diff --git a/.gitignore b/.gitignore
index 2e39568..b321a15 100644
--- a/.gitignore
+++ b/.gitignore
@@ -14,6 +14,9 @@ RecastDemo/Bin/RecastDemo
 # Build directory
 RecastDemo/Build
 
+# Ignore some meshes based on name
+RecastDemo/Bin/Meshes/_*
+
 ## Logs and databases #
 *.log
 *.sql
diff --git a/Recast/Source/RecastMeshDetail.cpp b/Recast/Source/RecastMeshDetail.cpp
index f7cd77e..69ed147 100644
--- a/Recast/Source/RecastMeshDetail.cpp
+++ b/Recast/Source/RecastMeshDetail.cpp
@@ -751,158 +751,55 @@ static void getHeightData(const rcCompactHeightfield& chf,
 	// since border size offset is already removed from the polymesh vertices.
 
 	stack.resize(0);
-
-	static const int offset[9*2] =
-	{
-		0,0, -1,0, 0,1, 1,0, 0,-1, -1,-1, -1,1, 1,1, 1,-1
-	};
-
-	// find the center of the polygon
-	int pcx = 0, pcz = 0;
-	for (int j = 0; j < npoly; ++j)
-	{
-		pcx += (int)verts[poly[j]*3+0];
-		pcz += (int)verts[poly[j]*3+2];
-	}
-	pcx /= npoly;
-	pcz /= npoly;
-
-	// find a span with the right region around this point
-	// No need to check for connectivity because the region ensures it
-	for (int dir = 0; dir < 9; ++dir)
-	{
-		int ax = pcx + offset[dir*2+0];
-		int az = pcz + offset[dir*2+1];
-
-		if (ax < hp.xmin || ax >= hp.xmin+hp.width ||
-			az < hp.ymin || az >= hp.ymin+hp.height)
-			continue;
-
-		const rcCompactCell& c = chf.cells[(ax+bs)+(az+bs)*chf.width];
-		for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
-		{
-			const rcCompactSpan& s = chf.spans[i];
-			if (s.reg == region)
-			{
-				stack.push(ax);
-				stack.push(az);
-				stack.push(i);
-				break;
-			}
-		}
-		if (stack.size() > 0)
-			break;
-	}
-
-	// in some rare dense cases the polygon simplification moves the polygon to a point where the center
-	// is very far from the region. So we search the span in flood-fill fashion from the vertices
-	if (stack.size() == 0)
-	{
-		memset(hp.data, 0, sizeof(unsigned short)*hp.width*hp.height);
-
-		// Use poly vertices as seed points for the flood fill.
-		for (int j = 0; j < npoly; ++j)
-		{
-			int cx = 0, cz = 0, ci =-1;
-			int dmin = RC_UNSET_HEIGHT;
-			for (int k = 0; k < 9; ++k)
-			{
-				const int ax = (int)verts[poly[j]*3+0] + offset[k*2+0];
-				const int ay = (int)verts[poly[j]*3+1];
-				const int az = (int)verts[poly[j]*3+2] + offset[k*2+1];
-				if (ax < hp.xmin || ax >= hp.xmin+hp.width ||
-					az < hp.ymin || az >= hp.ymin+hp.height)
-					continue;
-			
-				const rcCompactCell& c = chf.cells[(ax+bs)+(az+bs)*chf.width];
-				for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
-				{
-					const rcCompactSpan& s = chf.spans[i];
-					int d = rcAbs(ay - (int)s.y);
-					if (d < dmin)
-					{
-						cx = ax;
-						cz = az;
-						ci = i;
-						dmin = d;
-					}
-				}
-			}
-			if (ci != -1)
-			{
-				stack.push(cx);
-				stack.push(cz);
-				stack.push(ci);
-			}
-		}
-
-		for (int i = 0; i < stack.size(); i += 3)
-		{
-			int cx = stack[i+0];
-			int cy = stack[i+1];
-			int idx = cx-hp.xmin+(cy-hp.ymin)*hp.width;
-			hp.data[idx] = 1;
-		}
-	
-		while (stack.size() > 0)
-		{
-			int ci = stack.pop();
-			int cy = stack.pop();
-			int cx = stack.pop();
-		
-			// Check if close to center of the polygon.
-			if (rcAbs(cx-pcx) <= 1 && rcAbs(cy-pcz) <= 1)
-			{
-				stack.resize(0);
-				stack.push(cx);
-				stack.push(cy);
-				stack.push(ci);
-				break;
-			}
-		
-			const rcCompactSpan& cs = chf.spans[ci];
-		
-			for (int dir = 0; dir < 4; ++dir)
-			{
-				if (rcGetCon(cs, dir) == RC_NOT_CONNECTED) continue;
-			
-				const int ax = cx + rcGetDirOffsetX(dir);
-				const int ay = cy + rcGetDirOffsetY(dir);
-			
-				if (ax < hp.xmin || ax >= (hp.xmin+hp.width) ||
-					ay < hp.ymin || ay >= (hp.ymin+hp.height))
-					continue;
-			
-				if (hp.data[ax-hp.xmin+(ay-hp.ymin)*hp.width] != 0)
-					continue;
-			
-				const int ai = (int)chf.cells[(ax+bs)+(ay+bs)*chf.width].index + rcGetCon(cs, dir);
-
-				int idx = ax-hp.xmin+(ay-hp.ymin)*hp.width;
-				hp.data[idx] = 1;
-			
-				stack.push(ax);
-				stack.push(ay);
-				stack.push(ai);
-			}
-		}
-	}
-
-	// Floodfill the heightfield to get 2D height data,
-	// starting at center location found above as seed.
-
 	memset(hp.data, 0xff, sizeof(unsigned short)*hp.width*hp.height);
 
-	// Mark start locations.
-	for (int i = 0; i < stack.size(); i += 3)
+	// Copy the height from the same region, and mark region borders
+	// as seed points to fill the rest.
+	for (int hy = 0; hy < hp.height; hy++)
 	{
-		int cx = stack[i+0];
-		int cy = stack[i+1];
-		int ci = stack[i+2];
-		int idx = cx-hp.xmin+(cy-hp.ymin)*hp.width;
-		const rcCompactSpan& cs = chf.spans[ci];
-		hp.data[idx] = cs.y;
-	}
+		int y = hp.ymin + hy + bs;
+		for (int hx = 0; hx < hp.width; hx++)
+		{
+			int x = hp.xmin + hx + bs;
+			const rcCompactCell& c = chf.cells[x+y*chf.width];
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				const rcCompactSpan& s = chf.spans[i];
+				if (s.reg == region)
+				{
+					// Store height
+					hp.data[hx + hy*hp.width] = s.y;
+
+					// If any of the neighbours is not in same region,
+					// add the current location as flood fill start
+					bool border = false;
+					for (int dir = 0; dir < 4; ++dir)
+					{
+						if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
+						{
+							const int ax = x + rcGetDirOffsetX(dir);
+							const int ay = y + rcGetDirOffsetY(dir);
+							const int ai = (int)chf.cells[ax+ay*chf.width].index + rcGetCon(s, dir);
+							const rcCompactSpan& as = chf.spans[ai];
+							if (as.reg != region)
+							{
+								border = true;
+								break;
+							}
+						}
+					}
+					if (border)
+					{
+						stack.push(x);
+						stack.push(y);
+						stack.push(i);
+					}
+					break;
+				}
+			}
+		}
+	}	
+
 	
 	static const int RETRACT_SIZE = 256;
 	int head = 0;
@@ -928,19 +825,19 @@ static void getHeightData(const rcCompactHeightfield& chf,
 			
 			const int ax = cx + rcGetDirOffsetX(dir);
 			const int ay = cy + rcGetDirOffsetY(dir);
+			const int hx = ax - hp.xmin - bs;
+			const int hy = ay - hp.ymin - bs;
 			
-			if (ax < hp.xmin || ax >= (hp.xmin+hp.width) ||
-				ay < hp.ymin || ay >= (hp.ymin+hp.height))
+			if (hx < 0 || hx >= hp.width || hy < 0 || hy >= hp.height)
 				continue;
 			
-			if (hp.data[ax-hp.xmin+(ay-hp.ymin)*hp.width] != RC_UNSET_HEIGHT)
+			if (hp.data[hx + hy*hp.width] != RC_UNSET_HEIGHT)
 				continue;
 			
-			const int ai = (int)chf.cells[(ax+bs)+(ay+bs)*chf.width].index + rcGetCon(cs, dir);
-			
+			const int ai = (int)chf.cells[ax + ay*chf.width].index + rcGetCon(cs, dir);
 			const rcCompactSpan& as = chf.spans[ai];
-			int idx = ax-hp.xmin+(ay-hp.ymin)*hp.width;
-			hp.data[idx] = as.y;
+
+			hp.data[hx + hy*hp.width] = as.y;
 
 			stack.push(ax);
 			stack.push(ay);
diff --git a/Recast/Source/RecastRasterization.cpp b/Recast/Source/RecastRasterization.cpp
index e1b2bf3..5801516 100644
--- a/Recast/Source/RecastRasterization.cpp
+++ b/Recast/Source/RecastRasterization.cpp
@@ -170,17 +170,17 @@ void rcAddSpan(rcContext* /*ctx*/, rcHeightfield& hf, const int x, const int y,
 }
 
 // divides a convex polygons into two convex polygons on both sides of a line
-static void dividePoly(const float* in, int nbIn,
-					  float* out1, int* nb1,
-					  float* out2, int* nb2,
+static void dividePoly(const float* in, int nin,
+					  float* out1, int* nout1,
+					  float* out2, int* nout2,
 					  float x, int axis)
 {
 	float d[12];
-	for (int i = 0; i < nbIn; ++i)
+	for (int i = 0; i < nin; ++i)
 		d[i] = x - in[i*3+axis];
 
 	int m = 0, n = 0;
-	for (int i = 0, j = nbIn-1; i < nbIn; j=i, ++i)
+	for (int i = 0, j = nin-1; i < nin; j=i, ++i)
 	{
 		bool ina = d[j] >= 0;
 		bool inb = d[i] >= 0;
@@ -211,8 +211,8 @@ static void dividePoly(const float* in, int nbIn,
 		n++;
 	}
 	
-	*nb1 = m;
-	*nb2 = n;
+	*nout1 = m;
+	*nout2 = n;
 }
 
 
diff --git a/RecastDemo/Source/NavMeshPruneTool.cpp b/RecastDemo/Source/NavMeshPruneTool.cpp
index 193d79a..270c8f6 100644
--- a/RecastDemo/Source/NavMeshPruneTool.cpp
+++ b/RecastDemo/Source/NavMeshPruneTool.cpp
@@ -63,7 +63,7 @@ public:
 		}
 		m_size = n;
 	}
-	inline void push(int item) { resize(m_size+1); m_data[m_size-1] = item; }
+	inline void push(dtPolyRef item) { resize(m_size+1); m_data[m_size-1] = item; }
 	inline dtPolyRef pop() { if (m_size > 0) m_size--; return m_data[m_size]; }
 	inline const dtPolyRef& operator[](int i) const { return m_data[i]; }
 	inline dtPolyRef& operator[](int i) { return m_data[i]; }