeight, m_hitPos[2]);
+		glEnd();
+		glLineWidth(1.0f);
+	}
+	else if (m_toolMode == TOOLMODE_FIND_POLYS_AROUND)
+	{
+		const float cola[4] = {0,0,0,0.5f};
+		for (int i = 0; i < m_npolys; ++i)
+		{
+			dtDebugDrawNavMeshPoly(m_navMesh, m_polys[i], pathCol);
+			if (m_parent[i])
+			{
+				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(&dd, p0, p1, cola, 2.0f);
+			}
+		}
+		
+		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(&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);
+	}
+	
+	glDepthMask(GL_TRUE);
+	
+}
+
+void Sample_DynMesh::handleRenderOverlay(double* proj, double* model, int* view)
+{
+	GLdouble x, y, z;
+	
+	// Draw start and end point labels
+	if (m_tileBuildTime > 0.0f && gluProject((GLdouble)(m_tileBmin[0]+m_tileBmax[0])/2, (GLdouble)(m_tileBmin[1]+m_tileBmax[1])/2, (GLdouble)(m_tileBmin[2]+m_tileBmax[2])/2,
+								model, proj, view, &x, &y, &z))
+	{
+		char text[32];
+		snprintf(text,32,"%.3fms / %dTris / %.1fkB", m_tileBuildTime, m_tileTriCount, m_tileMemUsage);
+		imguiDrawText((int)x, (int)y-25, IMGUI_ALIGN_CENTER, text, imguiRGBA(0,0,0,220));
+	}
+}
+
+void Sample_DynMesh::handleMeshChanged(const float* verts, int nverts,
+								const int* tris, const float* trinorms, int ntris,
+								const float* bmin, const float* bmax)
+{
+	m_verts = verts;
+	m_nverts = nverts;
+	m_tris = tris;
+	m_trinorms = trinorms;
+	m_ntris = ntris;
+	vcopy(m_bmin, bmin);
+	vcopy(m_bmax, bmax);
+
+	delete m_chunkyMesh;
+	m_chunkyMesh = 0;
+	delete m_navMesh;
+	m_navMesh = 0;
+	cleanup();
+}
+
+void Sample_DynMesh::setToolStartPos(const float* p)
+{
+	m_sposSet = true;
+	vcopy(m_spos, p);
+
+	if (m_toolMode == TOOLMODE_CREATE_TILES)
+		removeTile(m_spos);
+	else
+		toolRecalc();
+}
+
+void Sample_DynMesh::setToolEndPos(const float* p)
+{
+	if (!m_navMesh)
+		return;
+		
+	m_eposSet = true;
+	vcopy(m_epos, p);
+	
+	if (m_toolMode == TOOLMODE_CREATE_TILES)
+		buildTile(m_epos);
+	else
+		toolRecalc();
+}
+
+bool Sample_DynMesh::handleBuild()
+{
+	if (!m_verts || !m_tris)
+	{
+		printf("No verts or tris\n");
+		return false;
+	}
+
+	delete m_navMesh;
+	m_navMesh = new dtNavMesh;
+	if (!m_navMesh)
+	{
+		printf("Could not allocate navmehs\n");
+		return false;
+	}
+	if (!m_navMesh->init(m_bmin, m_tileSize*m_cellSize, m_agentMaxClimb*m_cellHeight, 512, 512, 2048))
+	{
+		printf("Could not init navmesh\n");
+		return false;
+	}
+		
+	// Build chunky mesh.
+	delete m_chunkyMesh;
+	m_chunkyMesh = new rcChunkyTriMesh;
+	if (!m_chunkyMesh)
+	{
+		if (rcGetLog())
+			rcGetLog()->log(RC_LOG_ERROR, "buildTiledNavigation: Out of memory 'm_chunkyMesh'.");
+		return false;
+	}
+	if (!rcCreateChunkyTriMesh(m_verts, m_tris, m_ntris, 256, m_chunkyMesh))
+	{
+		if (rcGetLog())
+			rcGetLog()->log(RC_LOG_ERROR, "buildTiledNavigation: Could not build chunky mesh.");
+		return false;
+	}
+
+	return true;
+}
+
+void Sample_DynMesh::buildTile(const float* pos)
+{
+	if (!m_navMesh)
+		return;
+
+	const float ts = m_tileSize*m_cellSize;
+	const int tx = (int)floorf((pos[0]-m_bmin[0]) / ts);
+	const int ty = (int)floorf((pos[2]-m_bmin[2]) / ts);
+	if (tx < 0 || ty < 0)
+		return;
+
+	m_tileBmin[0] = m_bmin[0] + tx*ts;
+	m_tileBmin[1] = m_bmin[1];
+	m_tileBmin[2] = m_bmin[2] + ty*ts;
+
+	m_tileBmax[0] = m_bmin[0] + (tx+1)*ts;
+	m_tileBmax[1] = m_bmax[1];
+	m_tileBmax[2] = m_bmin[2] + (ty+1)*ts;
+	
+	m_tileCol[0] = 0.3f; m_tileCol[1] = 0.8f; m_tileCol[2] = 0; m_tileCol[3] = 1;
+	
+	int dataSize = 0;
+	unsigned char* data = buildTileMesh(m_tileBmin, m_tileBmax, dataSize);
+	
+	if (data)
+	{
+		// Remove any previous data (navmesh owns and deletes the data).
+		m_navMesh->removeTileAt(tx,ty,0,0);
+		
+		// Let the navmesh own the data.
+		if (!m_navMesh->addTileAt(tx,ty,data,dataSize,true))
+			delete [] data;
+	}
+}
+
+void Sample_DynMesh::removeTile(const float* pos)
+{
+	if (!m_navMesh)
+		return;
+	
+	const float ts = m_tileSize*m_cellSize;
+	const int tx = (int)floorf((pos[0]-m_bmin[0]) / ts);
+	const int ty = (int)floorf((pos[2]-m_bmin[2]) / ts);
+	
+	m_tileBmin[0] = m_bmin[0] + tx*ts;
+	m_tileBmin[1] = m_bmin[1];
+	m_tileBmin[2] = m_bmin[2] + ty*ts;
+	
+	m_tileBmax[0] = m_bmin[0] + (tx+1)*ts;
+	m_tileBmax[1] = m_bmax[1];
+	m_tileBmax[2] = m_bmin[2] + (ty+1)*ts;
+	
+	m_tileCol[0] = 0.8f; m_tileCol[1] = 0.1f; m_tileCol[2] = 0; m_tileCol[3] = 1;
+	
+	unsigned char* rdata = 0;
+	int rdataSize = 0;
+	if (m_navMesh->removeTileAt(tx,ty,&rdata,&rdataSize))
+		delete [] rdata;
+}
+
+unsigned char* Sample_DynMesh::buildTileMesh(const float* bmin, const float* bmax, int& dataSize)
+{
+	if (!m_verts || ! m_tris)
+	{
+		if (rcGetLog())
+			rcGetLog()->log(RC_LOG_ERROR, "buildNavigation: Input mesh is not specified.");
+		return 0;
+	}
+	
+	cleanup();
+	
+	// Init build configuration from GUI
+	memset(&m_cfg, 0, sizeof(m_cfg));
+	m_cfg.cs = m_cellSize;
+	m_cfg.ch = m_cellHeight;
+	m_cfg.walkableSlopeAngle = m_agentMaxSlope;
+	m_cfg.walkableHeight = (int)ceilf(m_agentHeight / m_cfg.ch);
+	m_cfg.walkableClimb = (int)ceilf(m_agentMaxClimb / m_cfg.ch);
+	m_cfg.walkableRadius = (int)ceilf(m_agentRadius / m_cfg.cs);
+	m_cfg.maxEdgeLen = (int)(m_edgeMaxLen / m_cellSize);
+	m_cfg.maxSimplificationError = m_edgeMaxError;
+	m_cfg.minRegionSize = (int)rcSqr(m_regionMinSize);
+	m_cfg.mergeRegionSize = (int)rcSqr(m_regionMergeSize);
+	m_cfg.maxVertsPerPoly = (int)m_vertsPerPoly;
+	m_cfg.tileSize = (int)m_tileSize;
+	m_cfg.borderSize = m_cfg.walkableRadius + 3; // Reserve enough padding.
+	m_cfg.width = m_cfg.tileSize + m_cfg.borderSize*2;
+	m_cfg.height = m_cfg.tileSize + m_cfg.borderSize*2;
+	m_cfg.detailSampleDist = m_detailSampleDist < 0.9f ? 0 : m_cellSize * m_detailSampleDist;
+	m_cfg.detailSampleMaxError = m_cellHeight * m_detailSampleMaxError;
+	
+	vcopy(m_cfg.bmin, bmin);
+	vcopy(m_cfg.bmax, bmax);
+	m_cfg.bmin[0] -= m_cfg.borderSize*m_cfg.cs;
+	m_cfg.bmin[2] -= m_cfg.borderSize*m_cfg.cs;
+	m_cfg.bmax[0] += m_cfg.borderSize*m_cfg.cs;
+	m_cfg.bmax[2] += m_cfg.borderSize*m_cfg.cs;
+	
+	// Reset build times gathering.
+	memset(&m_buildTimes, 0, sizeof(m_buildTimes));
+	rcSetBuildTimes(&m_buildTimes);
+	
+	// Start the build process.	
+	rcTimeVal totStartTime = rcGetPerformanceTimer();
+	
+	if (rcGetLog())
+	{
+		rcGetLog()->log(RC_LOG_PROGRESS, "Building navigation:");
+		rcGetLog()->log(RC_LOG_PROGRESS, " - %d x %d cells", m_cfg.width, m_cfg.height);
+		rcGetLog()->log(RC_LOG_PROGRESS, " - %.1fK verts, %.1fK tris", m_nverts/1000.0f, m_ntris/1000.0f);
+	}
+	
+	// Allocate voxel heighfield where we rasterize our input data to.
+	m_solid = new rcHeightfield;
+	if (!m_solid)
+	{
+		if (rcGetLog())
+			rcGetLog()->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'solid'.");
+		return 0;
+	}
+	if (!rcCreateHeightfield(*m_solid, m_cfg.width, m_cfg.height, m_cfg.bmin, m_cfg.bmax, m_cfg.cs, m_cfg.ch))
+	{
+		if (rcGetLog())
+			rcGetLog()->log(RC_LOG_ERROR, "buildNavigation: Could not create solid heightfield.");
+		return 0;
+	}
+	
+	// Allocate array that can hold triangle flags.
+	// If you have multiple meshes you need to process, allocate
+	// and array which can hold the max number of triangles you need to process.
+	m_triflags = new unsigned char[m_chunkyMesh->maxTrisPerChunk];
+	if (!m_triflags)
+	{
+		if (rcGetLog())
+			rcGetLog()->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'triangleFlags' (%d).", m_chunkyMesh->maxTrisPerChunk);
+		return 0;
+	}
+	
+
+	float tbmin[2], tbmax[2];
+	tbmin[0] = m_cfg.bmin[0];
+	tbmin[1] = m_cfg.bmin[2];
+	tbmax[0] = m_cfg.bmax[0];
+	tbmax[1] = m_cfg.bmax[2];
+	int cid[256];// TODO: Make grow when returning too many items.
+	const int ncid = rcGetChunksInRect(m_chunkyMesh, tbmin, tbmax, cid, 256);
+	if (!ncid)
+		return 0;
+
+	m_tileTriCount = 0;
+
+	for (int i = 0; i < ncid; ++i)
+	{
+		const rcChunkyTriMeshNode& node = m_chunkyMesh->nodes[cid[i]];
+		const int* tris = &m_chunkyMesh->tris[node.i*3];
+		const int ntris = node.n;
+
+		m_tileTriCount += ntris;
+		
+		memset(m_triflags, 0, ntris*sizeof(unsigned char));
+		rcMarkWalkableTriangles(m_cfg.walkableSlopeAngle,
+								m_verts, m_nverts, tris, ntris, m_triflags);
+		
+		rcRasterizeTriangles(m_verts, m_nverts, tris, m_triflags, ntris, *m_solid);
+	}
+	
+	if (!m_keepInterResults)
+	{
+		delete [] m_triflags;
+		m_triflags = 0;
+	}
+	
+	// Once all geoemtry is rasterized, we do initial pass of filtering to
+	// remove unwanted overhangs caused by the conservative rasterization
+	// as well as filter spans where the character cannot possibly stand.
+	rcFilterLedgeSpans(m_cfg.walkableHeight, m_cfg.walkableClimb, *m_solid);
+	rcFilterWalkableLowHeightSpans(m_cfg.walkableHeight, *m_solid);
+	
+	// Compact the heightfield so that it is faster to handle from now on.
+	// This will result more cache coherent data as well as the neighbours
+	// between walkable cells will be calculated.
+	m_chf = new rcCompactHeightfield;
+	if (!m_chf)
+	{
+		if (rcGetLog())
+			rcGetLog()->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'chf'.");
+		return 0;
+	}
+	if (!rcBuildCompactHeightfield(m_cfg.walkableHeight, m_cfg.walkableClimb, RC_WALKABLE, *m_solid, *m_chf))
+	{
+		if (rcGetLog())
+			rcGetLog()->log(RC_LOG_ERROR, "buildNavigation: Could not build compact data.");
+		return 0;
+	}
+	
+	if (!m_keepInterResults)
+	{
+		delete m_solid;
+		m_solid = 0;
+	}
+	
+	// Prepare for region partitioning, by calculating distance field along the walkable surface.
+	if (!rcBuildDistanceField(*m_chf))
+	{
+		if (rcGetLog())
+			rcGetLog()->log(RC_LOG_ERROR, "buildNavigation: Could not build distance field.");
+		return 0;
+	}
+	
+	// Partition the walkable surface into simple regions without holes.
+	if (!rcBuildRegions(*m_chf, m_cfg.walkableRadius, m_cfg.borderSize, m_cfg.minRegionSize, m_cfg.mergeRegionSize))
+	{
+		if (rcGetLog())
+			rcGetLog()->log(RC_LOG_ERROR, "buildNavigation: Could not build regions.");
+		return 0;
+	}
+	
+	// Create contours.
+	m_cset = new rcContourSet;
+	if (!m_cset)
+	{
+		if (rcGetLog())
+			rcGetLog()->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'cset'.");
+		return 0;
+	}
+	if (!rcBuildContours(*m_chf, m_cfg.maxSimplificationError, m_cfg.maxEdgeLen, *m_cset))
+	{
+		if (rcGetLog())
+			rcGetLog()->log(RC_LOG_ERROR, "buildNavigation: Could not create contours.");
+		return 0;
+	}
+	
+	if (m_cset->nconts == 0)
+	{
+		return 0;
+	}
+	
+	// Build polygon navmesh from the contours.
+	m_pmesh = new rcPolyMesh;
+	if (!m_pmesh)
+	{
+		if (rcGetLog())
+			rcGetLog()->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'pmesh'.");
+		return 0;
+	}
+	if (!rcBuildPolyMesh(*m_cset, m_cfg.maxVertsPerPoly, *m_pmesh))
+	{
+		if (rcGetLog())
+			rcGetLog()->log(RC_LOG_ERROR, "buildNavigation: Could not triangulate contours.");
+		return 0;
+	}
+
+	// Build detail mesh.
+	m_dmesh = new rcPolyMeshDetail;
+	if (!m_dmesh)
+	{
+		if (rcGetLog())
+			rcGetLog()->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'dmesh'.");
+		return 0;
+	}
+	
+	if (!rcBuildPolyMeshDetail(*m_pmesh, *m_chf,
+							   m_cfg.detailSampleDist, m_cfg.detailSampleMaxError,
+							   *m_dmesh))
+	{
+		if (rcGetLog())
+			rcGetLog()->log(RC_LOG_ERROR, "buildNavigation: Could build polymesh detail.");
+		return 0;
+	}
+	
+	if (!m_keepInterResults)
+	{
+		delete m_chf;
+		m_chf = 0;
+		delete m_cset;
+		m_cset = 0;
+	}
+	
+	unsigned char* navData = 0;
+	int navDataSize = 0;
+	if (m_cfg.maxVertsPerPoly <= DT_VERTS_PER_POLYGON)
+	{
+		// Remove padding from the polymesh data. TODO: Remove this odditity.
+		for (int i = 0; i < m_pmesh->nverts; ++i)
+		{
+			unsigned short* v = &m_pmesh->verts[i*3];
+			v[0] -= (unsigned short)m_cfg.borderSize;
+			v[2] -= (unsigned short)m_cfg.borderSize;
+		}
+		
+		if (m_pmesh->nverts >= 0xffff)
+		{
+			// The vertex indices are ushorts, and cannot point to more than 0xffff vertices.
+			if (rcGetLog())
+				rcGetLog()->log(RC_LOG_ERROR, "Too many vertices per tile %d (max: %d).", m_pmesh->nverts, 0xffff);
+			return false;
+		}
+/*		if (m_pmesh->npolys > DT_MAX_TILES)
+		{
+			// If you hit this error, you have too many polygons per tile.
+			// You can trade off tile count to poly count by adjusting DT_TILE_REF_TILE_BITS and DT_TILE_REF_POLY_BITS.
+			// The current setup is optimized for large number of tiles and small number of polys per tile.
+			if (rcGetLog())
+				rcGetLog()->log(RC_LOG_ERROR, "Too many polygons per tile %d (max: %d).", m_pmesh->npolys, DT_MAX_TILES);
+			return false;
+		}*/
+	
+		if (!dtCreateNavMeshData(m_pmesh->verts, m_pmesh->nverts,
+								 m_pmesh->polys, m_pmesh->npolys, m_pmesh->nvp,
+								 m_dmesh->meshes, m_dmesh->verts, m_dmesh->nverts, m_dmesh->tris, m_dmesh->ntris, 
+								 bmin, bmax, m_cfg.cs, m_cfg.ch, m_cfg.tileSize, m_cfg.walkableClimb, &navData, &navDataSize))
+		{
+			if (rcGetLog())
+				rcGetLog()->log(RC_LOG_ERROR, "Could not build Detour navmesh.");
+			return 0;
+		}
+	}
+	m_tileMemUsage = navDataSize/1024.0f;
+	
+	rcTimeVal totEndTime = rcGetPerformanceTimer();
+	
+	// Show performance stats.
+	if (rcGetLog())
+	{
+		const float pc = 100.0f / rcGetDeltaTimeUsec(totStartTime, totEndTime);
+		
+		rcGetLog()->log(RC_LOG_PROGRESS, "Rasterize: %.1fms (%.1f%%)", m_buildTimes.rasterizeTriangles/1000.0f, m_buildTimes.rasterizeTriangles*pc);
+		
+		rcGetLog()->log(RC_LOG_PROGRESS, "Build Compact: %.1fms (%.1f%%)", m_buildTimes.buildCompact/1000.0f, m_buildTimes.buildCompact*pc);
+		
+		rcGetLog()->log(RC_LOG_PROGRESS, "Filter Border: %.1fms (%.1f%%)", m_buildTimes.filterBorder/1000.0f, m_buildTimes.filterBorder*pc);
+		rcGetLog()->log(RC_LOG_PROGRESS, "Filter Walkable: %.1fms (%.1f%%)", m_buildTimes.filterWalkable/1000.0f, m_buildTimes.filterWalkable*pc);
+		rcGetLog()->log(RC_LOG_PROGRESS, "Filter Reachable: %.1fms (%.1f%%)", m_buildTimes.filterMarkReachable/1000.0f, m_buildTimes.filterMarkReachable*pc);
+		
+		rcGetLog()->log(RC_LOG_PROGRESS, "Build Distancefield: %.1fms (%.1f%%)", m_buildTimes.buildDistanceField/1000.0f, m_buildTimes.buildDistanceField*pc);
+		rcGetLog()->log(RC_LOG_PROGRESS, "  - distance: %.1fms (%.1f%%)", m_buildTimes.buildDistanceFieldDist/1000.0f, m_buildTimes.buildDistanceFieldDist*pc);
+		rcGetLog()->log(RC_LOG_PROGRESS, "  - blur: %.1fms (%.1f%%)", m_buildTimes.buildDistanceFieldBlur/1000.0f, m_buildTimes.buildDistanceFieldBlur*pc);
+		
+		rcGetLog()->log(RC_LOG_PROGRESS, "Build Regions: %.1fms (%.1f%%)", m_buildTimes.buildRegions/1000.0f, m_buildTimes.buildRegions*pc);
+		rcGetLog()->log(RC_LOG_PROGRESS, "  - watershed: %.1fms (%.1f%%)", m_buildTimes.buildRegionsReg/1000.0f, m_buildTimes.buildRegionsReg*pc);
+		rcGetLog()->log(RC_LOG_PROGRESS, "    - expand: %.1fms (%.1f%%)", m_buildTimes.buildRegionsExp/1000.0f, m_buildTimes.buildRegionsExp*pc);
+		rcGetLog()->log(RC_LOG_PROGRESS, "    - find catchment basins: %.1fms (%.1f%%)", m_buildTimes.buildRegionsFlood/1000.0f, m_buildTimes.buildRegionsFlood*pc);
+		rcGetLog()->log(RC_LOG_PROGRESS, "  - filter: %.1fms (%.1f%%)", m_buildTimes.buildRegionsFilter/1000.0f, m_buildTimes.buildRegionsFilter*pc);
+		
+		rcGetLog()->log(RC_LOG_PROGRESS, "Build Contours: %.1fms (%.1f%%)", m_buildTimes.buildContours/1000.0f, m_buildTimes.buildContours*pc);
+		rcGetLog()->log(RC_LOG_PROGRESS, "  - trace: %.1fms (%.1f%%)", m_buildTimes.buildContoursTrace/1000.0f, m_buildTimes.buildContoursTrace*pc);
+		rcGetLog()->log(RC_LOG_PROGRESS, "  - simplify: %.1fms (%.1f%%)", m_buildTimes.buildContoursSimplify/1000.0f, m_buildTimes.buildContoursSimplify*pc);
+		
+		rcGetLog()->log(RC_LOG_PROGRESS, "Build Polymesh: %.1fms (%.1f%%)", m_buildTimes.buildPolymesh/1000.0f, m_buildTimes.buildPolymesh*pc);
+		rcGetLog()->log(RC_LOG_PROGRESS, "Build Polymesh Detail: %.1fms (%.1f%%)", m_buildTimes.buildDetailMesh/1000.0f, m_buildTimes.buildDetailMesh*pc);
+		rcGetLog()->log(RC_LOG_PROGRESS, "Merge Polymeshes: %.1fms (%.1f%%)", m_buildTimes.mergePolyMesh/1000.0f, m_buildTimes.mergePolyMesh*pc);
+		rcGetLog()->log(RC_LOG_PROGRESS, "Merge Polymesh Details: %.1fms (%.1f%%)", m_buildTimes.mergePolyMeshDetail/1000.0f, m_buildTimes.mergePolyMeshDetail*pc);
+		
+		
+		rcGetLog()->log(RC_LOG_PROGRESS, "Build Polymesh: %.1fms (%.1f%%)", m_buildTimes.buildPolymesh/1000.0f, m_buildTimes.buildPolymesh*pc);
+		
+		rcGetLog()->log(RC_LOG_PROGRESS, "Polymesh: Verts:%d  Polys:%d", m_pmesh->nverts, m_pmesh->npolys);
+		
+		rcGetLog()->log(RC_LOG_PROGRESS, "TOTAL: %.1fms", rcGetDeltaTimeUsec(totStartTime, totEndTime)/1000.0f);
+	}
+		
+	m_tileBuildTime = rcGetDeltaTimeUsec(totStartTime, totEndTime)/1000.0f;
+	
+	dataSize = navDataSize;
+	return navData;
+}
diff --git a/RecastDemo/Source/main.cpp b/RecastDemo/Source/main.cpp
index 0641bdc..2635983 100644
--- a/RecastDemo/Source/main.cpp
+++ b/RecastDemo/Source/main.cpp
@@ -18,6 +18,7 @@
 #include "Sample_StatMeshSimple.h"
 #include "Sample_StatMeshTiled.h"
 #include "Sample_TileMesh.h"
+#include "Sample_DynMesh.h"
 
 #ifdef WIN32
 #	define snprintf _snprintf
@@ -197,16 +198,17 @@ struct SampleItem
 Sample* createStatSimple() { return new Sample_StatMeshSimple(); }
 Sample* createStatTiled() { return new Sample_StatMeshTiled(); }
 Sample* createTile() { return new Sample_TileMesh(); }
+Sample* createDyn() { return new Sample_DynMesh(); }
 
 static SampleItem g_samples[] =
 {
 { createStatSimple, "Static Mesh (Simple)" },
 { createStatTiled, "Static Mesh (Tiled)" },
 { createTile, "Tile Mesh" },
+{ createDyn, "Dyn Mesh" },
 };
 static const int g_nsamples = sizeof(g_samples)/sizeof(SampleItem); 
 
-
 int main(int argc, char *argv[])
 {
 	// Init SDL