From c11a3a950ebc549b8ea3338be2308a011d6b5b4e Mon Sep 17 00:00:00 2001
From: Mikko Mononen <memononen@gmail.com>
Date: Fri, 1 Oct 2010 08:21:43 +0000
Subject: [PATCH] Added proximity grid for agents.

---
 .../Bin/Recast.app/Contents/MacOS/Recast      |  Bin 738192 -> 744368 bytes
 .../Xcode/Recast.xcodeproj/memon.pbxuser      | 1381 ++++++++++-------
 .../Recast.xcodeproj/memon.perspectivev3      |   63 +-
 .../Xcode/Recast.xcodeproj/project.pbxproj    |    4 +-
 RecastDemo/Include/CrowdManager.h             |   47 +
 RecastDemo/Include/CrowdTool.h                |    1 +
 RecastDemo/Source/CrowdManager.cpp            |  181 ++-
 RecastDemo/Source/CrowdTool.cpp               |   39 +-
 8 files changed, 1128 insertions(+), 588 deletions(-)

diff --git a/RecastDemo/Bin/Recast.app/Contents/MacOS/Recast b/RecastDemo/Bin/Recast.app/Contents/MacOS/Recast
index 8f2b4eeb5662ab74cf260690286603a5a08f5bbf..debafc2417ce50f4f4257158a37ebb049e8d6104 100755
GIT binary patch
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z)|;ne^TS3gHt|Ik&@5`v>1PjN&r3Nlbxsm9I`3xV&dP<igQHHwBUFU@2xY<3O$28*
z6$&}bU3T2`a0Q+Ml!|48{TNiN#kLhHg``?xwU^zvR>%Xbo!W#J;g|#Kiq$=tD9*KV
gfw+oG`*xf}xfazaRDk0I#--bp0o6f$()ayrpF=aFa{vGU

diff --git a/RecastDemo/Build/Xcode/Recast.xcodeproj/memon.pbxuser b/RecastDemo/Build/Xcode/Recast.xcodeproj/memon.pbxuser
index 5c09845..ed56429 100644
--- a/RecastDemo/Build/Xcode/Recast.xcodeproj/memon.pbxuser
+++ b/RecastDemo/Build/Xcode/Recast.xcodeproj/memon.pbxuser
@@ -24,8 +24,8 @@
 			6B920A121225B1C900D5B5AD /* DetourHashLookup.cpp:78 */,
 			6B920A141225B1CF00D5B5AD /* DetourHashLookup.cpp:131 */,
 			6BD66851124350F50021A7A4 /* NavMeshTesterTool.cpp:519 */,
-			6BBB03061247344B00533229 /* CrowdManager.cpp:439 */,
-			6BBB03361247383D00533229 /* CrowdManager.cpp:64 */,
+			6BBB03061247344B00533229 /* CrowdManager.cpp:592 */,
+			6BBB03361247383D00533229 /* CrowdManager.cpp:217 */,
 		);
 		codeSenseManager = 6B8632AA0F78115100E2684A /* Code sense */;
 		executables = (
@@ -128,17 +128,13 @@
 					PBXFindDataSource_LocationID,
 				);
 			};
-			PBXPerProjectTemplateStateSaveDate = 306653441;
-			PBXWorkspaceStateSaveDate = 306653441;
+			PBXPerProjectTemplateStateSaveDate = 307608376;
+			PBXWorkspaceStateSaveDate = 307608376;
 		};
 		perUserProjectItems = {
 			6B1C8E08121EB4FF0048697F = 6B1C8E08121EB4FF0048697F /* PBXTextBookmark */;
 			6B1C8E0A121EB4FF0048697F = 6B1C8E0A121EB4FF0048697F /* PBXTextBookmark */;
 			6B1C8E27121EB6D30048697F = 6B1C8E27121EB6D30048697F /* PBXTextBookmark */;
-			6B2F7BAC124725C70056A3E5 = 6B2F7BAC124725C70056A3E5 /* PBXTextBookmark */;
-			6B2F7BAD124725C70056A3E5 = 6B2F7BAD124725C70056A3E5 /* PBXTextBookmark */;
-			6B2F7BB2124725C70056A3E5 = 6B2F7BB2124725C70056A3E5 /* PBXTextBookmark */;
-			6B3F4935124725E0008B912B = 6B3F4935124725E0008B912B /* PBXTextBookmark */;
 			6B4214D911803923006C347B = 6B4214D911803923006C347B /* PBXTextBookmark */;
 			6B847515122B9F4900ADF63D = 6B847515122B9F4900ADF63D /* PBXTextBookmark */;
 			6B8476F9122D000800ADF63D = 6B8476F9122D000800ADF63D /* PBXTextBookmark */;
@@ -169,6 +165,69 @@
 			6BA7F8EC1227002300C8C47A = 6BA7F8EC1227002300C8C47A /* PBXTextBookmark */;
 			6BA7F8ED1227002300C8C47A = 6BA7F8ED1227002300C8C47A /* PBXTextBookmark */;
 			6BA7F8EE1227002300C8C47A = 6BA7F8EE1227002300C8C47A /* PBXTextBookmark */;
+			6BA8CEC01255BCE600272A3B /* PBXTextBookmark */ = 6BA8CEC01255BCE600272A3B /* PBXTextBookmark */;
+			6BA8CEC11255BCE600272A3B /* PBXTextBookmark */ = 6BA8CEC11255BCE600272A3B /* PBXTextBookmark */;
+			6BA8CEC21255BCE600272A3B /* PBXTextBookmark */ = 6BA8CEC21255BCE600272A3B /* PBXTextBookmark */;
+			6BA8CEC31255BCE600272A3B /* PBXTextBookmark */ = 6BA8CEC31255BCE600272A3B /* PBXTextBookmark */;
+			6BA8CEC71255C02D00272A3B /* PBXTextBookmark */ = 6BA8CEC71255C02D00272A3B /* PBXTextBookmark */;
+			6BA8CEC81255C02D00272A3B /* PBXTextBookmark */ = 6BA8CEC81255C02D00272A3B /* PBXTextBookmark */;
+			6BA8CEC91255C02D00272A3B /* PBXTextBookmark */ = 6BA8CEC91255C02D00272A3B /* PBXTextBookmark */;
+			6BA8CECA1255C04A00272A3B /* PBXTextBookmark */ = 6BA8CECA1255C04A00272A3B /* PBXTextBookmark */;
+			6BA8CECB1255C1A400272A3B /* PBXTextBookmark */ = 6BA8CECB1255C1A400272A3B /* PBXTextBookmark */;
+			6BA8CECD1255C1A400272A3B /* PBXTextBookmark */ = 6BA8CECD1255C1A400272A3B /* PBXTextBookmark */;
+			6BA8CECF1255C1A400272A3B /* PBXTextBookmark */ = 6BA8CECF1255C1A400272A3B /* PBXTextBookmark */;
+			6BA8CED01255C1A400272A3B /* PBXTextBookmark */ = 6BA8CED01255C1A400272A3B /* PBXTextBookmark */;
+			6BA8CED11255C1A400272A3B /* PBXTextBookmark */ = 6BA8CED11255C1A400272A3B /* PBXTextBookmark */;
+			6BA8CED21255C35C00272A3B /* PBXTextBookmark */ = 6BA8CED21255C35C00272A3B /* PBXTextBookmark */;
+			6BA8CED31255C35C00272A3B /* PBXTextBookmark */ = 6BA8CED31255C35C00272A3B /* PBXTextBookmark */;
+			6BA8CED41255C35C00272A3B /* PBXTextBookmark */ = 6BA8CED41255C35C00272A3B /* PBXTextBookmark */;
+			6BA8CEEF1255C4B700272A3B /* PBXTextBookmark */ = 6BA8CEEF1255C4B700272A3B /* PBXTextBookmark */;
+			6BA8CEF01255C4B700272A3B /* PBXTextBookmark */ = 6BA8CEF01255C4B700272A3B /* PBXTextBookmark */;
+			6BA8CEF11255C4B700272A3B /* PBXTextBookmark */ = 6BA8CEF11255C4B700272A3B /* PBXTextBookmark */;
+			6BA8CEF21255C4B700272A3B /* PBXTextBookmark */ = 6BA8CEF21255C4B700272A3B /* PBXTextBookmark */;
+			6BA8CEF31255C6C100272A3B /* PBXTextBookmark */ = 6BA8CEF31255C6C100272A3B /* PBXTextBookmark */;
+			6BA8CEF41255C6C100272A3B /* PBXTextBookmark */ = 6BA8CEF41255C6C100272A3B /* PBXTextBookmark */;
+			6BA8CEF51255C6C100272A3B /* PBXTextBookmark */ = 6BA8CEF51255C6C100272A3B /* PBXTextBookmark */;
+			6BA8CEF61255C7D300272A3B /* PBXTextBookmark */ = 6BA8CEF61255C7D300272A3B /* PBXTextBookmark */;
+			6BA8CEF71255C7D300272A3B /* PBXTextBookmark */ = 6BA8CEF71255C7D300272A3B /* PBXTextBookmark */;
+			6BA8CEF81255C7D300272A3B /* PBXTextBookmark */ = 6BA8CEF81255C7D300272A3B /* PBXTextBookmark */;
+			6BA8CEF91255C87500272A3B /* PBXTextBookmark */ = 6BA8CEF91255C87500272A3B /* PBXTextBookmark */;
+			6BA8CEFA1255C87500272A3B /* PBXTextBookmark */ = 6BA8CEFA1255C87500272A3B /* PBXTextBookmark */;
+			6BA8CEFB1255C93D00272A3B /* PBXTextBookmark */ = 6BA8CEFB1255C93D00272A3B /* PBXTextBookmark */;
+			6BA8CEFC1255C93D00272A3B /* PBXTextBookmark */ = 6BA8CEFC1255C93D00272A3B /* PBXTextBookmark */;
+			6BA8CEFD1255C93D00272A3B /* PBXTextBookmark */ = 6BA8CEFD1255C93D00272A3B /* PBXTextBookmark */;
+			6BA8CEFE1255C9B800272A3B /* PBXTextBookmark */ = 6BA8CEFE1255C9B800272A3B /* PBXTextBookmark */;
+			6BA8CEFF1255C9B800272A3B /* PBXTextBookmark */ = 6BA8CEFF1255C9B800272A3B /* PBXTextBookmark */;
+			6BA8CF001255C9B800272A3B /* PBXTextBookmark */ = 6BA8CF001255C9B800272A3B /* PBXTextBookmark */;
+			6BA8CF011255C9B800272A3B /* PBXTextBookmark */ = 6BA8CF011255C9B800272A3B /* PBXTextBookmark */;
+			6BA8CF021255CA4100272A3B /* PBXTextBookmark */ = 6BA8CF021255CA4100272A3B /* PBXTextBookmark */;
+			6BA8CF031255CA4100272A3B /* PBXTextBookmark */ = 6BA8CF031255CA4100272A3B /* PBXTextBookmark */;
+			6BA8CF041255CA4100272A3B /* PBXTextBookmark */ = 6BA8CF041255CA4100272A3B /* PBXTextBookmark */;
+			6BA8CF051255CAAA00272A3B /* PBXTextBookmark */ = 6BA8CF051255CAAA00272A3B /* PBXTextBookmark */;
+			6BA8CF061255CB7600272A3B /* PBXTextBookmark */ = 6BA8CF061255CB7600272A3B /* PBXTextBookmark */;
+			6BA8CF071255CB7600272A3B /* PBXTextBookmark */ = 6BA8CF071255CB7600272A3B /* PBXTextBookmark */;
+			6BA8CF081255CB7600272A3B /* PBXTextBookmark */ = 6BA8CF081255CB7600272A3B /* PBXTextBookmark */;
+			6BA8CF091255CB7600272A3B /* PBXTextBookmark */ = 6BA8CF091255CB7600272A3B /* PBXTextBookmark */;
+			6BA8CF121255CC4F00272A3B /* PBXTextBookmark */ = 6BA8CF121255CC4F00272A3B /* PBXTextBookmark */;
+			6BA8CF131255CC4F00272A3B /* XCBuildMessageTextBookmark */ = 6BA8CF131255CC4F00272A3B /* XCBuildMessageTextBookmark */;
+			6BA8CF141255CC4F00272A3B /* PBXTextBookmark */ = 6BA8CF141255CC4F00272A3B /* PBXTextBookmark */;
+			6BA8CF221255CCD500272A3B /* PBXTextBookmark */ = 6BA8CF221255CCD500272A3B /* PBXTextBookmark */;
+			6BA8CF231255CCD500272A3B /* PBXTextBookmark */ = 6BA8CF231255CCD500272A3B /* PBXTextBookmark */;
+			6BA8CF241255CCD500272A3B /* PBXTextBookmark */ = 6BA8CF241255CCD500272A3B /* PBXTextBookmark */;
+			6BA8CF281255CCF000272A3B /* PBXTextBookmark */ = 6BA8CF281255CCF000272A3B /* PBXTextBookmark */;
+			6BA8CF321255CDD100272A3B /* PBXTextBookmark */ = 6BA8CF321255CDD100272A3B /* PBXTextBookmark */;
+			6BA8CF331255CDD100272A3B /* PBXTextBookmark */ = 6BA8CF331255CDD100272A3B /* PBXTextBookmark */;
+			6BA8CF341255CDD100272A3B /* PBXTextBookmark */ = 6BA8CF341255CDD100272A3B /* PBXTextBookmark */;
+			6BA8CF381255CE1C00272A3B /* PBXTextBookmark */ = 6BA8CF381255CE1C00272A3B /* PBXTextBookmark */;
+			6BA8CF391255CE1C00272A3B /* PBXTextBookmark */ = 6BA8CF391255CE1C00272A3B /* PBXTextBookmark */;
+			6BA8CF3A1255CE1C00272A3B /* PBXTextBookmark */ = 6BA8CF3A1255CE1C00272A3B /* PBXTextBookmark */;
+			6BA8CF3E1255CEDE00272A3B /* PBXTextBookmark */ = 6BA8CF3E1255CEDE00272A3B /* PBXTextBookmark */;
+			6BA8CF401255CFD500272A3B /* PBXTextBookmark */ = 6BA8CF401255CFD500272A3B /* PBXTextBookmark */;
+			6BA8CF411255D16D00272A3B /* PBXTextBookmark */ = 6BA8CF411255D16D00272A3B /* PBXTextBookmark */;
+			6BA8CF421255D16D00272A3B /* PBXTextBookmark */ = 6BA8CF421255D16D00272A3B /* PBXTextBookmark */;
+			6BA8CF431255D16D00272A3B /* PBXTextBookmark */ = 6BA8CF431255D16D00272A3B /* PBXTextBookmark */;
+			6BA8CF441255D16D00272A3B /* PBXTextBookmark */ = 6BA8CF441255D16D00272A3B /* PBXTextBookmark */;
+			6BA8CF451255D17A00272A3B /* PBXTextBookmark */ = 6BA8CF451255D17A00272A3B /* PBXTextBookmark */;
 			6BAF3CB112116AD9008CFCDF = 6BAF3CB112116AD9008CFCDF /* PBXTextBookmark */;
 			6BAF3E781212869F008CFCDF = 6BAF3E781212869F008CFCDF /* PBXTextBookmark */;
 			6BAF404F12140B4E008CFCDF = 6BAF404F12140B4E008CFCDF /* PBXTextBookmark */;
@@ -177,48 +236,15 @@
 			6BAF4446121C40AC008CFCDF = 6BAF4446121C40AC008CFCDF /* PBXTextBookmark */;
 			6BAF4525121D1723008CFCDF = 6BAF4525121D1723008CFCDF /* PBXTextBookmark */;
 			6BAF46D3121D8FF1008CFCDF = 6BAF46D3121D8FF1008CFCDF /* PBXTextBookmark */;
-			6BBB02B61247291B00533229 /* PBXTextBookmark */ = 6BBB02B61247291B00533229 /* PBXTextBookmark */;
-			6BBB02C212472AE400533229 /* PBXTextBookmark */ = 6BBB02C212472AE400533229 /* PBXTextBookmark */;
-			6BBB02C312472AE400533229 /* PBXTextBookmark */ = 6BBB02C312472AE400533229 /* PBXTextBookmark */;
-			6BBB02C412472AE400533229 /* PBXTextBookmark */ = 6BBB02C412472AE400533229 /* PBXTextBookmark */;
-			6BBB02C512472C9900533229 /* PBXTextBookmark */ = 6BBB02C512472C9900533229 /* PBXTextBookmark */;
-			6BBB02C612472C9900533229 /* PBXTextBookmark */ = 6BBB02C612472C9900533229 /* PBXTextBookmark */;
-			6BBB02C712472C9900533229 /* PBXTextBookmark */ = 6BBB02C712472C9900533229 /* PBXTextBookmark */;
-			6BBB02EA124731A400533229 /* PBXTextBookmark */ = 6BBB02EA124731A400533229 /* PBXTextBookmark */;
-			6BBB02EB124731A400533229 /* PBXTextBookmark */ = 6BBB02EB124731A400533229 /* PBXTextBookmark */;
-			6BBB02EC124731A400533229 /* PBXTextBookmark */ = 6BBB02EC124731A400533229 /* PBXTextBookmark */;
-			6BBB02ED124731A400533229 /* PBXTextBookmark */ = 6BBB02ED124731A400533229 /* PBXTextBookmark */;
-			6BBB02F3124731E700533229 /* PBXTextBookmark */ = 6BBB02F3124731E700533229 /* PBXTextBookmark */;
-			6BBB02F4124731E700533229 /* PBXTextBookmark */ = 6BBB02F4124731E700533229 /* PBXTextBookmark */;
-			6BBB02F71247326300533229 /* PBXTextBookmark */ = 6BBB02F71247326300533229 /* PBXTextBookmark */;
-			6BBB02FD1247335400533229 /* PBXTextBookmark */ = 6BBB02FD1247335400533229 /* PBXTextBookmark */;
-			6BBB02FF124733CF00533229 /* PBXTextBookmark */ = 6BBB02FF124733CF00533229 /* PBXTextBookmark */;
-			6BBB0302124733D900533229 /* PBXTextBookmark */ = 6BBB0302124733D900533229 /* PBXTextBookmark */;
-			6BBB030A1247349300533229 /* PBXTextBookmark */ = 6BBB030A1247349300533229 /* PBXTextBookmark */;
-			6BBB030B1247349300533229 /* PBXTextBookmark */ = 6BBB030B1247349300533229 /* PBXTextBookmark */;
-			6BBB030D124734AD00533229 /* PBXTextBookmark */ = 6BBB030D124734AD00533229 /* PBXTextBookmark */;
-			6BBB03101247350F00533229 /* PBXTextBookmark */ = 6BBB03101247350F00533229 /* PBXTextBookmark */;
-			6BBB03111247350F00533229 /* PBXTextBookmark */ = 6BBB03111247350F00533229 /* PBXTextBookmark */;
-			6BBB03121247355000533229 /* PBXTextBookmark */ = 6BBB03121247355000533229 /* PBXTextBookmark */;
-			6BBB03151247359900533229 /* PBXTextBookmark */ = 6BBB03151247359900533229 /* PBXTextBookmark */;
-			6BBB03161247359900533229 /* PBXTextBookmark */ = 6BBB03161247359900533229 /* PBXTextBookmark */;
-			6BBB0317124735D300533229 /* PBXTextBookmark */ = 6BBB0317124735D300533229 /* PBXTextBookmark */;
-			6BBB031C1247360E00533229 /* PBXTextBookmark */ = 6BBB031C1247360E00533229 /* PBXTextBookmark */;
-			6BBB0322124736C400533229 /* PBXTextBookmark */ = 6BBB0322124736C400533229 /* PBXTextBookmark */;
-			6BBB0323124736C400533229 /* PBXTextBookmark */ = 6BBB0323124736C400533229 /* PBXTextBookmark */;
-			6BBB0324124736C400533229 /* PBXTextBookmark */ = 6BBB0324124736C400533229 /* PBXTextBookmark */;
-			6BBB0328124737C600533229 /* PBXTextBookmark */ = 6BBB0328124737C600533229 /* PBXTextBookmark */;
-			6BBB032D1247380600533229 /* PBXTextBookmark */ = 6BBB032D1247380600533229 /* PBXTextBookmark */;
-			6BBB032E1247380600533229 /* PBXTextBookmark */ = 6BBB032E1247380600533229 /* PBXTextBookmark */;
-			6BBB03321247382900533229 /* PBXTextBookmark */ = 6BBB03321247382900533229 /* PBXTextBookmark */;
-			6BBB03331247382900533229 /* PBXTextBookmark */ = 6BBB03331247382900533229 /* PBXTextBookmark */;
-			6BBB03381247384200533229 /* PBXTextBookmark */ = 6BBB03381247384200533229 /* PBXTextBookmark */;
-			6BBB03391247384200533229 /* PBXTextBookmark */ = 6BBB03391247384200533229 /* PBXTextBookmark */;
-			6BBB033E1247388000533229 /* PBXTextBookmark */ = 6BBB033E1247388000533229 /* PBXTextBookmark */;
-			6BBB035612473DA500533229 /* PBXTextBookmark */ = 6BBB035612473DA500533229 /* PBXTextBookmark */;
-			6BBB035712473DA500533229 /* PBXTextBookmark */ = 6BBB035712473DA500533229 /* PBXTextBookmark */;
-			6BBB035812473DA500533229 /* PBXTextBookmark */ = 6BBB035812473DA500533229 /* PBXTextBookmark */;
-			6BBB035912473E1800533229 /* PBXTextBookmark */ = 6BBB035912473E1800533229 /* PBXTextBookmark */;
+			6BBB02EA124731A400533229 = 6BBB02EA124731A400533229 /* PBXTextBookmark */;
+			6BBB035612473DA500533229 = 6BBB035612473DA500533229 /* PBXTextBookmark */;
+			6BBB0360124E242E00533229 = 6BBB0360124E242E00533229 /* PBXTextBookmark */;
+			6BBB0361124E242E00533229 = 6BBB0361124E242E00533229 /* PBXTextBookmark */;
+			6BBB0363124E242E00533229 = 6BBB0363124E242E00533229 /* PBXTextBookmark */;
+			6BBB0365124E242E00533229 = 6BBB0365124E242E00533229 /* PBXTextBookmark */;
+			6BBB0366124E242E00533229 = 6BBB0366124E242E00533229 /* PBXTextBookmark */;
+			6BBB0367124E242E00533229 = 6BBB0367124E242E00533229 /* PBXTextBookmark */;
+			6BBB0368124E242E00533229 = 6BBB0368124E242E00533229 /* PBXTextBookmark */;
 			6BBB4AA5115B4F3400CF791D = 6BBB4AA5115B4F3400CF791D /* PBXTextBookmark */;
 			6BBB4C34115B7A3D00CF791D = 6BBB4C34115B7A3D00CF791D /* PBXTextBookmark */;
 			6BD4020E1224336600995864 = 6BD4020E1224336600995864 /* PBXTextBookmark */;
@@ -233,12 +259,10 @@
 			6BD402B4122441CB00995864 = 6BD402B4122441CB00995864 /* PBXTextBookmark */;
 			6BD667FF123D2D230021A7A4 = 6BD667FF123D2D230021A7A4 /* PBXTextBookmark */;
 			6BD6681812434B790021A7A4 = 6BD6681812434B790021A7A4 /* PBXTextBookmark */;
-			6BD6683512434D9D0021A7A4 = 6BD6683512434D9D0021A7A4 /* PBXTextBookmark */;
 			6BD6684E124350B80021A7A4 = 6BD6684E124350B80021A7A4 /* PBXTextBookmark */;
 			6BD66855124350F80021A7A4 = 6BD66855124350F80021A7A4 /* PBXTextBookmark */;
 			6BD6685E124351D70021A7A4 = 6BD6685E124351D70021A7A4 /* PBXTextBookmark */;
 			6BD6685F124351D70021A7A4 = 6BD6685F124351D70021A7A4 /* PBXTextBookmark */;
-			6BD6686C124356CE0021A7A4 = 6BD6686C124356CE0021A7A4 /* PBXTextBookmark */;
 			6BD6686E124356CE0021A7A4 = 6BD6686E124356CE0021A7A4 /* PBXTextBookmark */;
 			6BD668A3124361EB0021A7A4 = 6BD668A3124361EB0021A7A4 /* PBXTextBookmark */;
 			6BD668D6124367E30021A7A4 = 6BD668D6124367E30021A7A4 /* PBXTextBookmark */;
@@ -248,7 +272,6 @@
 			6BD66934124375DF0021A7A4 = 6BD66934124375DF0021A7A4 /* PBXTextBookmark */;
 			6BD66937124376780021A7A4 = 6BD66937124376780021A7A4 /* PBXTextBookmark */;
 			6BD66938124376780021A7A4 = 6BD66938124376780021A7A4 /* PBXTextBookmark */;
-			6BD66939124376780021A7A4 = 6BD66939124376780021A7A4 /* PBXTextBookmark */;
 			6BD669501243778E0021A7A4 = 6BD669501243778E0021A7A4 /* PBXTextBookmark */;
 			6BD669511243778E0021A7A4 = 6BD669511243778E0021A7A4 /* PBXTextBookmark */;
 			6BD6695C124377D40021A7A4 = 6BD6695C124377D40021A7A4 /* PBXTextBookmark */;
@@ -288,7 +311,7 @@
 		ignoreCount = 0;
 		lineNumber = 1324;
 		location = Recast;
-		modificationTime = 306657391.99694;
+		modificationTime = 307613126.464667;
 		originalNumberOfMultipleMatches = 1;
 		state = 1;
 	};
@@ -483,36 +506,6 @@
 			sepNavWindowFrame = "{{38, 30}, {1214, 722}}";
 		};
 	};
-	6B2F7BAC124725C70056A3E5 /* PBXTextBookmark */ = {
-		isa = PBXTextBookmark;
-		fRef = 6BAF3C581211663A008CFCDF /* CrowdTool.cpp */;
-		name = "CrowdTool.cpp: 396";
-		rLen = 0;
-		rLoc = 10060;
-		rType = 0;
-		vrLen = 438;
-		vrLoc = 9902;
-	};
-	6B2F7BAD124725C70056A3E5 /* PBXTextBookmark */ = {
-		isa = PBXTextBookmark;
-		fRef = 6BD667D8123D27EC0021A7A4 /* CrowdManager.h */;
-		name = "CrowdManager.h: 110";
-		rLen = 0;
-		rLoc = 3032;
-		rType = 0;
-		vrLen = 687;
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diff --git a/RecastDemo/Build/Xcode/Recast.xcodeproj/memon.perspectivev3 b/RecastDemo/Build/Xcode/Recast.xcodeproj/memon.perspectivev3
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 							<key>GeometryConfiguration</key>
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 								<key>Frame</key>
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 								<key>RubberWindowFrame</key>
 								<string>0 112 1280 666 0 0 1280 778 </string>
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 							<key>Module</key>
 							<string>PBXNavigatorGroup</string>
 							<key>Proportion</key>
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 										<key>Frame</key>
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 	<array>
-		<string>6BBB02EF124731A400533229</string>
-		<string>6BBB02F0124731A400533229</string>
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+		<string>6BA8CF1D1255CC4F00272A3B</string>
 		<string>/Users/memon/Code/recastnavigation/RecastDemo/Build/Xcode/Recast.xcodeproj</string>
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diff --git a/RecastDemo/Build/Xcode/Recast.xcodeproj/project.pbxproj b/RecastDemo/Build/Xcode/Recast.xcodeproj/project.pbxproj
index ca7f39a..8335b10 100644
--- a/RecastDemo/Build/Xcode/Recast.xcodeproj/project.pbxproj
+++ b/RecastDemo/Build/Xcode/Recast.xcodeproj/project.pbxproj
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 				6BB7FE8E10F4A175006DA0A6 /* Tools */,
 				6B25B6180FFA62BE004F1BC4 /* main.cpp */,
+				6BD667D8123D27EC0021A7A4 /* CrowdManager.h */,
+				6BD667D9123D28100021A7A4 /* CrowdManager.cpp */,
 				6BAF4440121C3D0A008CFCDF /* SampleInterfaces.h */,
 				6BAF4441121C3D26008CFCDF /* SampleInterfaces.cpp */,
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-				6BD667D8123D27EC0021A7A4 /* CrowdManager.h */,
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 			name = Classes;
 			sourceTree = "<group>";
diff --git a/RecastDemo/Include/CrowdManager.h b/RecastDemo/Include/CrowdManager.h
index aacdf7a..7ee7e2c 100644
--- a/RecastDemo/Include/CrowdManager.h
+++ b/RecastDemo/Include/CrowdManager.h
@@ -34,6 +34,50 @@
 	AGENT_TARGET_FAILED = 5,
 };*/
 
+class ProximityGrid
+{
+	int m_maxItems;
+	float m_cellSize;
+	float m_invCellSize;
+
+	struct Item
+	{
+		unsigned short id;
+		short x,y;
+		unsigned short next;
+	};
+	Item* m_pool;
+	int m_poolHead;
+	int m_poolSize;
+	
+	unsigned short* m_buckets;
+	int m_bucketsSize;
+	
+	int m_bounds[4];
+	
+public:
+	ProximityGrid();
+	~ProximityGrid();
+	
+	bool init(const int maxItems, const float cellSize);
+	
+	void clear();
+	
+	void addItem(const unsigned short id,
+				 const float minx, const float miny,
+				 const float maxx, const float maxy);
+	
+	int queryItems(const float minx, const float miny,
+				   const float maxx, const float maxy,
+				   unsigned short* ids, const int maxIds) const;
+	
+	int getItemCountAt(const int x, const int y) const;
+	const int* getBounds() const { return m_bounds; }
+	const float getCellSize() const { return m_cellSize; }
+};
+
+
+
 static const int AGENT_MAX_PATH = 256;
 static const int AGENT_MAX_CORNERS = 4;
 static const int AGENT_MAX_TRAIL = 64;
@@ -202,6 +246,7 @@ class CrowdManager
 	dtObstacleAvoidanceDebugData* m_vodebug[MAX_AGENTS];
 	dtObstacleAvoidanceQuery* m_obstacleQuery;
 	PathQueue m_pathq;
+	ProximityGrid m_grid;
 	
 	int m_totalTime;
 	int m_rvoTime;
@@ -229,6 +274,8 @@ public:
 	inline int getTotalTime() const { return m_totalTime; }
 	inline int getRVOTime() const { return m_rvoTime; }
 	inline int getSampleCount() const { return m_sampleCount; }
+	const ProximityGrid* getGrid() const { return &m_grid; }
+
 };
 
 
diff --git a/RecastDemo/Include/CrowdTool.h b/RecastDemo/Include/CrowdTool.h
index 8593c25..441d09a 100644
--- a/RecastDemo/Include/CrowdTool.h
+++ b/RecastDemo/Include/CrowdTool.h
@@ -68,6 +68,7 @@ class CrowdTool : public SampleTool
 	bool m_showPath;
 	bool m_showVO;
 	bool m_showOpt;
+	bool m_showGrid;
 	
 	bool m_expandOptions;
 	bool m_anticipateTurns;
diff --git a/RecastDemo/Source/CrowdManager.cpp b/RecastDemo/Source/CrowdManager.cpp
index c0b6382..7a5a90a 100644
--- a/RecastDemo/Source/CrowdManager.cpp
+++ b/RecastDemo/Source/CrowdManager.cpp
@@ -29,12 +29,165 @@
 #include "CrowdManager.h"
 #include "SampleInterfaces.h" // For timer
 #include "DetourAssert.h"
+#include "DetourAlloc.h"
 
 static const int VO_ADAPTIVE_GRID_SIZE = 4;
 static const int VO_ADAPTIVE_GRID_DEPTH = 5;
 static const int VO_GRID_SIZE = 33;
 
 
+inline int hashPos2(int x, int y, int n)
+{
+	return ((x*73856093) ^ (y*19349663)) & (n-1);
+}
+
+ProximityGrid::ProximityGrid() :
+	m_maxItems(0),
+	m_cellSize(0),
+	m_pool(0),
+	m_poolHead(0),
+	m_poolSize(0),
+	m_buckets(0),
+	m_bucketsSize(0)
+{
+}
+	
+ProximityGrid::~ProximityGrid()
+{
+	dtFree(m_buckets);
+	dtFree(m_pool);
+}
+	
+bool ProximityGrid::init(const int maxItems, const float cellSize)
+{
+	dtAssert(maxItems > 0);
+	dtAssert(cellSize > 0.0f);
+	
+	m_cellSize = cellSize;
+	m_invCellSize = 1.0f / m_cellSize;
+	
+	// Allocate hashs buckets
+	m_bucketsSize = dtNextPow2(maxItems);
+	m_buckets = (unsigned short*)dtAlloc(sizeof(unsigned short)*m_bucketsSize, DT_ALLOC_PERM);
+	if (!m_buckets)
+		return false;
+
+	// Allocate pool of items.
+	m_poolSize = maxItems*4;
+	m_poolHead = 0;
+	m_pool = (Item*)dtAlloc(sizeof(Item)*m_poolSize, DT_ALLOC_PERM);
+	if (!m_pool)
+		return false;
+	
+	clear();
+	
+	return true;
+}
+
+void ProximityGrid::clear()
+{
+	memset(m_buckets, 0xff, sizeof(unsigned short)*m_bucketsSize);
+	m_poolHead = 0;
+	m_bounds[0] = 0xffff;
+	m_bounds[1] = 0xffff;
+	m_bounds[2] = -0xffff;
+	m_bounds[3] = -0xffff;
+}
+
+void ProximityGrid::addItem(const unsigned short id,
+							const float minx, const float miny,
+							const float maxx, const float maxy)
+{
+	const int iminx = (int)floorf(minx * m_invCellSize);
+	const int iminy = (int)floorf(miny * m_invCellSize);
+	const int imaxx = (int)floorf(maxx * m_invCellSize);
+	const int imaxy = (int)floorf(maxy * m_invCellSize);
+	
+	m_bounds[0] = dtMin(m_bounds[0], iminx);
+	m_bounds[1] = dtMin(m_bounds[1], iminy);
+	m_bounds[2] = dtMax(m_bounds[2], imaxx);
+	m_bounds[3] = dtMax(m_bounds[3], imaxy);
+	
+	for (int y = iminy; y <= imaxy; ++y)
+	{
+		for (int x = iminx; x <= imaxx; ++x)
+		{
+			if (m_poolHead < m_poolSize)
+			{
+				const int h = hashPos2(x, y, m_bucketsSize);
+				const unsigned short idx = (unsigned short)m_poolHead;
+				m_poolHead++;
+				Item& item = m_pool[idx];
+				item.x = (short)x;
+				item.y = (short)y;
+				item.id = id;
+				item.next = m_buckets[h];
+				m_buckets[h] = idx;
+			}
+		}
+	}
+}
+
+int ProximityGrid::queryItems(const float minx, const float miny,
+							  const float maxx, const float maxy,
+							  unsigned short* ids, const int maxIds) const
+{
+	const int iminx = (int)floorf(minx * m_invCellSize);
+	const int iminy = (int)floorf(miny * m_invCellSize);
+	const int imaxx = (int)floorf(maxx * m_invCellSize);
+	const int imaxy = (int)floorf(maxy * m_invCellSize);
+	
+	int n = 0;
+	
+	for (int y = iminy; y <= imaxy; ++y)
+	{
+		for (int x = iminx; x <= imaxx; ++x)
+		{
+			const int h = hashPos2(x, y, m_bucketsSize);
+			unsigned short idx = m_buckets[h];
+			while (idx != 0xffff)
+			{
+				Item& item = m_pool[idx];
+				if ((int)item.x == x && (int)item.y == y)
+				{
+					// Check if the id exists already.
+					const unsigned short* end = ids + n;
+					unsigned short* i = ids;
+					while (i != end && *i != item.id)
+						++i;
+					// Item not found, add it.
+					if (i == end)
+					{
+						if (n >= maxIds)
+							return n;
+						ids[n++] = item.id;
+					}
+				}
+				idx = item.next;
+			}
+		}
+	}
+	
+	return n;
+}
+
+int ProximityGrid::getItemCountAt(const int x, const int y) const
+{
+	int n = 0;
+	
+	const int h = hashPos2(x, y, m_bucketsSize);
+	unsigned short idx = m_buckets[h];
+	while (idx != 0xffff)
+	{
+		Item& item = m_pool[idx];
+		if ((int)item.x == x && (int)item.y == y)
+			n++;
+		idx = item.next;
+	}
+
+	return n;
+}
+
 
 PathQueue::PathQueue() :
 	m_nextHandle(1),
@@ -673,6 +826,9 @@ CrowdManager::CrowdManager() :
 		m_vodebug[i] = dtAllocObstacleAvoidanceDebugData();
 		m_vodebug[i]->init(sampleCount);
 	}
+
+	// TODO: the radius should be related to the agent radius used to create the navmesh!
+	m_grid.init(100, 1.0f);
 	
 	reset();
 }
@@ -767,10 +923,14 @@ int CrowdManager::getNeighbours(const float* pos, const float height, const floa
 {
 	int n = 0;
 	
-	for (int i = 0; i < MAX_AGENTS; ++i)
+	unsigned short ids[MAX_AGENTS];
+	int nids = m_grid.queryItems(pos[0]-range, pos[2]-range,
+								 pos[0]+range, pos[2]+range,
+								 ids, MAX_AGENTS);
+	
+	for (int i = 0; i < nids; ++i)
 	{
-		if (!m_agents[i].active) continue;
-		Agent* ag = &m_agents[i];
+		Agent* ag = &m_agents[ids[i]];
 
 		if (ag == skip) continue;
 		
@@ -812,6 +972,21 @@ void CrowdManager::update(const float dt, unsigned int flags, dtNavMeshQuery* na
 
 	m_pathq.update(navquery);
 	
+
+	m_grid.clear();
+	for (int i = 0; i < nagents; ++i)
+	{
+		Agent* ag = agents[i];
+		const float* p = ag->mover.m_pos;
+		const float r = ag->mover.m_radius;
+		const float minx = p[0] - r;
+		const float miny = p[2] - r;
+		const float maxx = p[0] + r;
+		const float maxy = p[2] + r;
+		m_grid.addItem((unsigned short)i, minx, miny, maxx, maxy);
+	}
+
+	
 	// Update target and agent navigation state.
 	// TODO: add queue for path queries.
 	for (int i = 0; i < nagents; ++i)
diff --git a/RecastDemo/Source/CrowdTool.cpp b/RecastDemo/Source/CrowdTool.cpp
index a026627..342477a 100644
--- a/RecastDemo/Source/CrowdTool.cpp
+++ b/RecastDemo/Source/CrowdTool.cpp
@@ -182,6 +182,7 @@ CrowdTool::CrowdTool() :
 	m_showPath(false),
 	m_showVO(false),
 	m_showOpt(false),
+	m_showGrid(false),
 	m_expandOptions(true),
 	m_anticipateTurns(true),
 	m_useVO(true),
@@ -262,8 +263,10 @@ void CrowdTool::handleMenu()
 			m_showPath = !m_showPath;
 		if (imguiCheck("Show VO", m_showVO))
 			m_showVO = !m_showVO;
-		if (imguiCheck("Show Opt", m_showOpt))
+		if (imguiCheck("Show Path Optimization", m_showOpt))
 			m_showOpt = !m_showOpt;
+		if (imguiCheck("Show Prox Grid", m_showGrid))
+			m_showGrid = !m_showGrid;
 		imguiUnindent();
 	}
 }
@@ -591,6 +594,40 @@ void CrowdTool::handleRender()
 		dd.depthMask(true);
 	}
 	
+	if (m_showGrid)
+	{
+		float gridy = -FLT_MAX;
+		for (int i = 0; i < m_crowd.getAgentCount(); ++i)
+		{
+			const Agent* ag = m_crowd.getAgent(i);
+			if (!ag->active) continue;
+			const float* pos = ag->mover.m_pos;
+			gridy = dtMax(gridy, pos[1]);
+		}
+		gridy += 1.0f;
+			
+		dd.depthMask(false);
+		dd.begin(DU_DRAW_QUADS);
+		const ProximityGrid* grid = m_crowd.getGrid();
+		const int* bounds = grid->getBounds();
+		const float cs = grid->getCellSize();
+		for (int y = bounds[1]; y <= bounds[3]; ++y)
+		{
+			for (int x = bounds[0]; x <= bounds[2]; ++x)
+			{
+				const int count = grid->getItemCountAt(x,y); 
+				if (!count) continue;
+				unsigned int col = duRGBA(128,0,0,dtMin(count*40,255));
+				dd.vertex(x*cs, gridy, y*cs, col);
+				dd.vertex(x*cs, gridy, y*cs+cs, col);
+				dd.vertex(x*cs+cs, gridy, y*cs+cs, col);
+				dd.vertex(x*cs+cs, gridy, y*cs, col);
+			}
+		}
+		dd.end();
+		dd.depthMask(true);
+	}
+
 	
 /*
 	for (int i = 0; i < m_form.npolys; ++i)