Recast integration.

15 files changed, 9879 insertions, 0 deletions

diff --git a/thirdparty/recastnavigation/License.txt b/thirdparty/recastnavigation/License.txt
new file mode 100644
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--- /dev/null
+++ b/thirdparty/recastnavigation/License.txt
@@ -0,0 +1,18 @@
+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.
+
diff --git a/thirdparty/recastnavigation/Recast/Include/Recast.h b/thirdparty/recastnavigation/Recast/Include/Recast.h
new file mode 100644
index 0000000000..e85c0d2e29
--- /dev/null
+++ b/thirdparty/recastnavigation/Recast/Include/Recast.h
@@ -0,0 +1,1200 @@
+//
+// Copyright (c) 2009-2010 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 RECAST_H
+#define RECAST_H
+
+/// The value of PI used by Recast.
+static const float RC_PI = 3.14159265f;
+
+/// Recast log categories.
+/// @see rcContext
+enum rcLogCategory
+{
+	RC_LOG_PROGRESS = 1,	///< A progress log entry.
+	RC_LOG_WARNING,			///< A warning log entry.
+	RC_LOG_ERROR,			///< An error log entry.
+};
+
+/// Recast performance timer categories.
+/// @see rcContext
+enum rcTimerLabel
+{
+	/// The user defined total time of the build.
+	RC_TIMER_TOTAL,
+	/// A user defined build time.
+	RC_TIMER_TEMP,
+	/// The time to rasterize the triangles. (See: #rcRasterizeTriangle)
+	RC_TIMER_RASTERIZE_TRIANGLES,
+	/// The time to build the compact heightfield. (See: #rcBuildCompactHeightfield)
+	RC_TIMER_BUILD_COMPACTHEIGHTFIELD,
+	/// The total time to build the contours. (See: #rcBuildContours)
+	RC_TIMER_BUILD_CONTOURS,
+	/// The time to trace the boundaries of the contours. (See: #rcBuildContours)
+	RC_TIMER_BUILD_CONTOURS_TRACE,
+	/// The time to simplify the contours. (See: #rcBuildContours)
+	RC_TIMER_BUILD_CONTOURS_SIMPLIFY,
+	/// The time to filter ledge spans. (See: #rcFilterLedgeSpans)
+	RC_TIMER_FILTER_BORDER,
+	/// The time to filter low height spans. (See: #rcFilterWalkableLowHeightSpans)
+	RC_TIMER_FILTER_WALKABLE,
+	/// The time to apply the median filter. (See: #rcMedianFilterWalkableArea)
+	RC_TIMER_MEDIAN_AREA,
+	/// The time to filter low obstacles. (See: #rcFilterLowHangingWalkableObstacles)
+	RC_TIMER_FILTER_LOW_OBSTACLES,
+	/// The time to build the polygon mesh. (See: #rcBuildPolyMesh)
+	RC_TIMER_BUILD_POLYMESH,
+	/// The time to merge polygon meshes. (See: #rcMergePolyMeshes)
+	RC_TIMER_MERGE_POLYMESH,
+	/// The time to erode the walkable area. (See: #rcErodeWalkableArea)
+	RC_TIMER_ERODE_AREA,
+	/// The time to mark a box area. (See: #rcMarkBoxArea)
+	RC_TIMER_MARK_BOX_AREA,
+	/// The time to mark a cylinder area. (See: #rcMarkCylinderArea)
+	RC_TIMER_MARK_CYLINDER_AREA,
+	/// The time to mark a convex polygon area. (See: #rcMarkConvexPolyArea)
+	RC_TIMER_MARK_CONVEXPOLY_AREA,
+	/// The total time to build the distance field. (See: #rcBuildDistanceField)
+	RC_TIMER_BUILD_DISTANCEFIELD,
+	/// The time to build the distances of the distance field. (See: #rcBuildDistanceField)
+	RC_TIMER_BUILD_DISTANCEFIELD_DIST,
+	/// The time to blur the distance field. (See: #rcBuildDistanceField)
+	RC_TIMER_BUILD_DISTANCEFIELD_BLUR,
+	/// The total time to build the regions. (See: #rcBuildRegions, #rcBuildRegionsMonotone)
+	RC_TIMER_BUILD_REGIONS,
+	/// The total time to apply the watershed algorithm. (See: #rcBuildRegions)
+	RC_TIMER_BUILD_REGIONS_WATERSHED,
+	/// The time to expand regions while applying the watershed algorithm. (See: #rcBuildRegions)
+	RC_TIMER_BUILD_REGIONS_EXPAND,
+	/// The time to flood regions while applying the watershed algorithm. (See: #rcBuildRegions)
+	RC_TIMER_BUILD_REGIONS_FLOOD,
+	/// The time to filter out small regions. (See: #rcBuildRegions, #rcBuildRegionsMonotone)
+	RC_TIMER_BUILD_REGIONS_FILTER,
+	/// The time to build heightfield layers. (See: #rcBuildHeightfieldLayers)
+	RC_TIMER_BUILD_LAYERS, 
+	/// The time to build the polygon mesh detail. (See: #rcBuildPolyMeshDetail)
+	RC_TIMER_BUILD_POLYMESHDETAIL,
+	/// The time to merge polygon mesh details. (See: #rcMergePolyMeshDetails)
+	RC_TIMER_MERGE_POLYMESHDETAIL,
+	/// The maximum number of timers.  (Used for iterating timers.)
+	RC_MAX_TIMERS
+};
+
+/// Provides an interface for optional logging and performance tracking of the Recast 
+/// build process.
+/// @ingroup recast
+class rcContext
+{
+public:
+
+	/// Contructor.
+	///  @param[in]		state	TRUE if the logging and performance timers should be enabled.  [Default: true]
+	inline rcContext(bool state = true) : m_logEnabled(state), m_timerEnabled(state) {}
+	virtual ~rcContext() {}
+
+	/// Enables or disables logging.
+	///  @param[in]		state	TRUE if logging should be enabled.
+	inline void enableLog(bool state) { m_logEnabled = state; }
+
+	/// Clears all log entries.
+	inline void resetLog() { if (m_logEnabled) doResetLog(); }
+
+	/// Logs a message.
+	///  @param[in]		category	The category of the message.
+	///  @param[in]		format		The message.
+	void log(const rcLogCategory category, const char* format, ...);
+
+	/// Enables or disables the performance timers.
+	///  @param[in]		state	TRUE if timers should be enabled.
+	inline void enableTimer(bool state) { m_timerEnabled = state; }
+
+	/// Clears all peformance timers. (Resets all to unused.)
+	inline void resetTimers() { if (m_timerEnabled) doResetTimers(); }
+
+	/// Starts the specified performance timer.
+	///  @param	label	The category of the timer.
+	inline void startTimer(const rcTimerLabel label) { if (m_timerEnabled) doStartTimer(label); }
+
+	/// Stops the specified performance timer.
+	///  @param	label	The category of the timer.
+	inline void stopTimer(const rcTimerLabel label) { if (m_timerEnabled) doStopTimer(label); }
+
+	/// Returns the total accumulated time of the specified performance timer.
+	///  @param	label	The category of the timer.
+	///  @return The accumulated time of the timer, or -1 if timers are disabled or the timer has never been started.
+	inline int getAccumulatedTime(const rcTimerLabel label) const { return m_timerEnabled ? doGetAccumulatedTime(label) : -1; }
+
+protected:
+
+	/// Clears all log entries.
+	virtual void doResetLog() {}
+
+	/// Logs a message.
+	///  @param[in]		category	The category of the message.
+	///  @param[in]		msg			The formatted message.
+	///  @param[in]		len			The length of the formatted message.
+	virtual void doLog(const rcLogCategory /*category*/, const char* /*msg*/, const int /*len*/) {}
+
+	/// Clears all timers. (Resets all to unused.)
+	virtual void doResetTimers() {}
+
+	/// Starts the specified performance timer.
+	///  @param[in]		label	The category of timer.
+	virtual void doStartTimer(const rcTimerLabel /*label*/) {}
+
+	/// Stops the specified performance timer.
+	///  @param[in]		label	The category of the timer.
+	virtual void doStopTimer(const rcTimerLabel /*label*/) {}
+
+	/// Returns the total accumulated time of the specified performance timer.
+	///  @param[in]		label	The category of the timer.
+	///  @return The accumulated time of the timer, or -1 if timers are disabled or the timer has never been started.
+	virtual int doGetAccumulatedTime(const rcTimerLabel /*label*/) const { return -1; }
+	
+	/// True if logging is enabled.
+	bool m_logEnabled;
+
+	/// True if the performance timers are enabled.
+	bool m_timerEnabled;
+};
+
+/// A helper to first start a timer and then stop it when this helper goes out of scope.
+/// @see rcContext
+class rcScopedTimer
+{
+public:
+	/// Constructs an instance and starts the timer.
+	///  @param[in]		ctx		The context to use.
+	///  @param[in]		label	The category of the timer.
+	inline rcScopedTimer(rcContext* ctx, const rcTimerLabel label) : m_ctx(ctx), m_label(label) { m_ctx->startTimer(m_label); }
+	inline ~rcScopedTimer() { m_ctx->stopTimer(m_label); }
+
+private:
+	// Explicitly disabled copy constructor and copy assignment operator.
+	rcScopedTimer(const rcScopedTimer&);
+	rcScopedTimer& operator=(const rcScopedTimer&);
+	
+	rcContext* const m_ctx;
+	const rcTimerLabel m_label;
+};
+
+/// Specifies a configuration to use when performing Recast builds.
+/// @ingroup recast
+struct rcConfig
+{
+	/// The width of the field along the x-axis. [Limit: >= 0] [Units: vx]
+	int width;
+
+	/// The height of the field along the z-axis. [Limit: >= 0] [Units: vx]
+	int height;
+	
+	/// The width/height size of tile's on the xz-plane. [Limit: >= 0] [Units: vx]
+	int tileSize;
+	
+	/// The size of the non-navigable border around the heightfield. [Limit: >=0] [Units: vx]
+	int borderSize;
+
+	/// The xz-plane cell size to use for fields. [Limit: > 0] [Units: wu] 
+	float cs;
+
+	/// The y-axis cell size to use for fields. [Limit: > 0] [Units: wu]
+	float ch;
+
+	/// The minimum bounds of the field's AABB. [(x, y, z)] [Units: wu]
+	float bmin[3]; 
+
+	/// The maximum bounds of the field's AABB. [(x, y, z)] [Units: wu]
+	float bmax[3];
+
+	/// The maximum slope that is considered walkable. [Limits: 0 <= value < 90] [Units: Degrees] 
+	float walkableSlopeAngle;
+
+	/// Minimum floor to 'ceiling' height that will still allow the floor area to 
+	/// be considered walkable. [Limit: >= 3] [Units: vx] 
+	int walkableHeight;
+	
+	/// Maximum ledge height that is considered to still be traversable. [Limit: >=0] [Units: vx] 
+	int walkableClimb;
+	
+	/// The distance to erode/shrink the walkable area of the heightfield away from 
+	/// obstructions.  [Limit: >=0] [Units: vx] 
+	int walkableRadius;
+	
+	/// The maximum allowed length for contour edges along the border of the mesh. [Limit: >=0] [Units: vx] 
+	int maxEdgeLen;
+	
+	/// The maximum distance a simplfied contour's border edges should deviate 
+	/// the original raw contour. [Limit: >=0] [Units: vx]
+	float maxSimplificationError;
+	
+	/// The minimum number of cells allowed to form isolated island areas. [Limit: >=0] [Units: vx] 
+	int minRegionArea;
+	
+	/// Any regions with a span count smaller than this value will, if possible, 
+	/// be merged with larger regions. [Limit: >=0] [Units: vx] 
+	int mergeRegionArea;
+	
+	/// The maximum number of vertices allowed for polygons generated during the 
+	/// contour to polygon conversion process. [Limit: >= 3] 
+	int maxVertsPerPoly;
+	
+	/// Sets the sampling distance to use when generating the detail mesh.
+	/// (For height detail only.) [Limits: 0 or >= 0.9] [Units: wu] 
+	float detailSampleDist;
+	
+	/// The maximum distance the detail mesh surface should deviate from heightfield
+	/// data. (For height detail only.) [Limit: >=0] [Units: wu] 
+	float detailSampleMaxError;
+};
+
+/// Defines the number of bits allocated to rcSpan::smin and rcSpan::smax.
+static const int RC_SPAN_HEIGHT_BITS = 13;
+/// Defines the maximum value for rcSpan::smin and rcSpan::smax.
+static const int RC_SPAN_MAX_HEIGHT = (1 << RC_SPAN_HEIGHT_BITS) - 1;
+
+/// The number of spans allocated per span spool.
+/// @see rcSpanPool
+static const int RC_SPANS_PER_POOL = 2048;
+
+/// Represents a span in a heightfield.
+/// @see rcHeightfield
+struct rcSpan
+{
+	unsigned int smin : RC_SPAN_HEIGHT_BITS; ///< The lower limit of the span. [Limit: < #smax]
+	unsigned int smax : RC_SPAN_HEIGHT_BITS; ///< The upper limit of the span. [Limit: <= #RC_SPAN_MAX_HEIGHT]
+	unsigned int area : 6;                   ///< The area id assigned to the span.
+	rcSpan* next;                            ///< The next span higher up in column.
+};
+
+/// A memory pool used for quick allocation of spans within a heightfield.
+/// @see rcHeightfield
+struct rcSpanPool
+{
+	rcSpanPool* next;					///< The next span pool.
+	rcSpan items[RC_SPANS_PER_POOL];	///< Array of spans in the pool.
+};
+
+/// A dynamic heightfield representing obstructed space.
+/// @ingroup recast
+struct rcHeightfield
+{
+	rcHeightfield();
+	~rcHeightfield();
+
+	int width;			///< The width of the heightfield. (Along the x-axis in cell units.)
+	int height;			///< The height of the heightfield. (Along the z-axis in cell units.)
+	float bmin[3];  	///< The minimum bounds in world space. [(x, y, z)]
+	float bmax[3];		///< The maximum bounds in world space. [(x, y, z)]
+	float cs;			///< The size of each cell. (On the xz-plane.)
+	float ch;			///< The height of each cell. (The minimum increment along the y-axis.)
+	rcSpan** spans;		///< Heightfield of spans (width*height).
+	rcSpanPool* pools;	///< Linked list of span pools.
+	rcSpan* freelist;	///< The next free span.
+
+private:
+	// Explicitly-disabled copy constructor and copy assignment operator.
+	rcHeightfield(const rcHeightfield&);
+	rcHeightfield& operator=(const rcHeightfield&);
+};
+
+/// Provides information on the content of a cell column in a compact heightfield. 
+struct rcCompactCell
+{
+	unsigned int index : 24;	///< Index to the first span in the column.
+	unsigned int count : 8;		///< Number of spans in the column.
+};
+
+/// Represents a span of unobstructed space within a compact heightfield.
+struct rcCompactSpan
+{
+	unsigned short y;			///< The lower extent of the span. (Measured from the heightfield's base.)
+	unsigned short reg;			///< The id of the region the span belongs to. (Or zero if not in a region.)
+	unsigned int con : 24;		///< Packed neighbor connection data.
+	unsigned int h : 8;			///< The height of the span.  (Measured from #y.)
+};
+
+/// A compact, static heightfield representing unobstructed space.
+/// @ingroup recast
+struct rcCompactHeightfield
+{
+	int width;					///< The width of the heightfield. (Along the x-axis in cell units.)
+	int height;					///< The height of the heightfield. (Along the z-axis in cell units.)
+	int spanCount;				///< The number of spans in the heightfield.
+	int walkableHeight;			///< The walkable height used during the build of the field.  (See: rcConfig::walkableHeight)
+	int walkableClimb;			///< The walkable climb used during the build of the field. (See: rcConfig::walkableClimb)
+	int borderSize;				///< The AABB border size used during the build of the field. (See: rcConfig::borderSize)
+	unsigned short maxDistance;	///< The maximum distance value of any span within the field. 
+	unsigned short maxRegions;	///< The maximum region id of any span within the field. 
+	float bmin[3];				///< The minimum bounds in world space. [(x, y, z)]
+	float bmax[3];				///< The maximum bounds in world space. [(x, y, z)]
+	float cs;					///< The size of each cell. (On the xz-plane.)
+	float ch;					///< The height of each cell. (The minimum increment along the y-axis.)
+	rcCompactCell* cells;		///< Array of cells. [Size: #width*#height]
+	rcCompactSpan* spans;		///< Array of spans. [Size: #spanCount]
+	unsigned short* dist;		///< Array containing border distance data. [Size: #spanCount]
+	unsigned char* areas;		///< Array containing area id data. [Size: #spanCount]
+};
+
+/// Represents a heightfield layer within a layer set.
+/// @see rcHeightfieldLayerSet
+struct rcHeightfieldLayer
+{
+	float bmin[3];				///< The minimum bounds in world space. [(x, y, z)]
+	float bmax[3];				///< The maximum bounds in world space. [(x, y, z)]
+	float cs;					///< The size of each cell. (On the xz-plane.)
+	float ch;					///< The height of each cell. (The minimum increment along the y-axis.)
+	int width;					///< The width of the heightfield. (Along the x-axis in cell units.)
+	int height;					///< The height of the heightfield. (Along the z-axis in cell units.)
+	int minx;					///< The minimum x-bounds of usable data.
+	int maxx;					///< The maximum x-bounds of usable data.
+	int miny;					///< The minimum y-bounds of usable data. (Along the z-axis.)
+	int maxy;					///< The maximum y-bounds of usable data. (Along the z-axis.)
+	int hmin;					///< The minimum height bounds of usable data. (Along the y-axis.)
+	int hmax;					///< The maximum height bounds of usable data. (Along the y-axis.)
+	unsigned char* heights;		///< The heightfield. [Size: width * height]
+	unsigned char* areas;		///< Area ids. [Size: Same as #heights]
+	unsigned char* cons;		///< Packed neighbor connection information. [Size: Same as #heights]
+};
+
+/// Represents a set of heightfield layers.
+/// @ingroup recast
+/// @see rcAllocHeightfieldLayerSet, rcFreeHeightfieldLayerSet 
+struct rcHeightfieldLayerSet
+{
+	rcHeightfieldLayer* layers;			///< The layers in the set. [Size: #nlayers]
+	int nlayers;						///< The number of layers in the set.
+};
+
+/// Represents a simple, non-overlapping contour in field space.
+struct rcContour
+{
+	int* verts;			///< Simplified contour vertex and connection data. [Size: 4 * #nverts]
+	int nverts;			///< The number of vertices in the simplified contour. 
+	int* rverts;		///< Raw contour vertex and connection data. [Size: 4 * #nrverts]
+	int nrverts;		///< The number of vertices in the raw contour. 
+	unsigned short reg;	///< The region id of the contour.
+	unsigned char area;	///< The area id of the contour.
+};
+
+/// Represents a group of related contours.
+/// @ingroup recast
+struct rcContourSet
+{
+	rcContour* conts;	///< An array of the contours in the set. [Size: #nconts]
+	int nconts;			///< The number of contours in the set.
+	float bmin[3];  	///< The minimum bounds in world space. [(x, y, z)]
+	float bmax[3];		///< The maximum bounds in world space. [(x, y, z)]
+	float cs;			///< The size of each cell. (On the xz-plane.)
+	float ch;			///< The height of each cell. (The minimum increment along the y-axis.)
+	int width;			///< The width of the set. (Along the x-axis in cell units.) 
+	int height;			///< The height of the set. (Along the z-axis in cell units.) 
+	int borderSize;		///< The AABB border size used to generate the source data from which the contours were derived.
+	float maxError;		///< The max edge error that this contour set was simplified with.
+};
+
+/// Represents a polygon mesh suitable for use in building a navigation mesh. 
+/// @ingroup recast
+struct rcPolyMesh
+{
+	unsigned short* verts;	///< The mesh vertices. [Form: (x, y, z) * #nverts]
+	unsigned short* polys;	///< Polygon and neighbor data. [Length: #maxpolys * 2 * #nvp]
+	unsigned short* regs;	///< The region id assigned to each polygon. [Length: #maxpolys]
+	unsigned short* flags;	///< The user defined flags for each polygon. [Length: #maxpolys]
+	unsigned char* areas;	///< The area id assigned to each polygon. [Length: #maxpolys]
+	int nverts;				///< The number of vertices.
+	int npolys;				///< The number of polygons.
+	int maxpolys;			///< The number of allocated polygons.
+	int nvp;				///< The maximum number of vertices per polygon.
+	float bmin[3];			///< The minimum bounds in world space. [(x, y, z)]
+	float bmax[3];			///< The maximum bounds in world space. [(x, y, z)]
+	float cs;				///< The size of each cell. (On the xz-plane.)
+	float ch;				///< The height of each cell. (The minimum increment along the y-axis.)
+	int borderSize;			///< The AABB border size used to generate the source data from which the mesh was derived.
+	float maxEdgeError;		///< The max error of the polygon edges in the mesh.
+};
+
+/// Contains triangle meshes that represent detailed height data associated 
+/// with the polygons in its associated polygon mesh object.
+/// @ingroup recast
+struct rcPolyMeshDetail
+{
+	unsigned int* meshes;	///< The sub-mesh data. [Size: 4*#nmeshes] 
+	float* verts;			///< The mesh vertices. [Size: 3*#nverts] 
+	unsigned char* tris;	///< The mesh triangles. [Size: 4*#ntris] 
+	int nmeshes;			///< The number of sub-meshes defined by #meshes.
+	int nverts;				///< The number of vertices in #verts.
+	int ntris;				///< The number of triangles in #tris.
+};
+
+/// @name Allocation Functions
+/// Functions used to allocate and de-allocate Recast objects.
+/// @see rcAllocSetCustom
+/// @{
+
+/// Allocates a heightfield object using the Recast allocator.
+///  @return A heightfield that is ready for initialization, or null on failure.
+///  @ingroup recast
+///  @see rcCreateHeightfield, rcFreeHeightField
+rcHeightfield* rcAllocHeightfield();
+
+/// Frees the specified heightfield object using the Recast allocator.
+///  @param[in]		hf	A heightfield allocated using #rcAllocHeightfield
+///  @ingroup recast
+///  @see rcAllocHeightfield
+void rcFreeHeightField(rcHeightfield* hf);
+
+/// Allocates a compact heightfield object using the Recast allocator.
+///  @return A compact heightfield that is ready for initialization, or null on failure.
+///  @ingroup recast
+///  @see rcBuildCompactHeightfield, rcFreeCompactHeightfield
+rcCompactHeightfield* rcAllocCompactHeightfield();
+
+/// Frees the specified compact heightfield object using the Recast allocator.
+///  @param[in]		chf		A compact heightfield allocated using #rcAllocCompactHeightfield
+///  @ingroup recast
+///  @see rcAllocCompactHeightfield
+void rcFreeCompactHeightfield(rcCompactHeightfield* chf);
+
+/// Allocates a heightfield layer set using the Recast allocator.
+///  @return A heightfield layer set that is ready for initialization, or null on failure.
+///  @ingroup recast
+///  @see rcBuildHeightfieldLayers, rcFreeHeightfieldLayerSet
+rcHeightfieldLayerSet* rcAllocHeightfieldLayerSet();
+
+/// Frees the specified heightfield layer set using the Recast allocator.
+///  @param[in]		lset	A heightfield layer set allocated using #rcAllocHeightfieldLayerSet
+///  @ingroup recast
+///  @see rcAllocHeightfieldLayerSet
+void rcFreeHeightfieldLayerSet(rcHeightfieldLayerSet* lset);
+
+/// Allocates a contour set object using the Recast allocator.
+///  @return A contour set that is ready for initialization, or null on failure.
+///  @ingroup recast
+///  @see rcBuildContours, rcFreeContourSet
+rcContourSet* rcAllocContourSet();
+
+/// Frees the specified contour set using the Recast allocator.
+///  @param[in]		cset	A contour set allocated using #rcAllocContourSet
+///  @ingroup recast
+///  @see rcAllocContourSet
+void rcFreeContourSet(rcContourSet* cset);
+
+/// Allocates a polygon mesh object using the Recast allocator.
+///  @return A polygon mesh that is ready for initialization, or null on failure.
+///  @ingroup recast
+///  @see rcBuildPolyMesh, rcFreePolyMesh
+rcPolyMesh* rcAllocPolyMesh();
+
+/// Frees the specified polygon mesh using the Recast allocator.
+///  @param[in]		pmesh	A polygon mesh allocated using #rcAllocPolyMesh
+///  @ingroup recast
+///  @see rcAllocPolyMesh
+void rcFreePolyMesh(rcPolyMesh* pmesh);
+
+/// Allocates a detail mesh object using the Recast allocator.
+///  @return A detail mesh that is ready for initialization, or null on failure.
+///  @ingroup recast
+///  @see rcBuildPolyMeshDetail, rcFreePolyMeshDetail
+rcPolyMeshDetail* rcAllocPolyMeshDetail();
+
+/// Frees the specified detail mesh using the Recast allocator.
+///  @param[in]		dmesh	A detail mesh allocated using #rcAllocPolyMeshDetail
+///  @ingroup recast
+///  @see rcAllocPolyMeshDetail
+void rcFreePolyMeshDetail(rcPolyMeshDetail* dmesh);
+
+/// @}
+
+/// Heighfield border flag.
+/// If a heightfield region ID has this bit set, then the region is a border 
+/// region and its spans are considered unwalkable.
+/// (Used during the region and contour build process.)
+/// @see rcCompactSpan::reg
+static const unsigned short RC_BORDER_REG = 0x8000;
+
+/// Polygon touches multiple regions.
+/// If a polygon has this region ID it was merged with or created
+/// from polygons of different regions during the polymesh
+/// build step that removes redundant border vertices. 
+/// (Used during the polymesh and detail polymesh build processes)
+/// @see rcPolyMesh::regs
+static const unsigned short RC_MULTIPLE_REGS = 0;
+
+/// Border vertex flag.
+/// If a region ID has this bit set, then the associated element lies on
+/// a tile border. If a contour vertex's region ID has this bit set, the 
+/// vertex will later be removed in order to match the segments and vertices 
+/// at tile boundaries.
+/// (Used during the build process.)
+/// @see rcCompactSpan::reg, #rcContour::verts, #rcContour::rverts
+static const int RC_BORDER_VERTEX = 0x10000;
+
+/// Area border flag.
+/// If a region ID has this bit set, then the associated element lies on
+/// the border of an area.
+/// (Used during the region and contour build process.)
+/// @see rcCompactSpan::reg, #rcContour::verts, #rcContour::rverts
+static const int RC_AREA_BORDER = 0x20000;
+
+/// Contour build flags.
+/// @see rcBuildContours
+enum rcBuildContoursFlags
+{
+	RC_CONTOUR_TESS_WALL_EDGES = 0x01,	///< Tessellate solid (impassable) edges during contour simplification.
+	RC_CONTOUR_TESS_AREA_EDGES = 0x02,	///< Tessellate edges between areas during contour simplification.
+};
+
+/// Applied to the region id field of contour vertices in order to extract the region id.
+/// The region id field of a vertex may have several flags applied to it.  So the
+/// fields value can't be used directly.
+/// @see rcContour::verts, rcContour::rverts
+static const int RC_CONTOUR_REG_MASK = 0xffff;
+
+/// An value which indicates an invalid index within a mesh.
+/// @note This does not necessarily indicate an error.
+/// @see rcPolyMesh::polys
+static const unsigned short RC_MESH_NULL_IDX = 0xffff;
+
+/// Represents the null area.
+/// When a data element is given this value it is considered to no longer be 
+/// assigned to a usable area.  (E.g. It is unwalkable.)
+static const unsigned char RC_NULL_AREA = 0;
+
+/// The default area id used to indicate a walkable polygon. 
+/// This is also the maximum allowed area id, and the only non-null area id 
+/// recognized by some steps in the build process. 
+static const unsigned char RC_WALKABLE_AREA = 63;
+
+/// The value returned by #rcGetCon if the specified direction is not connected
+/// to another span. (Has no neighbor.)
+static const int RC_NOT_CONNECTED = 0x3f;
+
+/// @name General helper functions
+/// @{
+
+/// Used to ignore a function parameter.  VS complains about unused parameters
+/// and this silences the warning.
+///  @param [in] _ Unused parameter
+template<class T> void rcIgnoreUnused(const T&) { }
+
+/// Swaps the values of the two parameters.
+///  @param[in,out]	a	Value A
+///  @param[in,out]	b	Value B
+template<class T> inline void rcSwap(T& a, T& b) { T t = a; a = b; b = t; }
+
+/// Returns the minimum of two values.
+///  @param[in]		a	Value A
+///  @param[in]		b	Value B
+///  @return The minimum of the two values.
+template<class T> inline T rcMin(T a, T b) { return a < b ? a : b; }
+
+/// Returns the maximum of two values.
+///  @param[in]		a	Value A
+///  @param[in]		b	Value B
+///  @return The maximum of the two values.
+template<class T> inline T rcMax(T a, T b) { return a > b ? a : b; }
+
+/// Returns the absolute value.
+///  @param[in]		a	The value.
+///  @return The absolute value of the specified value.
+template<class T> inline T rcAbs(T a) { return a < 0 ? -a : a; }
+
+/// Returns the square of the value.
+///  @param[in]		a	The value.
+///  @return The square of the value.
+template<class T> inline T rcSqr(T a) { return a*a; }
+
+/// Clamps the value to the specified range.
+///  @param[in]		v	The value to clamp.
+///  @param[in]		mn	The minimum permitted return value.
+///  @param[in]		mx	The maximum permitted return value.
+///  @return The value, clamped to the specified range.
+template<class T> inline T rcClamp(T v, T mn, T mx) { return v < mn ? mn : (v > mx ? mx : v); }
+
+/// Returns the square root of the value.
+///  @param[in]		x	The value.
+///  @return The square root of the vlaue.
+float rcSqrt(float x);
+
+/// @}
+/// @name Vector helper functions.
+/// @{
+
+/// Derives the cross product of two vectors. (@p v1 x @p v2)
+///  @param[out]	dest	The cross product. [(x, y, z)]
+///  @param[in]		v1		A Vector [(x, y, z)]
+///  @param[in]		v2		A vector [(x, y, z)]
+inline void rcVcross(float* dest, const float* v1, const float* v2)
+{
+	dest[0] = v1[1]*v2[2] - v1[2]*v2[1];
+	dest[1] = v1[2]*v2[0] - v1[0]*v2[2];
+	dest[2] = v1[0]*v2[1] - v1[1]*v2[0];
+}
+
+/// Derives the dot product of two vectors. (@p v1 . @p v2)
+///  @param[in]		v1	A Vector [(x, y, z)]
+///  @param[in]		v2	A vector [(x, y, z)]
+/// @return The dot product.
+inline float rcVdot(const float* v1, const float* v2)
+{
+	return v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2];
+}
+
+/// Performs a scaled vector addition. (@p v1 + (@p v2 * @p s))
+///  @param[out]	dest	The result vector. [(x, y, z)]
+///  @param[in]		v1		The base vector. [(x, y, z)]
+///  @param[in]		v2		The vector to scale and add to @p v1. [(x, y, z)]
+///  @param[in]		s		The amount to scale @p v2 by before adding to @p v1.
+inline void rcVmad(float* dest, const float* v1, const float* v2, const float s)
+{
+	dest[0] = v1[0]+v2[0]*s;
+	dest[1] = v1[1]+v2[1]*s;
+	dest[2] = v1[2]+v2[2]*s;
+}
+
+/// Performs a vector addition. (@p v1 + @p v2)
+///  @param[out]	dest	The result vector. [(x, y, z)]
+///  @param[in]		v1		The base vector. [(x, y, z)]
+///  @param[in]		v2		The vector to add to @p v1. [(x, y, z)]
+inline void rcVadd(float* dest, const float* v1, const float* v2)
+{
+	dest[0] = v1[0]+v2[0];
+	dest[1] = v1[1]+v2[1];
+	dest[2] = v1[2]+v2[2];
+}
+
+/// Performs a vector subtraction. (@p v1 - @p v2)
+///  @param[out]	dest	The result vector. [(x, y, z)]
+///  @param[in]		v1		The base vector. [(x, y, z)]
+///  @param[in]		v2		The vector to subtract from @p v1. [(x, y, z)]
+inline void rcVsub(float* dest, const float* v1, const float* v2)
+{
+	dest[0] = v1[0]-v2[0];
+	dest[1] = v1[1]-v2[1];
+	dest[2] = v1[2]-v2[2];
+}
+
+/// Selects the minimum value of each element from the specified vectors.
+///  @param[in,out]	mn	A vector.  (Will be updated with the result.) [(x, y, z)]
+///  @param[in]		v	A vector. [(x, y, z)]
+inline void rcVmin(float* mn, const float* v)
+{
+	mn[0] = rcMin(mn[0], v[0]);
+	mn[1] = rcMin(mn[1], v[1]);
+	mn[2] = rcMin(mn[2], v[2]);
+}
+
+/// Selects the maximum value of each element from the specified vectors.
+///  @param[in,out]	mx	A vector.  (Will be updated with the result.) [(x, y, z)]
+///  @param[in]		v	A vector. [(x, y, z)]
+inline void rcVmax(float* mx, const float* v)
+{
+	mx[0] = rcMax(mx[0], v[0]);
+	mx[1] = rcMax(mx[1], v[1]);
+	mx[2] = rcMax(mx[2], v[2]);
+}
+
+/// Performs a vector copy.
+///  @param[out]	dest	The result. [(x, y, z)]
+///  @param[in]		v		The vector to copy. [(x, y, z)]
+inline void rcVcopy(float* dest, const float* v)
+{
+	dest[0] = v[0];
+	dest[1] = v[1];
+	dest[2] = v[2];
+}
+
+/// Returns the distance between two points.
+///  @param[in]		v1	A point. [(x, y, z)]
+///  @param[in]		v2	A point. [(x, y, z)]
+/// @return The distance between the two points.
+inline float rcVdist(const float* v1, const float* v2)
+{
+	float dx = v2[0] - v1[0];
+	float dy = v2[1] - v1[1];
+	float dz = v2[2] - v1[2];
+	return rcSqrt(dx*dx + dy*dy + dz*dz);
+}
+
+/// Returns the square of the distance between two points.
+///  @param[in]		v1	A point. [(x, y, z)]
+///  @param[in]		v2	A point. [(x, y, z)]
+/// @return The square of the distance between the two points.
+inline float rcVdistSqr(const float* v1, const float* v2)
+{
+	float dx = v2[0] - v1[0];
+	float dy = v2[1] - v1[1];
+	float dz = v2[2] - v1[2];
+	return dx*dx + dy*dy + dz*dz;
+}
+
+/// Normalizes the vector.
+///  @param[in,out]	v	The vector to normalize. [(x, y, z)]
+inline void rcVnormalize(float* v)
+{
+	float d = 1.0f / rcSqrt(rcSqr(v[0]) + rcSqr(v[1]) + rcSqr(v[2]));
+	v[0] *= d;
+	v[1] *= d;
+	v[2] *= d;
+}
+
+/// @}
+/// @name Heightfield Functions
+/// @see rcHeightfield
+/// @{
+
+/// Calculates the bounding box of an array of vertices.
+///  @ingroup recast
+///  @param[in]		verts	An array of vertices. [(x, y, z) * @p nv]
+///  @param[in]		nv		The number of vertices in the @p verts array.
+///  @param[out]	bmin	The minimum bounds of the AABB. [(x, y, z)] [Units: wu]
+///  @param[out]	bmax	The maximum bounds of the AABB. [(x, y, z)] [Units: wu]
+void rcCalcBounds(const float* verts, int nv, float* bmin, float* bmax);
+
+/// Calculates the grid size based on the bounding box and grid cell size.
+///  @ingroup recast
+///  @param[in]		bmin	The minimum bounds of the AABB. [(x, y, z)] [Units: wu]
+///  @param[in]		bmax	The maximum bounds of the AABB. [(x, y, z)] [Units: wu]
+///  @param[in]		cs		The xz-plane cell size. [Limit: > 0] [Units: wu]
+///  @param[out]	w		The width along the x-axis. [Limit: >= 0] [Units: vx]
+///  @param[out]	h		The height along the z-axis. [Limit: >= 0] [Units: vx]
+void rcCalcGridSize(const float* bmin, const float* bmax, float cs, int* w, int* h);
+
+/// Initializes a new heightfield.
+///  @ingroup recast
+///  @param[in,out]	ctx		The build context to use during the operation.
+///  @param[in,out]	hf		The allocated heightfield to initialize.
+///  @param[in]		width	The width of the field along the x-axis. [Limit: >= 0] [Units: vx]
+///  @param[in]		height	The height of the field along the z-axis. [Limit: >= 0] [Units: vx]
+///  @param[in]		bmin	The minimum bounds of the field's AABB. [(x, y, z)] [Units: wu]
+///  @param[in]		bmax	The maximum bounds of the field's AABB. [(x, y, z)] [Units: wu]
+///  @param[in]		cs		The xz-plane cell size to use for the field. [Limit: > 0] [Units: wu]
+///  @param[in]		ch		The y-axis cell size to use for field. [Limit: > 0] [Units: wu]
+///  @returns True if the operation completed successfully.
+bool rcCreateHeightfield(rcContext* ctx, rcHeightfield& hf, int width, int height,
+						 const float* bmin, const float* bmax,
+						 float cs, float ch);
+
+/// Sets the area id of all triangles with a slope below the specified value
+/// to #RC_WALKABLE_AREA.
+///  @ingroup recast
+///  @param[in,out]	ctx					The build context to use during the operation.
+///  @param[in]		walkableSlopeAngle	The maximum slope that is considered walkable.
+///  									[Limits: 0 <= value < 90] [Units: Degrees]
+///  @param[in]		verts				The vertices. [(x, y, z) * @p nv]
+///  @param[in]		nv					The number of vertices.
+///  @param[in]		tris				The triangle vertex indices. [(vertA, vertB, vertC) * @p nt]
+///  @param[in]		nt					The number of triangles.
+///  @param[out]	areas				The triangle area ids. [Length: >= @p nt]
+void rcMarkWalkableTriangles(rcContext* ctx, const float walkableSlopeAngle, const float* verts, int nv,
+							 const int* tris, int nt, unsigned char* areas); 
+
+/// Sets the area id of all triangles with a slope greater than or equal to the specified value to #RC_NULL_AREA.
+///  @ingroup recast
+///  @param[in,out]	ctx					The build context to use during the operation.
+///  @param[in]		walkableSlopeAngle	The maximum slope that is considered walkable.
+///  									[Limits: 0 <= value < 90] [Units: Degrees]
+///  @param[in]		verts				The vertices. [(x, y, z) * @p nv]
+///  @param[in]		nv					The number of vertices.
+///  @param[in]		tris				The triangle vertex indices. [(vertA, vertB, vertC) * @p nt]
+///  @param[in]		nt					The number of triangles.
+///  @param[out]	areas				The triangle area ids. [Length: >= @p nt]
+void rcClearUnwalkableTriangles(rcContext* ctx, const float walkableSlopeAngle, const float* verts, int nv,
+								const int* tris, int nt, unsigned char* areas); 
+
+/// Adds a span to the specified heightfield.
+///  @ingroup recast
+///  @param[in,out]	ctx				The build context to use during the operation.
+///  @param[in,out]	hf				An initialized heightfield.
+///  @param[in]		x				The width index where the span is to be added.
+///  								[Limits: 0 <= value < rcHeightfield::width]
+///  @param[in]		y				The height index where the span is to be added.
+///  								[Limits: 0 <= value < rcHeightfield::height]
+///  @param[in]		smin			The minimum height of the span. [Limit: < @p smax] [Units: vx]
+///  @param[in]		smax			The maximum height of the span. [Limit: <= #RC_SPAN_MAX_HEIGHT] [Units: vx]
+///  @param[in]		area			The area id of the span. [Limit: <= #RC_WALKABLE_AREA)
+///  @param[in]		flagMergeThr	The merge theshold. [Limit: >= 0] [Units: vx]
+///  @returns True if the operation completed successfully.
+bool rcAddSpan(rcContext* ctx, rcHeightfield& hf, const int x, const int y,
+			   const unsigned short smin, const unsigned short smax,
+			   const unsigned char area, const int flagMergeThr);
+
+/// Rasterizes a triangle into the specified heightfield.
+///  @ingroup recast
+///  @param[in,out]	ctx				The build context to use during the operation.
+///  @param[in]		v0				Triangle vertex 0 [(x, y, z)]
+///  @param[in]		v1				Triangle vertex 1 [(x, y, z)]
+///  @param[in]		v2				Triangle vertex 2 [(x, y, z)]
+///  @param[in]		area			The area id of the triangle. [Limit: <= #RC_WALKABLE_AREA]
+///  @param[in,out]	solid			An initialized heightfield.
+///  @param[in]		flagMergeThr	The distance where the walkable flag is favored over the non-walkable flag.
+///  								[Limit: >= 0] [Units: vx]
+///  @returns True if the operation completed successfully.
+bool rcRasterizeTriangle(rcContext* ctx, const float* v0, const float* v1, const float* v2,
+						 const unsigned char area, rcHeightfield& solid,
+						 const int flagMergeThr = 1);
+
+/// Rasterizes an indexed triangle mesh into the specified heightfield.
+///  @ingroup recast
+///  @param[in,out]	ctx				The build context to use during the operation.
+///  @param[in]		verts			The vertices. [(x, y, z) * @p nv]
+///  @param[in]		nv				The number of vertices.
+///  @param[in]		tris			The triangle indices. [(vertA, vertB, vertC) * @p nt]
+///  @param[in]		areas			The area id's of the triangles. [Limit: <= #RC_WALKABLE_AREA] [Size: @p nt]
+///  @param[in]		nt				The number of triangles.
+///  @param[in,out]	solid			An initialized heightfield.
+///  @param[in]		flagMergeThr	The distance where the walkable flag is favored over the non-walkable flag. 
+///  								[Limit: >= 0] [Units: vx]
+///  @returns True if the operation completed successfully.
+bool rcRasterizeTriangles(rcContext* ctx, const float* verts, const int nv,
+						  const int* tris, const unsigned char* areas, const int nt,
+						  rcHeightfield& solid, const int flagMergeThr = 1);
+
+/// Rasterizes an indexed triangle mesh into the specified heightfield.
+///  @ingroup recast
+///  @param[in,out]	ctx			The build context to use during the operation.
+///  @param[in]		verts		The vertices. [(x, y, z) * @p nv]
+///  @param[in]		nv			The number of vertices.
+///  @param[in]		tris		The triangle indices. [(vertA, vertB, vertC) * @p nt]
+///  @param[in]		areas		The area id's of the triangles. [Limit: <= #RC_WALKABLE_AREA] [Size: @p nt]
+///  @param[in]		nt			The number of triangles.
+///  @param[in,out]	solid		An initialized heightfield.
+///  @param[in]		flagMergeThr	The distance where the walkable flag is favored over the non-walkable flag. 
+///  							[Limit: >= 0] [Units: vx]
+///  @returns True if the operation completed successfully.
+bool rcRasterizeTriangles(rcContext* ctx, const float* verts, const int nv,
+						  const unsigned short* tris, const unsigned char* areas, const int nt,
+						  rcHeightfield& solid, const int flagMergeThr = 1);
+
+/// Rasterizes triangles into the specified heightfield.
+///  @ingroup recast
+///  @param[in,out]	ctx				The build context to use during the operation.
+///  @param[in]		verts			The triangle vertices. [(ax, ay, az, bx, by, bz, cx, by, cx) * @p nt]
+///  @param[in]		areas			The area id's of the triangles. [Limit: <= #RC_WALKABLE_AREA] [Size: @p nt]
+///  @param[in]		nt				The number of triangles.
+///  @param[in,out]	solid			An initialized heightfield.
+///  @param[in]		flagMergeThr	The distance where the walkable flag is favored over the non-walkable flag. 
+///  								[Limit: >= 0] [Units: vx]
+///  @returns True if the operation completed successfully.
+bool rcRasterizeTriangles(rcContext* ctx, const float* verts, const unsigned char* areas, const int nt,
+						  rcHeightfield& solid, const int flagMergeThr = 1);
+
+/// Marks non-walkable spans as walkable if their maximum is within @p walkableClimp of a walkable neighbor. 
+///  @ingroup recast
+///  @param[in,out]	ctx				The build context to use during the operation.
+///  @param[in]		walkableClimb	Maximum ledge height that is considered to still be traversable. 
+///  								[Limit: >=0] [Units: vx]
+///  @param[in,out]	solid			A fully built heightfield.  (All spans have been added.)
+void rcFilterLowHangingWalkableObstacles(rcContext* ctx, const int walkableClimb, rcHeightfield& solid);
+
+/// Marks spans that are ledges as not-walkable. 
+///  @ingroup recast
+///  @param[in,out]	ctx				The build context to use during the operation.
+///  @param[in]		walkableHeight	Minimum floor to 'ceiling' height that will still allow the floor area to 
+///  								be considered walkable. [Limit: >= 3] [Units: vx]
+///  @param[in]		walkableClimb	Maximum ledge height that is considered to still be traversable. 
+///  								[Limit: >=0] [Units: vx]
+///  @param[in,out]	solid			A fully built heightfield.  (All spans have been added.)
+void rcFilterLedgeSpans(rcContext* ctx, const int walkableHeight,
+						const int walkableClimb, rcHeightfield& solid);
+
+/// Marks walkable spans as not walkable if the clearence above the span is less than the specified height. 
+///  @ingroup recast
+///  @param[in,out]	ctx				The build context to use during the operation.
+///  @param[in]		walkableHeight	Minimum floor to 'ceiling' height that will still allow the floor area to 
+///  								be considered walkable. [Limit: >= 3] [Units: vx]
+///  @param[in,out]	solid			A fully built heightfield.  (All spans have been added.)
+void rcFilterWalkableLowHeightSpans(rcContext* ctx, int walkableHeight, rcHeightfield& solid);
+
+/// Returns the number of spans contained in the specified heightfield.
+///  @ingroup recast
+///  @param[in,out]	ctx		The build context to use during the operation.
+///  @param[in]		hf		An initialized heightfield.
+///  @returns The number of spans in the heightfield.
+int rcGetHeightFieldSpanCount(rcContext* ctx, rcHeightfield& hf);
+
+/// @}
+/// @name Compact Heightfield Functions
+/// @see rcCompactHeightfield
+/// @{
+
+/// Builds a compact heightfield representing open space, from a heightfield representing solid space.
+///  @ingroup recast
+///  @param[in,out]	ctx				The build context to use during the operation.
+///  @param[in]		walkableHeight	Minimum floor to 'ceiling' height that will still allow the floor area 
+///  								to be considered walkable. [Limit: >= 3] [Units: vx]
+///  @param[in]		walkableClimb	Maximum ledge height that is considered to still be traversable. 
+///  								[Limit: >=0] [Units: vx]
+///  @param[in]		hf				The heightfield to be compacted.
+///  @param[out]	chf				The resulting compact heightfield. (Must be pre-allocated.)
+///  @returns True if the operation completed successfully.
+bool rcBuildCompactHeightfield(rcContext* ctx, const int walkableHeight, const int walkableClimb,
+							   rcHeightfield& hf, rcCompactHeightfield& chf);
+
+/// Erodes the walkable area within the heightfield by the specified radius. 
+///  @ingroup recast
+///  @param[in,out]	ctx		The build context to use during the operation.
+///  @param[in]		radius	The radius of erosion. [Limits: 0 < value < 255] [Units: vx]
+///  @param[in,out]	chf		The populated compact heightfield to erode.
+///  @returns True if the operation completed successfully.
+bool rcErodeWalkableArea(rcContext* ctx, int radius, rcCompactHeightfield& chf);
+
+/// Applies a median filter to walkable area types (based on area id), removing noise.
+///  @ingroup recast
+///  @param[in,out]	ctx		The build context to use during the operation.
+///  @param[in,out]	chf		A populated compact heightfield.
+///  @returns True if the operation completed successfully.
+bool rcMedianFilterWalkableArea(rcContext* ctx, rcCompactHeightfield& chf);
+
+/// Applies an area id to all spans within the specified bounding box. (AABB) 
+///  @ingroup recast
+///  @param[in,out]	ctx		The build context to use during the operation.
+///  @param[in]		bmin	The minimum of the bounding box. [(x, y, z)]
+///  @param[in]		bmax	The maximum of the bounding box. [(x, y, z)]
+///  @param[in]		areaId	The area id to apply. [Limit: <= #RC_WALKABLE_AREA]
+///  @param[in,out]	chf		A populated compact heightfield.
+void rcMarkBoxArea(rcContext* ctx, const float* bmin, const float* bmax, unsigned char areaId,
+				   rcCompactHeightfield& chf);
+
+/// Applies the area id to the all spans within the specified convex polygon. 
+///  @ingroup recast
+///  @param[in,out]	ctx		The build context to use during the operation.
+///  @param[in]		verts	The vertices of the polygon [Fomr: (x, y, z) * @p nverts]
+///  @param[in]		nverts	The number of vertices in the polygon.
+///  @param[in]		hmin	The height of the base of the polygon.
+///  @param[in]		hmax	The height of the top of the polygon.
+///  @param[in]		areaId	The area id to apply. [Limit: <= #RC_WALKABLE_AREA]
+///  @param[in,out]	chf		A populated compact heightfield.
+void rcMarkConvexPolyArea(rcContext* ctx, const float* verts, const int nverts,
+						  const float hmin, const float hmax, unsigned char areaId,
+						  rcCompactHeightfield& chf);
+
+/// Helper function to offset voncex polygons for rcMarkConvexPolyArea.
+///  @ingroup recast
+///  @param[in]		verts		The vertices of the polygon [Form: (x, y, z) * @p nverts]
+///  @param[in]		nverts		The number of vertices in the polygon.
+///  @param[out]	outVerts	The offset vertices (should hold up to 2 * @p nverts) [Form: (x, y, z) * return value]
+///  @param[in]		maxOutVerts	The max number of vertices that can be stored to @p outVerts.
+///  @returns Number of vertices in the offset polygon or 0 if too few vertices in @p outVerts.
+int rcOffsetPoly(const float* verts, const int nverts, const float offset,
+				 float* outVerts, const int maxOutVerts);
+
+/// Applies the area id to all spans within the specified cylinder.
+///  @ingroup recast
+///  @param[in,out]	ctx		The build context to use during the operation.
+///  @param[in]		pos		The center of the base of the cylinder. [Form: (x, y, z)] 
+///  @param[in]		r		The radius of the cylinder.
+///  @param[in]		h		The height of the cylinder.
+///  @param[in]		areaId	The area id to apply. [Limit: <= #RC_WALKABLE_AREA]
+///  @param[in,out]	chf	A populated compact heightfield.
+void rcMarkCylinderArea(rcContext* ctx, const float* pos,
+						const float r, const float h, unsigned char areaId,
+						rcCompactHeightfield& chf);
+
+/// Builds the distance field for the specified compact heightfield. 
+///  @ingroup recast
+///  @param[in,out]	ctx		The build context to use during the operation.
+///  @param[in,out]	chf		A populated compact heightfield.
+///  @returns True if the operation completed successfully.
+bool rcBuildDistanceField(rcContext* ctx, rcCompactHeightfield& chf);
+
+/// Builds region data for the heightfield using watershed partitioning.
+///  @ingroup recast
+///  @param[in,out]	ctx				The build context to use during the operation.
+///  @param[in,out]	chf				A populated compact heightfield.
+///  @param[in]		borderSize		The size of the non-navigable border around the heightfield.
+///  								[Limit: >=0] [Units: vx]
+///  @param[in]		minRegionArea	The minimum number of cells allowed to form isolated island areas.
+///  								[Limit: >=0] [Units: vx].
+///  @param[in]		mergeRegionArea		Any regions with a span count smaller than this value will, if possible,
+///  								be merged with larger regions. [Limit: >=0] [Units: vx] 
+///  @returns True if the operation completed successfully.
+bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf,
+					const int borderSize, const int minRegionArea, const int mergeRegionArea);
+
+/// Builds region data for the heightfield by partitioning the heightfield in non-overlapping layers.
+///  @ingroup recast
+///  @param[in,out]	ctx				The build context to use during the operation.
+///  @param[in,out]	chf				A populated compact heightfield.
+///  @param[in]		borderSize		The size of the non-navigable border around the heightfield.
+///  								[Limit: >=0] [Units: vx]
+///  @param[in]		minRegionArea	The minimum number of cells allowed to form isolated island areas.
+///  								[Limit: >=0] [Units: vx].
+///  @returns True if the operation completed successfully.
+bool rcBuildLayerRegions(rcContext* ctx, rcCompactHeightfield& chf,
+						 const int borderSize, const int minRegionArea);
+
+/// Builds region data for the heightfield using simple monotone partitioning.
+///  @ingroup recast 
+///  @param[in,out]	ctx				The build context to use during the operation.
+///  @param[in,out]	chf				A populated compact heightfield.
+///  @param[in]		borderSize		The size of the non-navigable border around the heightfield.
+///  								[Limit: >=0] [Units: vx]
+///  @param[in]		minRegionArea	The minimum number of cells allowed to form isolated island areas.
+///  								[Limit: >=0] [Units: vx].
+///  @param[in]		mergeRegionArea	Any regions with a span count smaller than this value will, if possible, 
+///  								be merged with larger regions. [Limit: >=0] [Units: vx] 
+///  @returns True if the operation completed successfully.
+bool rcBuildRegionsMonotone(rcContext* ctx, rcCompactHeightfield& chf,
+							const int borderSize, const int minRegionArea, const int mergeRegionArea);
+
+/// Sets the neighbor connection data for the specified direction.
+///  @param[in]		s		The span to update.
+///  @param[in]		dir		The direction to set. [Limits: 0 <= value < 4]
+///  @param[in]		i		The index of the neighbor span.
+inline void rcSetCon(rcCompactSpan& s, int dir, int i)
+{
+	const unsigned int shift = (unsigned int)dir*6;
+	unsigned int con = s.con;
+	s.con = (con & ~(0x3f << shift)) | (((unsigned int)i & 0x3f) << shift);
+}
+
+/// Gets neighbor connection data for the specified direction.
+///  @param[in]		s		The span to check.
+///  @param[in]		dir		The direction to check. [Limits: 0 <= value < 4]
+///  @return The neighbor connection data for the specified direction,
+///  	or #RC_NOT_CONNECTED if there is no connection.
+inline int rcGetCon(const rcCompactSpan& s, int dir)
+{
+	const unsigned int shift = (unsigned int)dir*6;
+	return (s.con >> shift) & 0x3f;
+}
+
+/// Gets the standard width (x-axis) offset for the specified direction.
+///  @param[in]		dir		The direction. [Limits: 0 <= value < 4]
+///  @return The width offset to apply to the current cell position to move
+///  	in the direction.
+inline int rcGetDirOffsetX(int dir)
+{
+	static const int offset[4] = { -1, 0, 1, 0, };
+	return offset[dir&0x03];
+}
+
+/// Gets the standard height (z-axis) offset for the specified direction.
+///  @param[in]		dir		The direction. [Limits: 0 <= value < 4]
+///  @return The height offset to apply to the current cell position to move
+///  	in the direction.
+inline int rcGetDirOffsetY(int dir)
+{
+	static const int offset[4] = { 0, 1, 0, -1 };
+	return offset[dir&0x03];
+}
+
+/// Gets the direction for the specified offset. One of x and y should be 0.
+///  @param[in]		x		The x offset. [Limits: -1 <= value <= 1]
+///  @param[in]		y		The y offset. [Limits: -1 <= value <= 1]
+///  @return The direction that represents the offset.
+inline int rcGetDirForOffset(int x, int y)
+{
+	static const int dirs[5] = { 3, 0, -1, 2, 1 };
+	return dirs[((y+1)<<1)+x];
+}
+
+/// @}
+/// @name Layer, Contour, Polymesh, and Detail Mesh Functions
+/// @see rcHeightfieldLayer, rcContourSet, rcPolyMesh, rcPolyMeshDetail
+/// @{
+
+/// Builds a layer set from the specified compact heightfield.
+///  @ingroup recast
+///  @param[in,out]	ctx			The build context to use during the operation.
+///  @param[in]		chf			A fully built compact heightfield.
+///  @param[in]		borderSize	The size of the non-navigable border around the heightfield. [Limit: >=0] 
+///  							[Units: vx]
+///  @param[in]		walkableHeight	Minimum floor to 'ceiling' height that will still allow the floor area 
+///  							to be considered walkable. [Limit: >= 3] [Units: vx]
+///  @param[out]	lset		The resulting layer set. (Must be pre-allocated.)
+///  @returns True if the operation completed successfully.
+bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf, 
+							  const int borderSize, const int walkableHeight,
+							  rcHeightfieldLayerSet& lset);
+
+/// Builds a contour set from the region outlines in the provided compact heightfield.
+///  @ingroup recast
+///  @param[in,out]	ctx			The build context to use during the operation.
+///  @param[in]		chf			A fully built compact heightfield.
+///  @param[in]		maxError	The maximum distance a simplfied contour's border edges should deviate 
+///  							the original raw contour. [Limit: >=0] [Units: wu]
+///  @param[in]		maxEdgeLen	The maximum allowed length for contour edges along the border of the mesh. 
+///  							[Limit: >=0] [Units: vx]
+///  @param[out]	cset		The resulting contour set. (Must be pre-allocated.)
+///  @param[in]		buildFlags	The build flags. (See: #rcBuildContoursFlags)
+///  @returns True if the operation completed successfully.
+bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf,
+					 const float maxError, const int maxEdgeLen,
+					 rcContourSet& cset, const int buildFlags = RC_CONTOUR_TESS_WALL_EDGES);
+
+/// Builds a polygon mesh from the provided contours.
+///  @ingroup recast
+///  @param[in,out]	ctx		The build context to use during the operation.
+///  @param[in]		cset	A fully built contour set.
+///  @param[in]		nvp		The maximum number of vertices allowed for polygons generated during the 
+///  						contour to polygon conversion process. [Limit: >= 3] 
+///  @param[out]	mesh	The resulting polygon mesh. (Must be re-allocated.)
+///  @returns True if the operation completed successfully.
+bool rcBuildPolyMesh(rcContext* ctx, rcContourSet& cset, const int nvp, rcPolyMesh& mesh);
+
+/// Merges multiple polygon meshes into a single mesh.
+///  @ingroup recast
+///  @param[in,out]	ctx		The build context to use during the operation.
+///  @param[in]		meshes	An array of polygon meshes to merge. [Size: @p nmeshes]
+///  @param[in]		nmeshes	The number of polygon meshes in the meshes array.
+///  @param[in]		mesh	The resulting polygon mesh. (Must be pre-allocated.)
+///  @returns True if the operation completed successfully.
+bool rcMergePolyMeshes(rcContext* ctx, rcPolyMesh** meshes, const int nmeshes, rcPolyMesh& mesh);
+
+/// Builds a detail mesh from the provided polygon mesh.
+///  @ingroup recast
+///  @param[in,out]	ctx				The build context to use during the operation.
+///  @param[in]		mesh			A fully built polygon mesh.
+///  @param[in]		chf				The compact heightfield used to build the polygon mesh.
+///  @param[in]		sampleDist		Sets the distance to use when samping the heightfield. [Limit: >=0] [Units: wu]
+///  @param[in]		sampleMaxError	The maximum distance the detail mesh surface should deviate from 
+///  								heightfield data. [Limit: >=0] [Units: wu]
+///  @param[out]	dmesh			The resulting detail mesh.  (Must be pre-allocated.)
+///  @returns True if the operation completed successfully.
+bool rcBuildPolyMeshDetail(rcContext* ctx, const rcPolyMesh& mesh, const rcCompactHeightfield& chf,
+						   const float sampleDist, const float sampleMaxError,
+						   rcPolyMeshDetail& dmesh);
+
+/// Copies the poly mesh data from src to dst.
+///  @ingroup recast
+///  @param[in,out]	ctx		The build context to use during the operation.
+///  @param[in]		src		The source mesh to copy from.
+///  @param[out]	dst		The resulting detail mesh. (Must be pre-allocated, must be empty mesh.)
+///  @returns True if the operation completed successfully.
+bool rcCopyPolyMesh(rcContext* ctx, const rcPolyMesh& src, rcPolyMesh& dst);
+
+/// Merges multiple detail meshes into a single detail mesh.
+///  @ingroup recast
+///  @param[in,out]	ctx		The build context to use during the operation.
+///  @param[in]		meshes	An array of detail meshes to merge. [Size: @p nmeshes]
+///  @param[in]		nmeshes	The number of detail meshes in the meshes array.
+///  @param[out]	mesh	The resulting detail mesh. (Must be pre-allocated.)
+///  @returns True if the operation completed successfully.
+bool rcMergePolyMeshDetails(rcContext* ctx, rcPolyMeshDetail** meshes, const int nmeshes, rcPolyMeshDetail& mesh);
+
+/// @}
+
+#endif // RECAST_H
+
+///////////////////////////////////////////////////////////////////////////
+
+// Due to the large amount of detail documentation for this file, 
+// the content normally located at the end of the header file has been separated
+// out to a file in /Docs/Extern.
diff --git a/thirdparty/recastnavigation/Recast/Include/RecastAlloc.h b/thirdparty/recastnavigation/Recast/Include/RecastAlloc.h
new file mode 100644
index 0000000000..3cdd450d42
--- /dev/null
+++ b/thirdparty/recastnavigation/Recast/Include/RecastAlloc.h
@@ -0,0 +1,146 @@
+//
+// Copyright (c) 2009-2010 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 RECASTALLOC_H
+#define RECASTALLOC_H
+
+#include <stddef.h>
+
+/// Provides hint values to the memory allocator on how long the
+/// memory is expected to be used.
+enum rcAllocHint
+{
+	RC_ALLOC_PERM,		///< Memory will persist after a function call.
+	RC_ALLOC_TEMP		///< Memory used temporarily within a function.
+};
+
+/// A memory allocation function.
+//  @param[in]		size			The size, in bytes of memory, to allocate.
+//  @param[in]		rcAllocHint	A hint to the allocator on how long the memory is expected to be in use.
+//  @return A pointer to the beginning of the allocated memory block, or null if the allocation failed.
+///  @see rcAllocSetCustom
+typedef void* (rcAllocFunc)(size_t size, rcAllocHint hint);
+
+/// A memory deallocation function.
+///  @param[in]		ptr		A pointer to a memory block previously allocated using #rcAllocFunc.
+/// @see rcAllocSetCustom
+typedef void (rcFreeFunc)(void* ptr);
+
+/// Sets the base custom allocation functions to be used by Recast.
+///  @param[in]		allocFunc	The memory allocation function to be used by #rcAlloc
+///  @param[in]		freeFunc	The memory de-allocation function to be used by #rcFree
+void rcAllocSetCustom(rcAllocFunc *allocFunc, rcFreeFunc *freeFunc);
+
+/// Allocates a memory block.
+///  @param[in]		size	The size, in bytes of memory, to allocate.
+///  @param[in]		hint	A hint to the allocator on how long the memory is expected to be in use.
+///  @return A pointer to the beginning of the allocated memory block, or null if the allocation failed.
+/// @see rcFree
+void* rcAlloc(size_t size, rcAllocHint hint);
+
+/// Deallocates a memory block.
+///  @param[in]		ptr		A pointer to a memory block previously allocated using #rcAlloc.
+/// @see rcAlloc
+void rcFree(void* ptr);
+
+
+/// A simple dynamic array of integers.
+class rcIntArray
+{
+	int* m_data;
+	int m_size, m_cap;
+
+	void doResize(int n);
+	
+	// Explicitly disabled copy constructor and copy assignment operator.
+	rcIntArray(const rcIntArray&);
+	rcIntArray& operator=(const rcIntArray&);
+
+public:
+	/// Constructs an instance with an initial array size of zero.
+	rcIntArray() : m_data(0), m_size(0), m_cap(0) {}
+
+	/// Constructs an instance initialized to the specified size.
+	///  @param[in]		n	The initial size of the integer array.
+	rcIntArray(int n) : m_data(0), m_size(0), m_cap(0) { resize(n); }
+	~rcIntArray() { rcFree(m_data); }
+
+	/// Specifies the new size of the integer array.
+	///  @param[in]		n	The new size of the integer array.
+	void resize(int n)
+	{
+		if (n > m_cap)
+			doResize(n);
+		
+		m_size = n;
+	}
+
+	/// Push the specified integer onto the end of the array and increases the size by one.
+	///  @param[in]		item	The new value.
+	void push(int item) { resize(m_size+1); m_data[m_size-1] = item; }
+
+	/// Returns the value at the end of the array and reduces the size by one.
+	///  @return The value at the end of the array.
+	int pop()
+	{
+		if (m_size > 0)
+			m_size--;
+		
+		return m_data[m_size];
+	}
+
+	/// The value at the specified array index.
+	/// @warning Does not provide overflow protection.
+	///  @param[in]		i	The index of the value.
+	const int& operator[](int i) const { return m_data[i]; }
+
+	/// The value at the specified array index.
+	/// @warning Does not provide overflow protection.
+	///  @param[in]		i	The index of the value.
+	int& operator[](int i) { return m_data[i]; }
+
+	/// The current size of the integer array.
+	int size() const { return m_size; }
+};
+
+/// A simple helper class used to delete an array when it goes out of scope.
+/// @note This class is rarely if ever used by the end user.
+template<class T> class rcScopedDelete
+{
+	T* ptr;
+public:
+
+	/// Constructs an instance with a null pointer.
+	inline rcScopedDelete() : ptr(0) {}
+
+	/// Constructs an instance with the specified pointer.
+	///  @param[in]		p	An pointer to an allocated array.
+	inline rcScopedDelete(T* p) : ptr(p) {}
+	inline ~rcScopedDelete() { rcFree(ptr); }
+
+	/// The root array pointer.
+	///  @return The root array pointer.
+	inline operator T*() { return ptr; }
+	
+private:
+	// Explicitly disabled copy constructor and copy assignment operator.
+	rcScopedDelete(const rcScopedDelete&);
+	rcScopedDelete& operator=(const rcScopedDelete&);
+};
+
+#endif
diff --git a/thirdparty/recastnavigation/Recast/Include/RecastAssert.h b/thirdparty/recastnavigation/Recast/Include/RecastAssert.h
new file mode 100644
index 0000000000..e7cc10e496
--- /dev/null
+++ b/thirdparty/recastnavigation/Recast/Include/RecastAssert.h
@@ -0,0 +1,56 @@
+//
+// Copyright (c) 2009-2010 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 RECASTASSERT_H
+#define RECASTASSERT_H
+
+// Note: This header file's only purpose is to include define assert.
+// Feel free to change the file and include your own implementation instead.
+
+#ifdef NDEBUG
+
+// From http://cnicholson.net/2009/02/stupid-c-tricks-adventures-in-assert/
+#	define rcAssert(x) do { (void)sizeof(x); } while((void)(__LINE__==-1),false)
+
+#else
+
+/// An assertion failure function.
+//  @param[in]		expression  asserted expression.
+//  @param[in]		file  Filename of the failed assertion.
+//  @param[in]		line  Line number of the failed assertion.
+///  @see rcAssertFailSetCustom
+typedef void (rcAssertFailFunc)(const char* expression, const char* file, int line);
+
+/// Sets the base custom assertion failure function to be used by Recast.
+///  @param[in]		assertFailFunc	The function to be used in case of failure of #dtAssert
+void rcAssertFailSetCustom(rcAssertFailFunc *assertFailFunc);
+
+/// Gets the base custom assertion failure function to be used by Recast.
+rcAssertFailFunc* rcAssertFailGetCustom();
+
+#	include <assert.h> 
+#	define rcAssert(expression) \
+		{ \
+			rcAssertFailFunc* failFunc = rcAssertFailGetCustom(); \
+			if(failFunc == NULL) { assert(expression); } \
+			else if(!(expression)) { (*failFunc)(#expression, __FILE__, __LINE__); } \
+		}
+
+#endif
+
+#endif // RECASTASSERT_H
diff --git a/thirdparty/recastnavigation/Recast/Source/Recast.cpp b/thirdparty/recastnavigation/Recast/Source/Recast.cpp
new file mode 100644
index 0000000000..8308d1973e
--- /dev/null
+++ b/thirdparty/recastnavigation/Recast/Source/Recast.cpp
@@ -0,0 +1,504 @@
+//
+// Copyright (c) 2009-2010 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 <float.h>
+#define _USE_MATH_DEFINES
+#include <math.h>
+#include <string.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <stdarg.h>
+#include <new>
+#include "Recast.h"
+#include "RecastAlloc.h"
+#include "RecastAssert.h"
+
+float rcSqrt(float x)
+{
+	return sqrtf(x);
+}
+
+/// @class rcContext
+/// @par
+///
+/// This class does not provide logging or timer functionality on its 
+/// own.  Both must be provided by a concrete implementation 
+/// by overriding the protected member functions.  Also, this class does not 
+/// provide an interface for extracting log messages. (Only adding them.) 
+/// So concrete implementations must provide one.
+///
+/// If no logging or timers are required, just pass an instance of this 
+/// class through the Recast build process.
+///
+
+/// @par
+///
+/// Example:
+/// @code
+/// // Where ctx is an instance of rcContext and filepath is a char array.
+/// ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not load '%s'", filepath);
+/// @endcode
+void rcContext::log(const rcLogCategory category, const char* format, ...)
+{
+	if (!m_logEnabled)
+		return;
+	static const int MSG_SIZE = 512;
+	char msg[MSG_SIZE];
+	va_list ap;
+	va_start(ap, format);
+	int len = vsnprintf(msg, MSG_SIZE, format, ap);
+	if (len >= MSG_SIZE)
+	{
+		len = MSG_SIZE-1;
+		msg[MSG_SIZE-1] = '\0';
+	}
+	va_end(ap);
+	doLog(category, msg, len);
+}
+
+rcHeightfield* rcAllocHeightfield()
+{
+	return new (rcAlloc(sizeof(rcHeightfield), RC_ALLOC_PERM)) rcHeightfield;
+}
+
+rcHeightfield::rcHeightfield()
+	: width()
+	, height()
+	, bmin()
+	, bmax()
+	, cs()
+	, ch()
+	, spans()
+	, pools()
+	, freelist()
+{
+}
+
+rcHeightfield::~rcHeightfield()
+{
+	// Delete span array.
+	rcFree(spans);
+	// Delete span pools.
+	while (pools)
+	{
+		rcSpanPool* next = pools->next;
+		rcFree(pools);
+		pools = next;
+	}
+}
+
+void rcFreeHeightField(rcHeightfield* hf)
+{
+	if (!hf) return;
+	hf->~rcHeightfield();
+	rcFree(hf);
+}
+
+rcCompactHeightfield* rcAllocCompactHeightfield()
+{
+	rcCompactHeightfield* chf = (rcCompactHeightfield*)rcAlloc(sizeof(rcCompactHeightfield), RC_ALLOC_PERM);
+	memset(chf, 0, sizeof(rcCompactHeightfield));
+	return chf;
+}
+
+void rcFreeCompactHeightfield(rcCompactHeightfield* chf)
+{
+	if (!chf) return;
+	rcFree(chf->cells);
+	rcFree(chf->spans);
+	rcFree(chf->dist);
+	rcFree(chf->areas);
+	rcFree(chf);
+}
+
+rcHeightfieldLayerSet* rcAllocHeightfieldLayerSet()
+{
+	rcHeightfieldLayerSet* lset = (rcHeightfieldLayerSet*)rcAlloc(sizeof(rcHeightfieldLayerSet), RC_ALLOC_PERM);
+	memset(lset, 0, sizeof(rcHeightfieldLayerSet));
+	return lset;
+}
+
+void rcFreeHeightfieldLayerSet(rcHeightfieldLayerSet* lset)
+{
+	if (!lset) return;
+	for (int i = 0; i < lset->nlayers; ++i)
+	{
+		rcFree(lset->layers[i].heights);
+		rcFree(lset->layers[i].areas);
+		rcFree(lset->layers[i].cons);
+	}
+	rcFree(lset->layers);
+	rcFree(lset);
+}
+
+
+rcContourSet* rcAllocContourSet()
+{
+	rcContourSet* cset = (rcContourSet*)rcAlloc(sizeof(rcContourSet), RC_ALLOC_PERM);
+	memset(cset, 0, sizeof(rcContourSet));
+	return cset;
+}
+
+void rcFreeContourSet(rcContourSet* cset)
+{
+	if (!cset) return;
+	for (int i = 0; i < cset->nconts; ++i)
+	{
+		rcFree(cset->conts[i].verts);
+		rcFree(cset->conts[i].rverts);
+	}
+	rcFree(cset->conts);
+	rcFree(cset);
+}
+
+rcPolyMesh* rcAllocPolyMesh()
+{
+	rcPolyMesh* pmesh = (rcPolyMesh*)rcAlloc(sizeof(rcPolyMesh), RC_ALLOC_PERM);
+	memset(pmesh, 0, sizeof(rcPolyMesh));
+	return pmesh;
+}
+
+void rcFreePolyMesh(rcPolyMesh* pmesh)
+{
+	if (!pmesh) return;
+	rcFree(pmesh->verts);
+	rcFree(pmesh->polys);
+	rcFree(pmesh->regs);
+	rcFree(pmesh->flags);
+	rcFree(pmesh->areas);
+	rcFree(pmesh);
+}
+
+rcPolyMeshDetail* rcAllocPolyMeshDetail()
+{
+	rcPolyMeshDetail* dmesh = (rcPolyMeshDetail*)rcAlloc(sizeof(rcPolyMeshDetail), RC_ALLOC_PERM);
+	memset(dmesh, 0, sizeof(rcPolyMeshDetail));
+	return dmesh;
+}
+
+void rcFreePolyMeshDetail(rcPolyMeshDetail* dmesh)
+{
+	if (!dmesh) return;
+	rcFree(dmesh->meshes);
+	rcFree(dmesh->verts);
+	rcFree(dmesh->tris);
+	rcFree(dmesh);
+}
+
+void rcCalcBounds(const float* verts, int nv, float* bmin, float* bmax)
+{
+	// Calculate bounding box.
+	rcVcopy(bmin, verts);
+	rcVcopy(bmax, verts);
+	for (int i = 1; i < nv; ++i)
+	{
+		const float* v = &verts[i*3];
+		rcVmin(bmin, v);
+		rcVmax(bmax, v);
+	}
+}
+
+void rcCalcGridSize(const float* bmin, const float* bmax, float cs, int* w, int* h)
+{
+	*w = (int)((bmax[0] - bmin[0])/cs+0.5f);
+	*h = (int)((bmax[2] - bmin[2])/cs+0.5f);
+}
+
+/// @par
+///
+/// See the #rcConfig documentation for more information on the configuration parameters.
+/// 
+/// @see rcAllocHeightfield, rcHeightfield 
+bool rcCreateHeightfield(rcContext* ctx, rcHeightfield& hf, int width, int height,
+						 const float* bmin, const float* bmax,
+						 float cs, float ch)
+{
+	rcIgnoreUnused(ctx);
+	
+	hf.width = width;
+	hf.height = height;
+	rcVcopy(hf.bmin, bmin);
+	rcVcopy(hf.bmax, bmax);
+	hf.cs = cs;
+	hf.ch = ch;
+	hf.spans = (rcSpan**)rcAlloc(sizeof(rcSpan*)*hf.width*hf.height, RC_ALLOC_PERM);
+	if (!hf.spans)
+		return false;
+	memset(hf.spans, 0, sizeof(rcSpan*)*hf.width*hf.height);
+	return true;
+}
+
+static void calcTriNormal(const float* v0, const float* v1, const float* v2, float* norm)
+{
+	float e0[3], e1[3];
+	rcVsub(e0, v1, v0);
+	rcVsub(e1, v2, v0);
+	rcVcross(norm, e0, e1);
+	rcVnormalize(norm);
+}
+
+/// @par
+///
+/// Only sets the area id's for the walkable triangles.  Does not alter the
+/// area id's for unwalkable triangles.
+/// 
+/// See the #rcConfig documentation for more information on the configuration parameters.
+/// 
+/// @see rcHeightfield, rcClearUnwalkableTriangles, rcRasterizeTriangles
+void rcMarkWalkableTriangles(rcContext* ctx, const float walkableSlopeAngle,
+							 const float* verts, int nv,
+							 const int* tris, int nt,
+							 unsigned char* areas)
+{
+	rcIgnoreUnused(ctx);
+	rcIgnoreUnused(nv);
+	
+	const float walkableThr = cosf(walkableSlopeAngle/180.0f*RC_PI);
+
+	float norm[3];
+	
+	for (int i = 0; i < nt; ++i)
+	{
+		const int* tri = &tris[i*3];
+		calcTriNormal(&verts[tri[0]*3], &verts[tri[1]*3], &verts[tri[2]*3], norm);
+		// Check if the face is walkable.
+		if (norm[1] > walkableThr)
+			areas[i] = RC_WALKABLE_AREA;
+	}
+}
+
+/// @par
+///
+/// Only sets the area id's for the unwalkable triangles.  Does not alter the
+/// area id's for walkable triangles.
+/// 
+/// See the #rcConfig documentation for more information on the configuration parameters.
+/// 
+/// @see rcHeightfield, rcClearUnwalkableTriangles, rcRasterizeTriangles
+void rcClearUnwalkableTriangles(rcContext* ctx, const float walkableSlopeAngle,
+								const float* verts, int /*nv*/,
+								const int* tris, int nt,
+								unsigned char* areas)
+{
+	rcIgnoreUnused(ctx);
+	
+	const float walkableThr = cosf(walkableSlopeAngle/180.0f*RC_PI);
+	
+	float norm[3];
+	
+	for (int i = 0; i < nt; ++i)
+	{
+		const int* tri = &tris[i*3];
+		calcTriNormal(&verts[tri[0]*3], &verts[tri[1]*3], &verts[tri[2]*3], norm);
+		// Check if the face is walkable.
+		if (norm[1] <= walkableThr)
+			areas[i] = RC_NULL_AREA;
+	}
+}
+
+int rcGetHeightFieldSpanCount(rcContext* ctx, rcHeightfield& hf)
+{
+	rcIgnoreUnused(ctx);
+	
+	const int w = hf.width;
+	const int h = hf.height;
+	int spanCount = 0;
+	for (int y = 0; y < h; ++y)
+	{
+		for (int x = 0; x < w; ++x)
+		{
+			for (rcSpan* s = hf.spans[x + y*w]; s; s = s->next)
+			{
+				if (s->area != RC_NULL_AREA)
+					spanCount++;
+			}
+		}
+	}
+	return spanCount;
+}
+
+/// @par
+///
+/// This is just the beginning of the process of fully building a compact heightfield.
+/// Various filters may be applied, then the distance field and regions built.
+/// E.g: #rcBuildDistanceField and #rcBuildRegions
+///
+/// See the #rcConfig documentation for more information on the configuration parameters.
+///
+/// @see rcAllocCompactHeightfield, rcHeightfield, rcCompactHeightfield, rcConfig
+bool rcBuildCompactHeightfield(rcContext* ctx, const int walkableHeight, const int walkableClimb,
+							   rcHeightfield& hf, rcCompactHeightfield& chf)
+{
+	rcAssert(ctx);
+	
+	rcScopedTimer timer(ctx, RC_TIMER_BUILD_COMPACTHEIGHTFIELD);
+	
+	const int w = hf.width;
+	const int h = hf.height;
+	const int spanCount = rcGetHeightFieldSpanCount(ctx, hf);
+
+	// Fill in header.
+	chf.width = w;
+	chf.height = h;
+	chf.spanCount = spanCount;
+	chf.walkableHeight = walkableHeight;
+	chf.walkableClimb = walkableClimb;
+	chf.maxRegions = 0;
+	rcVcopy(chf.bmin, hf.bmin);
+	rcVcopy(chf.bmax, hf.bmax);
+	chf.bmax[1] += walkableHeight*hf.ch;
+	chf.cs = hf.cs;
+	chf.ch = hf.ch;
+	chf.cells = (rcCompactCell*)rcAlloc(sizeof(rcCompactCell)*w*h, RC_ALLOC_PERM);
+	if (!chf.cells)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Out of memory 'chf.cells' (%d)", w*h);
+		return false;
+	}
+	memset(chf.cells, 0, sizeof(rcCompactCell)*w*h);
+	chf.spans = (rcCompactSpan*)rcAlloc(sizeof(rcCompactSpan)*spanCount, RC_ALLOC_PERM);
+	if (!chf.spans)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Out of memory 'chf.spans' (%d)", spanCount);
+		return false;
+	}
+	memset(chf.spans, 0, sizeof(rcCompactSpan)*spanCount);
+	chf.areas = (unsigned char*)rcAlloc(sizeof(unsigned char)*spanCount, RC_ALLOC_PERM);
+	if (!chf.areas)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Out of memory 'chf.areas' (%d)", spanCount);
+		return false;
+	}
+	memset(chf.areas, RC_NULL_AREA, sizeof(unsigned char)*spanCount);
+	
+	const int MAX_HEIGHT = 0xffff;
+	
+	// Fill in cells and spans.
+	int idx = 0;
+	for (int y = 0; y < h; ++y)
+	{
+		for (int x = 0; x < w; ++x)
+		{
+			const rcSpan* s = hf.spans[x + y*w];
+			// If there are no spans at this cell, just leave the data to index=0, count=0.
+			if (!s) continue;
+			rcCompactCell& c = chf.cells[x+y*w];
+			c.index = idx;
+			c.count = 0;
+			while (s)
+			{
+				if (s->area != RC_NULL_AREA)
+				{
+					const int bot = (int)s->smax;
+					const int top = s->next ? (int)s->next->smin : MAX_HEIGHT;
+					chf.spans[idx].y = (unsigned short)rcClamp(bot, 0, 0xffff);
+					chf.spans[idx].h = (unsigned char)rcClamp(top - bot, 0, 0xff);
+					chf.areas[idx] = s->area;
+					idx++;
+					c.count++;
+				}
+				s = s->next;
+			}
+		}
+	}
+
+	// Find neighbour connections.
+	const int MAX_LAYERS = RC_NOT_CONNECTED-1;
+	int tooHighNeighbour = 0;
+	for (int y = 0; y < h; ++y)
+	{
+		for (int x = 0; x < w; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+y*w];
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				rcCompactSpan& s = chf.spans[i];
+				
+				for (int dir = 0; dir < 4; ++dir)
+				{
+					rcSetCon(s, dir, RC_NOT_CONNECTED);
+					const int nx = x + rcGetDirOffsetX(dir);
+					const int ny = y + rcGetDirOffsetY(dir);
+					// First check that the neighbour cell is in bounds.
+					if (nx < 0 || ny < 0 || nx >= w || ny >= h)
+						continue;
+						
+					// Iterate over all neighbour spans and check if any of the is
+					// accessible from current cell.
+					const rcCompactCell& nc = chf.cells[nx+ny*w];
+					for (int k = (int)nc.index, nk = (int)(nc.index+nc.count); k < nk; ++k)
+					{
+						const rcCompactSpan& ns = chf.spans[k];
+						const int bot = rcMax(s.y, ns.y);
+						const int top = rcMin(s.y+s.h, ns.y+ns.h);
+
+						// Check that the gap between the spans is walkable,
+						// and that the climb height between the gaps is not too high.
+						if ((top - bot) >= walkableHeight && rcAbs((int)ns.y - (int)s.y) <= walkableClimb)
+						{
+							// Mark direction as walkable.
+							const int lidx = k - (int)nc.index;
+							if (lidx < 0 || lidx > MAX_LAYERS)
+							{
+								tooHighNeighbour = rcMax(tooHighNeighbour, lidx);
+								continue;
+							}
+							rcSetCon(s, dir, lidx);
+							break;
+						}
+					}
+					
+				}
+			}
+		}
+	}
+	
+	if (tooHighNeighbour > MAX_LAYERS)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Heightfield has too many layers %d (max: %d)",
+				 tooHighNeighbour, MAX_LAYERS);
+	}
+	
+	return true;
+}
+
+/*
+static int getHeightfieldMemoryUsage(const rcHeightfield& hf)
+{
+	int size = 0;
+	size += sizeof(hf);
+	size += hf.width * hf.height * sizeof(rcSpan*);
+	
+	rcSpanPool* pool = hf.pools;
+	while (pool)
+	{
+		size += (sizeof(rcSpanPool) - sizeof(rcSpan)) + sizeof(rcSpan)*RC_SPANS_PER_POOL;
+		pool = pool->next;
+	}
+	return size;
+}
+
+static int getCompactHeightFieldMemoryusage(const rcCompactHeightfield& chf)
+{
+	int size = 0;
+	size += sizeof(rcCompactHeightfield);
+	size += sizeof(rcCompactSpan) * chf.spanCount;
+	size += sizeof(rcCompactCell) * chf.width * chf.height;
+	return size;
+}
+*/
diff --git a/thirdparty/recastnavigation/Recast/Source/RecastAlloc.cpp b/thirdparty/recastnavigation/Recast/Source/RecastAlloc.cpp
new file mode 100644
index 0000000000..453b5fa6a6
--- /dev/null
+++ b/thirdparty/recastnavigation/Recast/Source/RecastAlloc.cpp
@@ -0,0 +1,86 @@
+//
+// Copyright (c) 2009-2010 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 <stdlib.h>
+#include <string.h>
+#include "RecastAlloc.h"
+#include "RecastAssert.h"
+
+static void *rcAllocDefault(size_t size, rcAllocHint)
+{
+	return malloc(size);
+}
+
+static void rcFreeDefault(void *ptr)
+{
+	free(ptr);
+}
+
+static rcAllocFunc* sRecastAllocFunc = rcAllocDefault;
+static rcFreeFunc* sRecastFreeFunc = rcFreeDefault;
+
+/// @see rcAlloc, rcFree
+void rcAllocSetCustom(rcAllocFunc *allocFunc, rcFreeFunc *freeFunc)
+{
+	sRecastAllocFunc = allocFunc ? allocFunc : rcAllocDefault;
+	sRecastFreeFunc = freeFunc ? freeFunc : rcFreeDefault;
+}
+
+/// @see rcAllocSetCustom
+void* rcAlloc(size_t size, rcAllocHint hint)
+{
+	return sRecastAllocFunc(size, hint);
+}
+
+/// @par
+///
+/// @warning This function leaves the value of @p ptr unchanged.  So it still
+/// points to the same (now invalid) location, and not to null.
+/// 
+/// @see rcAllocSetCustom
+void rcFree(void* ptr)
+{
+	if (ptr)
+		sRecastFreeFunc(ptr);
+}
+
+/// @class rcIntArray
+///
+/// While it is possible to pre-allocate a specific array size during 
+/// construction or by using the #resize method, certain methods will 
+/// automatically resize the array as needed.
+///
+/// @warning The array memory is not initialized to zero when the size is 
+/// manually set during construction or when using #resize.
+
+/// @par
+///
+/// Using this method ensures the array is at least large enough to hold
+/// the specified number of elements.  This can improve performance by
+/// avoiding auto-resizing during use.
+void rcIntArray::doResize(int n)
+{
+	if (!m_cap) m_cap = n;
+	while (m_cap < n) m_cap *= 2;
+	int* newData = (int*)rcAlloc(m_cap*sizeof(int), RC_ALLOC_TEMP);
+	rcAssert(newData);
+	if (m_size && newData) memcpy(newData, m_data, m_size*sizeof(int));
+	rcFree(m_data);
+	m_data = newData;
+}
+
diff --git a/thirdparty/recastnavigation/Recast/Source/RecastArea.cpp b/thirdparty/recastnavigation/Recast/Source/RecastArea.cpp
new file mode 100644
index 0000000000..97139cf996
--- /dev/null
+++ b/thirdparty/recastnavigation/Recast/Source/RecastArea.cpp
@@ -0,0 +1,591 @@
+//
+// Copyright (c) 2009-2010 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 <float.h>
+#define _USE_MATH_DEFINES
+#include <math.h>
+#include <string.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include "Recast.h"
+#include "RecastAlloc.h"
+#include "RecastAssert.h"
+
+/// @par 
+/// 
+/// Basically, any spans that are closer to a boundary or obstruction than the specified radius 
+/// are marked as unwalkable.
+///
+/// This method is usually called immediately after the heightfield has been built.
+///
+/// @see rcCompactHeightfield, rcBuildCompactHeightfield, rcConfig::walkableRadius
+bool rcErodeWalkableArea(rcContext* ctx, int radius, rcCompactHeightfield& chf)
+{
+	rcAssert(ctx);
+	
+	const int w = chf.width;
+	const int h = chf.height;
+	
+	rcScopedTimer timer(ctx, RC_TIMER_ERODE_AREA);
+	
+	unsigned char* dist = (unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_TEMP);
+	if (!dist)
+	{
+		ctx->log(RC_LOG_ERROR, "erodeWalkableArea: Out of memory 'dist' (%d).", chf.spanCount);
+		return false;
+	}
+	
+	// Init distance.
+	memset(dist, 0xff, sizeof(unsigned char)*chf.spanCount);
+	
+	// Mark boundary cells.
+	for (int y = 0; y < h; ++y)
+	{
+		for (int x = 0; x < w; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+y*w];
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				if (chf.areas[i] == RC_NULL_AREA)
+				{
+					dist[i] = 0;
+				}
+				else
+				{
+					const rcCompactSpan& s = chf.spans[i];
+					int nc = 0;
+					for (int dir = 0; dir < 4; ++dir)
+					{
+						if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
+						{
+							const int nx = x + rcGetDirOffsetX(dir);
+							const int ny = y + rcGetDirOffsetY(dir);
+							const int nidx = (int)chf.cells[nx+ny*w].index + rcGetCon(s, dir);
+							if (chf.areas[nidx] != RC_NULL_AREA)
+							{
+								nc++;
+							}
+						}
+					}
+					// At least one missing neighbour.
+					if (nc != 4)
+						dist[i] = 0;
+				}
+			}
+		}
+	}
+	
+	unsigned char nd;
+	
+	// Pass 1
+	for (int y = 0; y < h; ++y)
+	{
+		for (int x = 0; x < w; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+y*w];
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				const rcCompactSpan& s = chf.spans[i];
+				
+				if (rcGetCon(s, 0) != RC_NOT_CONNECTED)
+				{
+					// (-1,0)
+					const int ax = x + rcGetDirOffsetX(0);
+					const int ay = y + rcGetDirOffsetY(0);
+					const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 0);
+					const rcCompactSpan& as = chf.spans[ai];
+					nd = (unsigned char)rcMin((int)dist[ai]+2, 255);
+					if (nd < dist[i])
+						dist[i] = nd;
+					
+					// (-1,-1)
+					if (rcGetCon(as, 3) != RC_NOT_CONNECTED)
+					{
+						const int aax = ax + rcGetDirOffsetX(3);
+						const int aay = ay + rcGetDirOffsetY(3);
+						const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 3);
+						nd = (unsigned char)rcMin((int)dist[aai]+3, 255);
+						if (nd < dist[i])
+							dist[i] = nd;
+					}
+				}
+				if (rcGetCon(s, 3) != RC_NOT_CONNECTED)
+				{
+					// (0,-1)
+					const int ax = x + rcGetDirOffsetX(3);
+					const int ay = y + rcGetDirOffsetY(3);
+					const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 3);
+					const rcCompactSpan& as = chf.spans[ai];
+					nd = (unsigned char)rcMin((int)dist[ai]+2, 255);
+					if (nd < dist[i])
+						dist[i] = nd;
+					
+					// (1,-1)
+					if (rcGetCon(as, 2) != RC_NOT_CONNECTED)
+					{
+						const int aax = ax + rcGetDirOffsetX(2);
+						const int aay = ay + rcGetDirOffsetY(2);
+						const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 2);
+						nd = (unsigned char)rcMin((int)dist[aai]+3, 255);
+						if (nd < dist[i])
+							dist[i] = nd;
+					}
+				}
+			}
+		}
+	}
+	
+	// Pass 2
+	for (int y = h-1; y >= 0; --y)
+	{
+		for (int x = w-1; x >= 0; --x)
+		{
+			const rcCompactCell& c = chf.cells[x+y*w];
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				const rcCompactSpan& s = chf.spans[i];
+				
+				if (rcGetCon(s, 2) != RC_NOT_CONNECTED)
+				{
+					// (1,0)
+					const int ax = x + rcGetDirOffsetX(2);
+					const int ay = y + rcGetDirOffsetY(2);
+					const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 2);
+					const rcCompactSpan& as = chf.spans[ai];
+					nd = (unsigned char)rcMin((int)dist[ai]+2, 255);
+					if (nd < dist[i])
+						dist[i] = nd;
+					
+					// (1,1)
+					if (rcGetCon(as, 1) != RC_NOT_CONNECTED)
+					{
+						const int aax = ax + rcGetDirOffsetX(1);
+						const int aay = ay + rcGetDirOffsetY(1);
+						const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 1);
+						nd = (unsigned char)rcMin((int)dist[aai]+3, 255);
+						if (nd < dist[i])
+							dist[i] = nd;
+					}
+				}
+				if (rcGetCon(s, 1) != RC_NOT_CONNECTED)
+				{
+					// (0,1)
+					const int ax = x + rcGetDirOffsetX(1);
+					const int ay = y + rcGetDirOffsetY(1);
+					const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 1);
+					const rcCompactSpan& as = chf.spans[ai];
+					nd = (unsigned char)rcMin((int)dist[ai]+2, 255);
+					if (nd < dist[i])
+						dist[i] = nd;
+					
+					// (-1,1)
+					if (rcGetCon(as, 0) != RC_NOT_CONNECTED)
+					{
+						const int aax = ax + rcGetDirOffsetX(0);
+						const int aay = ay + rcGetDirOffsetY(0);
+						const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 0);
+						nd = (unsigned char)rcMin((int)dist[aai]+3, 255);
+						if (nd < dist[i])
+							dist[i] = nd;
+					}
+				}
+			}
+		}
+	}
+	
+	const unsigned char thr = (unsigned char)(radius*2);
+	for (int i = 0; i < chf.spanCount; ++i)
+		if (dist[i] < thr)
+			chf.areas[i] = RC_NULL_AREA;
+	
+	rcFree(dist);
+	
+	return true;
+}
+
+static void insertSort(unsigned char* a, const int n)
+{
+	int i, j;
+	for (i = 1; i < n; i++)
+	{
+		const unsigned char value = a[i];
+		for (j = i - 1; j >= 0 && a[j] > value; j--)
+			a[j+1] = a[j];
+		a[j+1] = value;
+	}
+}
+
+/// @par
+///
+/// This filter is usually applied after applying area id's using functions
+/// such as #rcMarkBoxArea, #rcMarkConvexPolyArea, and #rcMarkCylinderArea.
+/// 
+/// @see rcCompactHeightfield
+bool rcMedianFilterWalkableArea(rcContext* ctx, rcCompactHeightfield& chf)
+{
+	rcAssert(ctx);
+	
+	const int w = chf.width;
+	const int h = chf.height;
+	
+	rcScopedTimer timer(ctx, RC_TIMER_MEDIAN_AREA);
+	
+	unsigned char* areas = (unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_TEMP);
+	if (!areas)
+	{
+		ctx->log(RC_LOG_ERROR, "medianFilterWalkableArea: Out of memory 'areas' (%d).", chf.spanCount);
+		return false;
+	}
+	
+	// Init distance.
+	memset(areas, 0xff, sizeof(unsigned char)*chf.spanCount);
+	
+	for (int y = 0; y < h; ++y)
+	{
+		for (int x = 0; x < w; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+y*w];
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				const rcCompactSpan& s = chf.spans[i];
+				if (chf.areas[i] == RC_NULL_AREA)
+				{
+					areas[i] = chf.areas[i];
+					continue;
+				}
+				
+				unsigned char nei[9];
+				for (int j = 0; j < 9; ++j)
+					nei[j] = chf.areas[i];
+				
+				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*w].index + rcGetCon(s, dir);
+						if (chf.areas[ai] != RC_NULL_AREA)
+							nei[dir*2+0] = chf.areas[ai];
+						
+						const rcCompactSpan& as = chf.spans[ai];
+						const int dir2 = (dir+1) & 0x3;
+						if (rcGetCon(as, dir2) != RC_NOT_CONNECTED)
+						{
+							const int ax2 = ax + rcGetDirOffsetX(dir2);
+							const int ay2 = ay + rcGetDirOffsetY(dir2);
+							const int ai2 = (int)chf.cells[ax2+ay2*w].index + rcGetCon(as, dir2);
+							if (chf.areas[ai2] != RC_NULL_AREA)
+								nei[dir*2+1] = chf.areas[ai2];
+						}
+					}
+				}
+				insertSort(nei, 9);
+				areas[i] = nei[4];
+			}
+		}
+	}
+	
+	memcpy(chf.areas, areas, sizeof(unsigned char)*chf.spanCount);
+	
+	rcFree(areas);
+	
+	return true;
+}
+
+/// @par
+///
+/// The value of spacial parameters are in world units.
+/// 
+/// @see rcCompactHeightfield, rcMedianFilterWalkableArea
+void rcMarkBoxArea(rcContext* ctx, const float* bmin, const float* bmax, unsigned char areaId,
+				   rcCompactHeightfield& chf)
+{
+	rcAssert(ctx);
+	
+	rcScopedTimer timer(ctx, RC_TIMER_MARK_BOX_AREA);
+
+	int minx = (int)((bmin[0]-chf.bmin[0])/chf.cs);
+	int miny = (int)((bmin[1]-chf.bmin[1])/chf.ch);
+	int minz = (int)((bmin[2]-chf.bmin[2])/chf.cs);
+	int maxx = (int)((bmax[0]-chf.bmin[0])/chf.cs);
+	int maxy = (int)((bmax[1]-chf.bmin[1])/chf.ch);
+	int maxz = (int)((bmax[2]-chf.bmin[2])/chf.cs);
+	
+	if (maxx < 0) return;
+	if (minx >= chf.width) return;
+	if (maxz < 0) return;
+	if (minz >= chf.height) return;
+
+	if (minx < 0) minx = 0;
+	if (maxx >= chf.width) maxx = chf.width-1;
+	if (minz < 0) minz = 0;
+	if (maxz >= chf.height) maxz = chf.height-1;	
+	
+	for (int z = minz; z <= maxz; ++z)
+	{
+		for (int x = minx; x <= maxx; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+z*chf.width];
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				rcCompactSpan& s = chf.spans[i];
+				if ((int)s.y >= miny && (int)s.y <= maxy)
+				{
+					if (chf.areas[i] != RC_NULL_AREA)
+						chf.areas[i] = areaId;
+				}
+			}
+		}
+	}
+}
+
+
+static int pointInPoly(int nvert, const float* verts, const float* p)
+{
+	int i, j, c = 0;
+	for (i = 0, j = nvert-1; i < nvert; j = i++)
+	{
+		const float* vi = &verts[i*3];
+		const float* vj = &verts[j*3];
+		if (((vi[2] > p[2]) != (vj[2] > p[2])) &&
+			(p[0] < (vj[0]-vi[0]) * (p[2]-vi[2]) / (vj[2]-vi[2]) + vi[0]) )
+			c = !c;
+	}
+	return c;
+}
+
+/// @par
+///
+/// The value of spacial parameters are in world units.
+/// 
+/// The y-values of the polygon vertices are ignored. So the polygon is effectively 
+/// projected onto the xz-plane at @p hmin, then extruded to @p hmax.
+/// 
+/// @see rcCompactHeightfield, rcMedianFilterWalkableArea
+void rcMarkConvexPolyArea(rcContext* ctx, const float* verts, const int nverts,
+						  const float hmin, const float hmax, unsigned char areaId,
+						  rcCompactHeightfield& chf)
+{
+	rcAssert(ctx);
+	
+	rcScopedTimer timer(ctx, RC_TIMER_MARK_CONVEXPOLY_AREA);
+
+	float bmin[3], bmax[3];
+	rcVcopy(bmin, verts);
+	rcVcopy(bmax, verts);
+	for (int i = 1; i < nverts; ++i)
+	{
+		rcVmin(bmin, &verts[i*3]);
+		rcVmax(bmax, &verts[i*3]);
+	}
+	bmin[1] = hmin;
+	bmax[1] = hmax;
+
+	int minx = (int)((bmin[0]-chf.bmin[0])/chf.cs);
+	int miny = (int)((bmin[1]-chf.bmin[1])/chf.ch);
+	int minz = (int)((bmin[2]-chf.bmin[2])/chf.cs);
+	int maxx = (int)((bmax[0]-chf.bmin[0])/chf.cs);
+	int maxy = (int)((bmax[1]-chf.bmin[1])/chf.ch);
+	int maxz = (int)((bmax[2]-chf.bmin[2])/chf.cs);
+	
+	if (maxx < 0) return;
+	if (minx >= chf.width) return;
+	if (maxz < 0) return;
+	if (minz >= chf.height) return;
+	
+	if (minx < 0) minx = 0;
+	if (maxx >= chf.width) maxx = chf.width-1;
+	if (minz < 0) minz = 0;
+	if (maxz >= chf.height) maxz = chf.height-1;	
+	
+	
+	// TODO: Optimize.
+	for (int z = minz; z <= maxz; ++z)
+	{
+		for (int x = minx; x <= maxx; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+z*chf.width];
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				rcCompactSpan& s = chf.spans[i];
+				if (chf.areas[i] == RC_NULL_AREA)
+					continue;
+				if ((int)s.y >= miny && (int)s.y <= maxy)
+				{
+					float p[3];
+					p[0] = chf.bmin[0] + (x+0.5f)*chf.cs; 
+					p[1] = 0;
+					p[2] = chf.bmin[2] + (z+0.5f)*chf.cs; 
+
+					if (pointInPoly(nverts, verts, p))
+					{
+						chf.areas[i] = areaId;
+					}
+				}
+			}
+		}
+	}
+}
+
+int rcOffsetPoly(const float* verts, const int nverts, const float offset,
+				 float* outVerts, const int maxOutVerts)
+{
+	const float	MITER_LIMIT = 1.20f;
+
+	int n = 0;
+
+	for (int i = 0; i < nverts; i++)
+	{
+		const int a = (i+nverts-1) % nverts;
+		const int b = i;
+		const int c = (i+1) % nverts;
+		const float* va = &verts[a*3];
+		const float* vb = &verts[b*3];
+		const float* vc = &verts[c*3];
+		float dx0 = vb[0] - va[0];
+		float dy0 = vb[2] - va[2];
+		float d0 = dx0*dx0 + dy0*dy0;
+		if (d0 > 1e-6f)
+		{
+			d0 = 1.0f/rcSqrt(d0);
+			dx0 *= d0;
+			dy0 *= d0;
+		}
+		float dx1 = vc[0] - vb[0];
+		float dy1 = vc[2] - vb[2];
+		float d1 = dx1*dx1 + dy1*dy1;
+		if (d1 > 1e-6f)
+		{
+			d1 = 1.0f/rcSqrt(d1);
+			dx1 *= d1;
+			dy1 *= d1;
+		}
+		const float dlx0 = -dy0;
+		const float dly0 = dx0;
+		const float dlx1 = -dy1;
+		const float dly1 = dx1;
+		float cross = dx1*dy0 - dx0*dy1;
+		float dmx = (dlx0 + dlx1) * 0.5f;
+		float dmy = (dly0 + dly1) * 0.5f;
+		float dmr2 = dmx*dmx + dmy*dmy;
+		bool bevel = dmr2 * MITER_LIMIT*MITER_LIMIT < 1.0f;
+		if (dmr2 > 1e-6f)
+		{
+			const float scale = 1.0f / dmr2;
+			dmx *= scale;
+			dmy *= scale;
+		}
+
+		if (bevel && cross < 0.0f)
+		{
+			if (n+2 >= maxOutVerts)
+				return 0;
+			float d = (1.0f - (dx0*dx1 + dy0*dy1))*0.5f;
+			outVerts[n*3+0] = vb[0] + (-dlx0+dx0*d)*offset;
+			outVerts[n*3+1] = vb[1];
+			outVerts[n*3+2] = vb[2] + (-dly0+dy0*d)*offset;
+			n++;
+			outVerts[n*3+0] = vb[0] + (-dlx1-dx1*d)*offset;
+			outVerts[n*3+1] = vb[1];
+			outVerts[n*3+2] = vb[2] + (-dly1-dy1*d)*offset;
+			n++;
+		}
+		else
+		{
+			if (n+1 >= maxOutVerts)
+				return 0;
+			outVerts[n*3+0] = vb[0] - dmx*offset;
+			outVerts[n*3+1] = vb[1];
+			outVerts[n*3+2] = vb[2] - dmy*offset;
+			n++;
+		}
+	}
+	
+	return n;
+}
+
+
+/// @par
+///
+/// The value of spacial parameters are in world units.
+/// 
+/// @see rcCompactHeightfield, rcMedianFilterWalkableArea
+void rcMarkCylinderArea(rcContext* ctx, const float* pos,
+						const float r, const float h, unsigned char areaId,
+						rcCompactHeightfield& chf)
+{
+	rcAssert(ctx);
+	
+	rcScopedTimer timer(ctx, RC_TIMER_MARK_CYLINDER_AREA);
+	
+	float bmin[3], bmax[3];
+	bmin[0] = pos[0] - r;
+	bmin[1] = pos[1];
+	bmin[2] = pos[2] - r;
+	bmax[0] = pos[0] + r;
+	bmax[1] = pos[1] + h;
+	bmax[2] = pos[2] + r;
+	const float r2 = r*r;
+	
+	int minx = (int)((bmin[0]-chf.bmin[0])/chf.cs);
+	int miny = (int)((bmin[1]-chf.bmin[1])/chf.ch);
+	int minz = (int)((bmin[2]-chf.bmin[2])/chf.cs);
+	int maxx = (int)((bmax[0]-chf.bmin[0])/chf.cs);
+	int maxy = (int)((bmax[1]-chf.bmin[1])/chf.ch);
+	int maxz = (int)((bmax[2]-chf.bmin[2])/chf.cs);
+	
+	if (maxx < 0) return;
+	if (minx >= chf.width) return;
+	if (maxz < 0) return;
+	if (minz >= chf.height) return;
+	
+	if (minx < 0) minx = 0;
+	if (maxx >= chf.width) maxx = chf.width-1;
+	if (minz < 0) minz = 0;
+	if (maxz >= chf.height) maxz = chf.height-1;	
+	
+	
+	for (int z = minz; z <= maxz; ++z)
+	{
+		for (int x = minx; x <= maxx; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+z*chf.width];
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				rcCompactSpan& s = chf.spans[i];
+				
+				if (chf.areas[i] == RC_NULL_AREA)
+					continue;
+				
+				if ((int)s.y >= miny && (int)s.y <= maxy)
+				{
+					const float sx = chf.bmin[0] + (x+0.5f)*chf.cs; 
+					const float sz = chf.bmin[2] + (z+0.5f)*chf.cs; 
+					const float dx = sx - pos[0];
+					const float dz = sz - pos[2];
+					
+					if (dx*dx + dz*dz < r2)
+					{
+						chf.areas[i] = areaId;
+					}
+				}
+			}
+		}
+	}
+}
diff --git a/thirdparty/recastnavigation/Recast/Source/RecastAssert.cpp b/thirdparty/recastnavigation/Recast/Source/RecastAssert.cpp
new file mode 100644
index 0000000000..6297d42023
--- /dev/null
+++ b/thirdparty/recastnavigation/Recast/Source/RecastAssert.cpp
@@ -0,0 +1,35 @@
+//
+// Copyright (c) 2009-2010 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 "RecastAssert.h"
+
+#ifndef NDEBUG
+
+static rcAssertFailFunc* sRecastAssertFailFunc = 0;
+
+void rcAssertFailSetCustom(rcAssertFailFunc *assertFailFunc)
+{
+	sRecastAssertFailFunc = assertFailFunc;
+}
+
+rcAssertFailFunc* rcAssertFailGetCustom()
+{
+	return sRecastAssertFailFunc;
+}
+
+#endif
diff --git a/thirdparty/recastnavigation/Recast/Source/RecastContour.cpp b/thirdparty/recastnavigation/Recast/Source/RecastContour.cpp
new file mode 100644
index 0000000000..277ab01501
--- /dev/null
+++ b/thirdparty/recastnavigation/Recast/Source/RecastContour.cpp
@@ -0,0 +1,1105 @@
+//
+// Copyright (c) 2009-2010 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 <string.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include "Recast.h"
+#include "RecastAlloc.h"
+#include "RecastAssert.h"
+
+
+static int getCornerHeight(int x, int y, int i, int dir,
+						   const rcCompactHeightfield& chf,
+						   bool& isBorderVertex)
+{
+	const rcCompactSpan& s = chf.spans[i];
+	int ch = (int)s.y;
+	int dirp = (dir+1) & 0x3;
+	
+	unsigned int regs[4] = {0,0,0,0};
+	
+	// Combine region and area codes in order to prevent
+	// border vertices which are in between two areas to be removed.
+	regs[0] = chf.spans[i].reg | (chf.areas[i] << 16);
+	
+	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];
+		ch = rcMax(ch, (int)as.y);
+		regs[1] = chf.spans[ai].reg | (chf.areas[ai] << 16);
+		if (rcGetCon(as, dirp) != RC_NOT_CONNECTED)
+		{
+			const int ax2 = ax + rcGetDirOffsetX(dirp);
+			const int ay2 = ay + rcGetDirOffsetY(dirp);
+			const int ai2 = (int)chf.cells[ax2+ay2*chf.width].index + rcGetCon(as, dirp);
+			const rcCompactSpan& as2 = chf.spans[ai2];
+			ch = rcMax(ch, (int)as2.y);
+			regs[2] = chf.spans[ai2].reg | (chf.areas[ai2] << 16);
+		}
+	}
+	if (rcGetCon(s, dirp) != RC_NOT_CONNECTED)
+	{
+		const int ax = x + rcGetDirOffsetX(dirp);
+		const int ay = y + rcGetDirOffsetY(dirp);
+		const int ai = (int)chf.cells[ax+ay*chf.width].index + rcGetCon(s, dirp);
+		const rcCompactSpan& as = chf.spans[ai];
+		ch = rcMax(ch, (int)as.y);
+		regs[3] = chf.spans[ai].reg | (chf.areas[ai] << 16);
+		if (rcGetCon(as, dir) != RC_NOT_CONNECTED)
+		{
+			const int ax2 = ax + rcGetDirOffsetX(dir);
+			const int ay2 = ay + rcGetDirOffsetY(dir);
+			const int ai2 = (int)chf.cells[ax2+ay2*chf.width].index + rcGetCon(as, dir);
+			const rcCompactSpan& as2 = chf.spans[ai2];
+			ch = rcMax(ch, (int)as2.y);
+			regs[2] = chf.spans[ai2].reg | (chf.areas[ai2] << 16);
+		}
+	}
+
+	// Check if the vertex is special edge vertex, these vertices will be removed later.
+	for (int j = 0; j < 4; ++j)
+	{
+		const int a = j;
+		const int b = (j+1) & 0x3;
+		const int c = (j+2) & 0x3;
+		const int d = (j+3) & 0x3;
+		
+		// The vertex is a border vertex there are two same exterior cells in a row,
+		// followed by two interior cells and none of the regions are out of bounds.
+		const bool twoSameExts = (regs[a] & regs[b] & RC_BORDER_REG) != 0 && regs[a] == regs[b];
+		const bool twoInts = ((regs[c] | regs[d]) & RC_BORDER_REG) == 0;
+		const bool intsSameArea = (regs[c]>>16) == (regs[d]>>16);
+		const bool noZeros = regs[a] != 0 && regs[b] != 0 && regs[c] != 0 && regs[d] != 0;
+		if (twoSameExts && twoInts && intsSameArea && noZeros)
+		{
+			isBorderVertex = true;
+			break;
+		}
+	}
+	
+	return ch;
+}
+
+static void walkContour(int x, int y, int i,
+						rcCompactHeightfield& chf,
+						unsigned char* flags, rcIntArray& points)
+{
+	// Choose the first non-connected edge
+	unsigned char dir = 0;
+	while ((flags[i] & (1 << dir)) == 0)
+		dir++;
+	
+	unsigned char startDir = dir;
+	int starti = i;
+	
+	const unsigned char area = chf.areas[i];
+	
+	int iter = 0;
+	while (++iter < 40000)
+	{
+		if (flags[i] & (1 << dir))
+		{
+			// Choose the edge corner
+			bool isBorderVertex = false;
+			bool isAreaBorder = false;
+			int px = x;
+			int py = getCornerHeight(x, y, i, dir, chf, isBorderVertex);
+			int pz = y;
+			switch(dir)
+			{
+				case 0: pz++; break;
+				case 1: px++; pz++; break;
+				case 2: px++; break;
+			}
+			int r = 0;
+			const rcCompactSpan& s = chf.spans[i];
+			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);
+				r = (int)chf.spans[ai].reg;
+				if (area != chf.areas[ai])
+					isAreaBorder = true;
+			}
+			if (isBorderVertex)
+				r |= RC_BORDER_VERTEX;
+			if (isAreaBorder)
+				r |= RC_AREA_BORDER;
+			points.push(px);
+			points.push(py);
+			points.push(pz);
+			points.push(r);
+			
+			flags[i] &= ~(1 << dir); // Remove visited edges
+			dir = (dir+1) & 0x3;  // Rotate CW
+		}
+		else
+		{
+			int ni = -1;
+			const int nx = x + rcGetDirOffsetX(dir);
+			const int ny = y + rcGetDirOffsetY(dir);
+			const rcCompactSpan& s = chf.spans[i];
+			if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
+			{
+				const rcCompactCell& nc = chf.cells[nx+ny*chf.width];
+				ni = (int)nc.index + rcGetCon(s, dir);
+			}
+			if (ni == -1)
+			{
+				// Should not happen.
+				return;
+			}
+			x = nx;
+			y = ny;
+			i = ni;
+			dir = (dir+3) & 0x3;	// Rotate CCW
+		}
+		
+		if (starti == i && startDir == dir)
+		{
+			break;
+		}
+	}
+}
+
+static float distancePtSeg(const int x, const int z,
+						   const int px, const int pz,
+						   const int qx, const int qz)
+{
+	float pqx = (float)(qx - px);
+	float pqz = (float)(qz - pz);
+	float dx = (float)(x - px);
+	float dz = (float)(z - pz);
+	float d = pqx*pqx + pqz*pqz;
+	float t = pqx*dx + pqz*dz;
+	if (d > 0)
+		t /= d;
+	if (t < 0)
+		t = 0;
+	else if (t > 1)
+		t = 1;
+	
+	dx = px + t*pqx - x;
+	dz = pz + t*pqz - z;
+	
+	return dx*dx + dz*dz;
+}
+
+static void simplifyContour(rcIntArray& points, rcIntArray& simplified,
+							const float maxError, const int maxEdgeLen, const int buildFlags)
+{
+	// Add initial points.
+	bool hasConnections = false;
+	for (int i = 0; i < points.size(); i += 4)
+	{
+		if ((points[i+3] & RC_CONTOUR_REG_MASK) != 0)
+		{
+			hasConnections = true;
+			break;
+		}
+	}
+	
+	if (hasConnections)
+	{
+		// The contour has some portals to other regions.
+		// Add a new point to every location where the region changes.
+		for (int i = 0, ni = points.size()/4; i < ni; ++i)
+		{
+			int ii = (i+1) % ni;
+			const bool differentRegs = (points[i*4+3] & RC_CONTOUR_REG_MASK) != (points[ii*4+3] & RC_CONTOUR_REG_MASK);
+			const bool areaBorders = (points[i*4+3] & RC_AREA_BORDER) != (points[ii*4+3] & RC_AREA_BORDER);
+			if (differentRegs || areaBorders)
+			{
+				simplified.push(points[i*4+0]);
+				simplified.push(points[i*4+1]);
+				simplified.push(points[i*4+2]);
+				simplified.push(i);
+			}
+		}
+	}
+	
+	if (simplified.size() == 0)
+	{
+		// If there is no connections at all,
+		// create some initial points for the simplification process.
+		// Find lower-left and upper-right vertices of the contour.
+		int llx = points[0];
+		int lly = points[1];
+		int llz = points[2];
+		int lli = 0;
+		int urx = points[0];
+		int ury = points[1];
+		int urz = points[2];
+		int uri = 0;
+		for (int i = 0; i < points.size(); i += 4)
+		{
+			int x = points[i+0];
+			int y = points[i+1];
+			int z = points[i+2];
+			if (x < llx || (x == llx && z < llz))
+			{
+				llx = x;
+				lly = y;
+				llz = z;
+				lli = i/4;
+			}
+			if (x > urx || (x == urx && z > urz))
+			{
+				urx = x;
+				ury = y;
+				urz = z;
+				uri = i/4;
+			}
+		}
+		simplified.push(llx);
+		simplified.push(lly);
+		simplified.push(llz);
+		simplified.push(lli);
+		
+		simplified.push(urx);
+		simplified.push(ury);
+		simplified.push(urz);
+		simplified.push(uri);
+	}
+	
+	// Add points until all raw points are within
+	// error tolerance to the simplified shape.
+	const int pn = points.size()/4;
+	for (int i = 0; i < simplified.size()/4; )
+	{
+		int ii = (i+1) % (simplified.size()/4);
+		
+		int ax = simplified[i*4+0];
+		int az = simplified[i*4+2];
+		int ai = simplified[i*4+3];
+
+		int bx = simplified[ii*4+0];
+		int bz = simplified[ii*4+2];
+		int bi = simplified[ii*4+3];
+
+		// Find maximum deviation from the segment.
+		float maxd = 0;
+		int maxi = -1;
+		int ci, cinc, endi;
+
+		// Traverse the segment in lexilogical order so that the
+		// max deviation is calculated similarly when traversing
+		// opposite segments.
+		if (bx > ax || (bx == ax && bz > az))
+		{
+			cinc = 1;
+			ci = (ai+cinc) % pn;
+			endi = bi;
+		}
+		else
+		{
+			cinc = pn-1;
+			ci = (bi+cinc) % pn;
+			endi = ai;
+			rcSwap(ax, bx);
+			rcSwap(az, bz);
+		}
+		
+		// Tessellate only outer edges or edges between areas.
+		if ((points[ci*4+3] & RC_CONTOUR_REG_MASK) == 0 ||
+			(points[ci*4+3] & RC_AREA_BORDER))
+		{
+			while (ci != endi)
+			{
+				float d = distancePtSeg(points[ci*4+0], points[ci*4+2], ax, az, bx, bz);
+				if (d > maxd)
+				{
+					maxd = d;
+					maxi = ci;
+				}
+				ci = (ci+cinc) % pn;
+			}
+		}
+		
+		
+		// If the max deviation is larger than accepted error,
+		// add new point, else continue to next segment.
+		if (maxi != -1 && maxd > (maxError*maxError))
+		{
+			// Add space for the new point.
+			simplified.resize(simplified.size()+4);
+			const int n = simplified.size()/4;
+			for (int j = n-1; j > i; --j)
+			{
+				simplified[j*4+0] = simplified[(j-1)*4+0];
+				simplified[j*4+1] = simplified[(j-1)*4+1];
+				simplified[j*4+2] = simplified[(j-1)*4+2];
+				simplified[j*4+3] = simplified[(j-1)*4+3];
+			}
+			// Add the point.
+			simplified[(i+1)*4+0] = points[maxi*4+0];
+			simplified[(i+1)*4+1] = points[maxi*4+1];
+			simplified[(i+1)*4+2] = points[maxi*4+2];
+			simplified[(i+1)*4+3] = maxi;
+		}
+		else
+		{
+			++i;
+		}
+	}
+	
+	// Split too long edges.
+	if (maxEdgeLen > 0 && (buildFlags & (RC_CONTOUR_TESS_WALL_EDGES|RC_CONTOUR_TESS_AREA_EDGES)) != 0)
+	{
+		for (int i = 0; i < simplified.size()/4; )
+		{
+			const int ii = (i+1) % (simplified.size()/4);
+			
+			const int ax = simplified[i*4+0];
+			const int az = simplified[i*4+2];
+			const int ai = simplified[i*4+3];
+			
+			const int bx = simplified[ii*4+0];
+			const int bz = simplified[ii*4+2];
+			const int bi = simplified[ii*4+3];
+			
+			// Find maximum deviation from the segment.
+			int maxi = -1;
+			int ci = (ai+1) % pn;
+			
+			// Tessellate only outer edges or edges between areas.
+			bool tess = false;
+			// Wall edges.
+			if ((buildFlags & RC_CONTOUR_TESS_WALL_EDGES) && (points[ci*4+3] & RC_CONTOUR_REG_MASK) == 0)
+				tess = true;
+			// Edges between areas.
+			if ((buildFlags & RC_CONTOUR_TESS_AREA_EDGES) && (points[ci*4+3] & RC_AREA_BORDER))
+				tess = true;
+			
+			if (tess)
+			{
+				int dx = bx - ax;
+				int dz = bz - az;
+				if (dx*dx + dz*dz > maxEdgeLen*maxEdgeLen)
+				{
+					// Round based on the segments in lexilogical order so that the
+					// max tesselation is consistent regardles in which direction
+					// segments are traversed.
+					const int n = bi < ai ? (bi+pn - ai) : (bi - ai);
+					if (n > 1)
+					{
+						if (bx > ax || (bx == ax && bz > az))
+							maxi = (ai + n/2) % pn;
+						else
+							maxi = (ai + (n+1)/2) % pn;
+					}
+				}
+			}
+			
+			// If the max deviation is larger than accepted error,
+			// add new point, else continue to next segment.
+			if (maxi != -1)
+			{
+				// Add space for the new point.
+				simplified.resize(simplified.size()+4);
+				const int n = simplified.size()/4;
+				for (int j = n-1; j > i; --j)
+				{
+					simplified[j*4+0] = simplified[(j-1)*4+0];
+					simplified[j*4+1] = simplified[(j-1)*4+1];
+					simplified[j*4+2] = simplified[(j-1)*4+2];
+					simplified[j*4+3] = simplified[(j-1)*4+3];
+				}
+				// Add the point.
+				simplified[(i+1)*4+0] = points[maxi*4+0];
+				simplified[(i+1)*4+1] = points[maxi*4+1];
+				simplified[(i+1)*4+2] = points[maxi*4+2];
+				simplified[(i+1)*4+3] = maxi;
+			}
+			else
+			{
+				++i;
+			}
+		}
+	}
+	
+	for (int i = 0; i < simplified.size()/4; ++i)
+	{
+		// The edge vertex flag is take from the current raw point,
+		// and the neighbour region is take from the next raw point.
+		const int ai = (simplified[i*4+3]+1) % pn;
+		const int bi = simplified[i*4+3];
+		simplified[i*4+3] = (points[ai*4+3] & (RC_CONTOUR_REG_MASK|RC_AREA_BORDER)) | (points[bi*4+3] & RC_BORDER_VERTEX);
+	}
+	
+}
+
+static int calcAreaOfPolygon2D(const int* verts, const int nverts)
+{
+	int area = 0;
+	for (int i = 0, j = nverts-1; i < nverts; j=i++)
+	{
+		const int* vi = &verts[i*4];
+		const int* vj = &verts[j*4];
+		area += vi[0] * vj[2] - vj[0] * vi[2];
+	}
+	return (area+1) / 2;
+}
+
+// TODO: these are the same as in RecastMesh.cpp, consider using the same.
+// Last time I checked the if version got compiled using cmov, which was a lot faster than module (with idiv).
+inline int prev(int i, int n) { return i-1 >= 0 ? i-1 : n-1; }
+inline int next(int i, int n) { return i+1 < n ? i+1 : 0; }
+
+inline int area2(const int* a, const int* b, const int* c)
+{
+	return (b[0] - a[0]) * (c[2] - a[2]) - (c[0] - a[0]) * (b[2] - a[2]);
+}
+
+//	Exclusive or: true iff exactly one argument is true.
+//	The arguments are negated to ensure that they are 0/1
+//	values.  Then the bitwise Xor operator may apply.
+//	(This idea is due to Michael Baldwin.)
+inline bool xorb(bool x, bool y)
+{
+	return !x ^ !y;
+}
+
+// Returns true iff c is strictly to the left of the directed
+// line through a to b.
+inline bool left(const int* a, const int* b, const int* c)
+{
+	return area2(a, b, c) < 0;
+}
+
+inline bool leftOn(const int* a, const int* b, const int* c)
+{
+	return area2(a, b, c) <= 0;
+}
+
+inline bool collinear(const int* a, const int* b, const int* c)
+{
+	return area2(a, b, c) == 0;
+}
+
+//	Returns true iff ab properly intersects cd: they share
+//	a point interior to both segments.  The properness of the
+//	intersection is ensured by using strict leftness.
+static bool intersectProp(const int* a, const int* b, const int* c, const int* d)
+{
+	// Eliminate improper cases.
+	if (collinear(a,b,c) || collinear(a,b,d) ||
+		collinear(c,d,a) || collinear(c,d,b))
+		return false;
+	
+	return xorb(left(a,b,c), left(a,b,d)) && xorb(left(c,d,a), left(c,d,b));
+}
+
+// Returns T iff (a,b,c) are collinear and point c lies
+// on the closed segement ab.
+static bool between(const int* a, const int* b, const int* c)
+{
+	if (!collinear(a, b, c))
+		return false;
+	// If ab not vertical, check betweenness on x; else on y.
+	if (a[0] != b[0])
+		return	((a[0] <= c[0]) && (c[0] <= b[0])) || ((a[0] >= c[0]) && (c[0] >= b[0]));
+	else
+		return	((a[2] <= c[2]) && (c[2] <= b[2])) || ((a[2] >= c[2]) && (c[2] >= b[2]));
+}
+
+// Returns true iff segments ab and cd intersect, properly or improperly.
+static bool intersect(const int* a, const int* b, const int* c, const int* d)
+{
+	if (intersectProp(a, b, c, d))
+		return true;
+	else if (between(a, b, c) || between(a, b, d) ||
+			 between(c, d, a) || between(c, d, b))
+		return true;
+	else
+		return false;
+}
+
+static bool vequal(const int* a, const int* b)
+{
+	return a[0] == b[0] && a[2] == b[2];
+}
+
+static bool intersectSegCountour(const int* d0, const int* d1, int i, int n, const int* verts)
+{
+	// For each edge (k,k+1) of P
+	for (int k = 0; k < n; k++)
+	{
+		int k1 = next(k, n);
+		// Skip edges incident to i.
+		if (i == k || i == k1)
+			continue;
+		const int* p0 = &verts[k * 4];
+		const int* p1 = &verts[k1 * 4];
+		if (vequal(d0, p0) || vequal(d1, p0) || vequal(d0, p1) || vequal(d1, p1))
+			continue;
+		
+		if (intersect(d0, d1, p0, p1))
+			return true;
+	}
+	return false;
+}
+
+static bool	inCone(int i, int n, const int* verts, const int* pj)
+{
+	const int* pi = &verts[i * 4];
+	const int* pi1 = &verts[next(i, n) * 4];
+	const int* pin1 = &verts[prev(i, n) * 4];
+	
+	// If P[i] is a convex vertex [ i+1 left or on (i-1,i) ].
+	if (leftOn(pin1, pi, pi1))
+		return left(pi, pj, pin1) && left(pj, pi, pi1);
+	// Assume (i-1,i,i+1) not collinear.
+	// else P[i] is reflex.
+	return !(leftOn(pi, pj, pi1) && leftOn(pj, pi, pin1));
+}
+
+
+static void removeDegenerateSegments(rcIntArray& simplified)
+{
+	// Remove adjacent vertices which are equal on xz-plane,
+	// or else the triangulator will get confused.
+	int npts = simplified.size()/4;
+	for (int i = 0; i < npts; ++i)
+	{
+		int ni = next(i, npts);
+		
+		if (vequal(&simplified[i*4], &simplified[ni*4]))
+		{
+			// Degenerate segment, remove.
+			for (int j = i; j < simplified.size()/4-1; ++j)
+			{
+				simplified[j*4+0] = simplified[(j+1)*4+0];
+				simplified[j*4+1] = simplified[(j+1)*4+1];
+				simplified[j*4+2] = simplified[(j+1)*4+2];
+				simplified[j*4+3] = simplified[(j+1)*4+3];
+			}
+			simplified.resize(simplified.size()-4);
+			npts--;
+		}
+	}
+}
+
+
+static bool mergeContours(rcContour& ca, rcContour& cb, int ia, int ib)
+{
+	const int maxVerts = ca.nverts + cb.nverts + 2;
+	int* verts = (int*)rcAlloc(sizeof(int)*maxVerts*4, RC_ALLOC_PERM);
+	if (!verts)
+		return false;
+	
+	int nv = 0;
+	
+	// Copy contour A.
+	for (int i = 0; i <= ca.nverts; ++i)
+	{
+		int* dst = &verts[nv*4];
+		const int* src = &ca.verts[((ia+i)%ca.nverts)*4];
+		dst[0] = src[0];
+		dst[1] = src[1];
+		dst[2] = src[2];
+		dst[3] = src[3];
+		nv++;
+	}
+
+	// Copy contour B
+	for (int i = 0; i <= cb.nverts; ++i)
+	{
+		int* dst = &verts[nv*4];
+		const int* src = &cb.verts[((ib+i)%cb.nverts)*4];
+		dst[0] = src[0];
+		dst[1] = src[1];
+		dst[2] = src[2];
+		dst[3] = src[3];
+		nv++;
+	}
+	
+	rcFree(ca.verts);
+	ca.verts = verts;
+	ca.nverts = nv;
+	
+	rcFree(cb.verts);
+	cb.verts = 0;
+	cb.nverts = 0;
+	
+	return true;
+}
+
+struct rcContourHole
+{
+	rcContour* contour;
+	int minx, minz, leftmost;
+};
+
+struct rcContourRegion
+{
+	rcContour* outline;
+	rcContourHole* holes;
+	int nholes;
+};
+
+struct rcPotentialDiagonal
+{
+	int vert;
+	int dist;
+};
+
+// Finds the lowest leftmost vertex of a contour.
+static void findLeftMostVertex(rcContour* contour, int* minx, int* minz, int* leftmost)
+{
+	*minx = contour->verts[0];
+	*minz = contour->verts[2];
+	*leftmost = 0;
+	for (int i = 1; i < contour->nverts; i++)
+	{
+		const int x = contour->verts[i*4+0];
+		const int z = contour->verts[i*4+2];
+		if (x < *minx || (x == *minx && z < *minz))
+		{
+			*minx = x;
+			*minz = z;
+			*leftmost = i;
+		}
+	}
+}
+
+static int compareHoles(const void* va, const void* vb)
+{
+	const rcContourHole* a = (const rcContourHole*)va;
+	const rcContourHole* b = (const rcContourHole*)vb;
+	if (a->minx == b->minx)
+	{
+		if (a->minz < b->minz)
+			return -1;
+		if (a->minz > b->minz)
+			return 1;
+	}
+	else
+	{
+		if (a->minx < b->minx)
+			return -1;
+		if (a->minx > b->minx)
+			return 1;
+	}
+	return 0;
+}
+
+
+static int compareDiagDist(const void* va, const void* vb)
+{
+	const rcPotentialDiagonal* a = (const rcPotentialDiagonal*)va;
+	const rcPotentialDiagonal* b = (const rcPotentialDiagonal*)vb;
+	if (a->dist < b->dist)
+		return -1;
+	if (a->dist > b->dist)
+		return 1;
+	return 0;
+}
+
+
+static void mergeRegionHoles(rcContext* ctx, rcContourRegion& region)
+{
+	// Sort holes from left to right.
+	for (int i = 0; i < region.nholes; i++)
+		findLeftMostVertex(region.holes[i].contour, &region.holes[i].minx, &region.holes[i].minz, &region.holes[i].leftmost);
+	
+	qsort(region.holes, region.nholes, sizeof(rcContourHole), compareHoles);
+	
+	int maxVerts = region.outline->nverts;
+	for (int i = 0; i < region.nholes; i++)
+		maxVerts += region.holes[i].contour->nverts;
+	
+	rcScopedDelete<rcPotentialDiagonal> diags((rcPotentialDiagonal*)rcAlloc(sizeof(rcPotentialDiagonal)*maxVerts, RC_ALLOC_TEMP));
+	if (!diags)
+	{
+		ctx->log(RC_LOG_WARNING, "mergeRegionHoles: Failed to allocated diags %d.", maxVerts);
+		return;
+	}
+	
+	rcContour* outline = region.outline;
+	
+	// Merge holes into the outline one by one.
+	for (int i = 0; i < region.nholes; i++)
+	{
+		rcContour* hole = region.holes[i].contour;
+		
+		int index = -1;
+		int bestVertex = region.holes[i].leftmost;
+		for (int iter = 0; iter < hole->nverts; iter++)
+		{
+			// Find potential diagonals.
+			// The 'best' vertex must be in the cone described by 3 cosequtive vertices of the outline.
+			// ..o j-1
+			//   |
+			//   |   * best
+			//   |
+			// j o-----o j+1
+			//         :
+			int ndiags = 0;
+			const int* corner = &hole->verts[bestVertex*4];
+			for (int j = 0; j < outline->nverts; j++)
+			{
+				if (inCone(j, outline->nverts, outline->verts, corner))
+				{
+					int dx = outline->verts[j*4+0] - corner[0];
+					int dz = outline->verts[j*4+2] - corner[2];
+					diags[ndiags].vert = j;
+					diags[ndiags].dist = dx*dx + dz*dz;
+					ndiags++;
+				}
+			}
+			// Sort potential diagonals by distance, we want to make the connection as short as possible.
+			qsort(diags, ndiags, sizeof(rcPotentialDiagonal), compareDiagDist);
+			
+			// Find a diagonal that is not intersecting the outline not the remaining holes.
+			index = -1;
+			for (int j = 0; j < ndiags; j++)
+			{
+				const int* pt = &outline->verts[diags[j].vert*4];
+				bool intersect = intersectSegCountour(pt, corner, diags[i].vert, outline->nverts, outline->verts);
+				for (int k = i; k < region.nholes && !intersect; k++)
+					intersect |= intersectSegCountour(pt, corner, -1, region.holes[k].contour->nverts, region.holes[k].contour->verts);
+				if (!intersect)
+				{
+					index = diags[j].vert;
+					break;
+				}
+			}
+			// If found non-intersecting diagonal, stop looking.
+			if (index != -1)
+				break;
+			// All the potential diagonals for the current vertex were intersecting, try next vertex.
+			bestVertex = (bestVertex + 1) % hole->nverts;
+		}
+		
+		if (index == -1)
+		{
+			ctx->log(RC_LOG_WARNING, "mergeHoles: Failed to find merge points for %p and %p.", region.outline, hole);
+			continue;
+		}
+		if (!mergeContours(*region.outline, *hole, index, bestVertex))
+		{
+			ctx->log(RC_LOG_WARNING, "mergeHoles: Failed to merge contours %p and %p.", region.outline, hole);
+			continue;
+		}
+	}
+}
+
+
+/// @par
+///
+/// The raw contours will match the region outlines exactly. The @p maxError and @p maxEdgeLen
+/// parameters control how closely the simplified contours will match the raw contours.
+///
+/// Simplified contours are generated such that the vertices for portals between areas match up.
+/// (They are considered mandatory vertices.)
+///
+/// Setting @p maxEdgeLength to zero will disabled the edge length feature.
+///
+/// See the #rcConfig documentation for more information on the configuration parameters.
+///
+/// @see rcAllocContourSet, rcCompactHeightfield, rcContourSet, rcConfig
+bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf,
+					 const float maxError, const int maxEdgeLen,
+					 rcContourSet& cset, const int buildFlags)
+{
+	rcAssert(ctx);
+	
+	const int w = chf.width;
+	const int h = chf.height;
+	const int borderSize = chf.borderSize;
+	
+	rcScopedTimer timer(ctx, RC_TIMER_BUILD_CONTOURS);
+	
+	rcVcopy(cset.bmin, chf.bmin);
+	rcVcopy(cset.bmax, chf.bmax);
+	if (borderSize > 0)
+	{
+		// If the heightfield was build with bordersize, remove the offset.
+		const float pad = borderSize*chf.cs;
+		cset.bmin[0] += pad;
+		cset.bmin[2] += pad;
+		cset.bmax[0] -= pad;
+		cset.bmax[2] -= pad;
+	}
+	cset.cs = chf.cs;
+	cset.ch = chf.ch;
+	cset.width = chf.width - chf.borderSize*2;
+	cset.height = chf.height - chf.borderSize*2;
+	cset.borderSize = chf.borderSize;
+	cset.maxError = maxError;
+	
+	int maxContours = rcMax((int)chf.maxRegions, 8);
+	cset.conts = (rcContour*)rcAlloc(sizeof(rcContour)*maxContours, RC_ALLOC_PERM);
+	if (!cset.conts)
+		return false;
+	cset.nconts = 0;
+	
+	rcScopedDelete<unsigned char> flags((unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_TEMP));
+	if (!flags)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildContours: Out of memory 'flags' (%d).", chf.spanCount);
+		return false;
+	}
+	
+	ctx->startTimer(RC_TIMER_BUILD_CONTOURS_TRACE);
+	
+	// Mark boundaries.
+	for (int y = 0; y < h; ++y)
+	{
+		for (int x = 0; x < w; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+y*w];
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				unsigned char res = 0;
+				const rcCompactSpan& s = chf.spans[i];
+				if (!chf.spans[i].reg || (chf.spans[i].reg & RC_BORDER_REG))
+				{
+					flags[i] = 0;
+					continue;
+				}
+				for (int dir = 0; dir < 4; ++dir)
+				{
+					unsigned short r = 0;
+					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*w].index + rcGetCon(s, dir);
+						r = chf.spans[ai].reg;
+					}
+					if (r == chf.spans[i].reg)
+						res |= (1 << dir);
+				}
+				flags[i] = res ^ 0xf; // Inverse, mark non connected edges.
+			}
+		}
+	}
+	
+	ctx->stopTimer(RC_TIMER_BUILD_CONTOURS_TRACE);
+	
+	rcIntArray verts(256);
+	rcIntArray simplified(64);
+	
+	for (int y = 0; y < h; ++y)
+	{
+		for (int x = 0; x < w; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+y*w];
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				if (flags[i] == 0 || flags[i] == 0xf)
+				{
+					flags[i] = 0;
+					continue;
+				}
+				const unsigned short reg = chf.spans[i].reg;
+				if (!reg || (reg & RC_BORDER_REG))
+					continue;
+				const unsigned char area = chf.areas[i];
+				
+				verts.resize(0);
+				simplified.resize(0);
+				
+				ctx->startTimer(RC_TIMER_BUILD_CONTOURS_TRACE);
+				walkContour(x, y, i, chf, flags, verts);
+				ctx->stopTimer(RC_TIMER_BUILD_CONTOURS_TRACE);
+				
+				ctx->startTimer(RC_TIMER_BUILD_CONTOURS_SIMPLIFY);
+				simplifyContour(verts, simplified, maxError, maxEdgeLen, buildFlags);
+				removeDegenerateSegments(simplified);
+				ctx->stopTimer(RC_TIMER_BUILD_CONTOURS_SIMPLIFY);
+				
+				
+				// Store region->contour remap info.
+				// Create contour.
+				if (simplified.size()/4 >= 3)
+				{
+					if (cset.nconts >= maxContours)
+					{
+						// Allocate more contours.
+						// This happens when a region has holes.
+						const int oldMax = maxContours;
+						maxContours *= 2;
+						rcContour* newConts = (rcContour*)rcAlloc(sizeof(rcContour)*maxContours, RC_ALLOC_PERM);
+						for (int j = 0; j < cset.nconts; ++j)
+						{
+							newConts[j] = cset.conts[j];
+							// Reset source pointers to prevent data deletion.
+							cset.conts[j].verts = 0;
+							cset.conts[j].rverts = 0;
+						}
+						rcFree(cset.conts);
+						cset.conts = newConts;
+						
+						ctx->log(RC_LOG_WARNING, "rcBuildContours: Expanding max contours from %d to %d.", oldMax, maxContours);
+					}
+					
+					rcContour* cont = &cset.conts[cset.nconts++];
+					
+					cont->nverts = simplified.size()/4;
+					cont->verts = (int*)rcAlloc(sizeof(int)*cont->nverts*4, RC_ALLOC_PERM);
+					if (!cont->verts)
+					{
+						ctx->log(RC_LOG_ERROR, "rcBuildContours: Out of memory 'verts' (%d).", cont->nverts);
+						return false;
+					}
+					memcpy(cont->verts, &simplified[0], sizeof(int)*cont->nverts*4);
+					if (borderSize > 0)
+					{
+						// If the heightfield was build with bordersize, remove the offset.
+						for (int j = 0; j < cont->nverts; ++j)
+						{
+							int* v = &cont->verts[j*4];
+							v[0] -= borderSize;
+							v[2] -= borderSize;
+						}
+					}
+					
+					cont->nrverts = verts.size()/4;
+					cont->rverts = (int*)rcAlloc(sizeof(int)*cont->nrverts*4, RC_ALLOC_PERM);
+					if (!cont->rverts)
+					{
+						ctx->log(RC_LOG_ERROR, "rcBuildContours: Out of memory 'rverts' (%d).", cont->nrverts);
+						return false;
+					}
+					memcpy(cont->rverts, &verts[0], sizeof(int)*cont->nrverts*4);
+					if (borderSize > 0)
+					{
+						// If the heightfield was build with bordersize, remove the offset.
+						for (int j = 0; j < cont->nrverts; ++j)
+						{
+							int* v = &cont->rverts[j*4];
+							v[0] -= borderSize;
+							v[2] -= borderSize;
+						}
+					}
+					
+					cont->reg = reg;
+					cont->area = area;
+				}
+			}
+		}
+	}
+	
+	// Merge holes if needed.
+	if (cset.nconts > 0)
+	{
+		// Calculate winding of all polygons.
+		rcScopedDelete<char> winding((char*)rcAlloc(sizeof(char)*cset.nconts, RC_ALLOC_TEMP));
+		if (!winding)
+		{
+			ctx->log(RC_LOG_ERROR, "rcBuildContours: Out of memory 'hole' (%d).", cset.nconts);
+			return false;
+		}
+		int nholes = 0;
+		for (int i = 0; i < cset.nconts; ++i)
+		{
+			rcContour& cont = cset.conts[i];
+			// If the contour is wound backwards, it is a hole.
+			winding[i] = calcAreaOfPolygon2D(cont.verts, cont.nverts) < 0 ? -1 : 1;
+			if (winding[i] < 0)
+				nholes++;
+		}
+		
+		if (nholes > 0)
+		{
+			// Collect outline contour and holes contours per region.
+			// We assume that there is one outline and multiple holes.
+			const int nregions = chf.maxRegions+1;
+			rcScopedDelete<rcContourRegion> regions((rcContourRegion*)rcAlloc(sizeof(rcContourRegion)*nregions, RC_ALLOC_TEMP));
+			if (!regions)
+			{
+				ctx->log(RC_LOG_ERROR, "rcBuildContours: Out of memory 'regions' (%d).", nregions);
+				return false;
+			}
+			memset(regions, 0, sizeof(rcContourRegion)*nregions);
+			
+			rcScopedDelete<rcContourHole> holes((rcContourHole*)rcAlloc(sizeof(rcContourHole)*cset.nconts, RC_ALLOC_TEMP));
+			if (!holes)
+			{
+				ctx->log(RC_LOG_ERROR, "rcBuildContours: Out of memory 'holes' (%d).", cset.nconts);
+				return false;
+			}
+			memset(holes, 0, sizeof(rcContourHole)*cset.nconts);
+			
+			for (int i = 0; i < cset.nconts; ++i)
+			{
+				rcContour& cont = cset.conts[i];
+				// Positively would contours are outlines, negative holes.
+				if (winding[i] > 0)
+				{
+					if (regions[cont.reg].outline)
+						ctx->log(RC_LOG_ERROR, "rcBuildContours: Multiple outlines for region %d.", cont.reg);
+					regions[cont.reg].outline = &cont;
+				}
+				else
+				{
+					regions[cont.reg].nholes++;
+				}
+			}
+			int index = 0;
+			for (int i = 0; i < nregions; i++)
+			{
+				if (regions[i].nholes > 0)
+				{
+					regions[i].holes = &holes[index];
+					index += regions[i].nholes;
+					regions[i].nholes = 0;
+				}
+			}
+			for (int i = 0; i < cset.nconts; ++i)
+			{
+				rcContour& cont = cset.conts[i];
+				rcContourRegion& reg = regions[cont.reg];
+				if (winding[i] < 0)
+					reg.holes[reg.nholes++].contour = &cont;
+			}
+			
+			// Finally merge each regions holes into the outline.
+			for (int i = 0; i < nregions; i++)
+			{
+				rcContourRegion& reg = regions[i];
+				if (!reg.nholes) continue;
+				
+				if (reg.outline)
+				{
+					mergeRegionHoles(ctx, reg);
+				}
+				else
+				{
+					// The region does not have an outline.
+					// This can happen if the contour becaomes selfoverlapping because of
+					// too aggressive simplification settings.
+					ctx->log(RC_LOG_ERROR, "rcBuildContours: Bad outline for region %d, contour simplification is likely too aggressive.", i);
+				}
+			}
+		}
+		
+	}
+	
+	return true;
+}
diff --git a/thirdparty/recastnavigation/Recast/Source/RecastFilter.cpp b/thirdparty/recastnavigation/Recast/Source/RecastFilter.cpp
new file mode 100644
index 0000000000..9d3e63c482
--- /dev/null
+++ b/thirdparty/recastnavigation/Recast/Source/RecastFilter.cpp
@@ -0,0 +1,202 @@
+//
+// Copyright (c) 2009-2010 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 "Recast.h"
+#include "RecastAssert.h"
+
+/// @par
+///
+/// Allows the formation of walkable regions that will flow over low lying 
+/// objects such as curbs, and up structures such as stairways. 
+/// 
+/// Two neighboring spans are walkable if: <tt>rcAbs(currentSpan.smax - neighborSpan.smax) < waklableClimb</tt>
+/// 
+/// @warning Will override the effect of #rcFilterLedgeSpans.  So if both filters are used, call
+/// #rcFilterLedgeSpans after calling this filter. 
+///
+/// @see rcHeightfield, rcConfig
+void rcFilterLowHangingWalkableObstacles(rcContext* ctx, const int walkableClimb, rcHeightfield& solid)
+{
+	rcAssert(ctx);
+
+	rcScopedTimer timer(ctx, RC_TIMER_FILTER_LOW_OBSTACLES);
+	
+	const int w = solid.width;
+	const int h = solid.height;
+	
+	for (int y = 0; y < h; ++y)
+	{
+		for (int x = 0; x < w; ++x)
+		{
+			rcSpan* ps = 0;
+			bool previousWalkable = false;
+			unsigned char previousArea = RC_NULL_AREA;
+			
+			for (rcSpan* s = solid.spans[x + y*w]; s; ps = s, s = s->next)
+			{
+				const bool walkable = s->area != RC_NULL_AREA;
+				// If current span is not walkable, but there is walkable
+				// span just below it, mark the span above it walkable too.
+				if (!walkable && previousWalkable)
+				{
+					if (rcAbs((int)s->smax - (int)ps->smax) <= walkableClimb)
+						s->area = previousArea;
+				}
+				// Copy walkable flag so that it cannot propagate
+				// past multiple non-walkable objects.
+				previousWalkable = walkable;
+				previousArea = s->area;
+			}
+		}
+	}
+}
+
+/// @par
+///
+/// A ledge is a span with one or more neighbors whose maximum is further away than @p walkableClimb
+/// from the current span's maximum.
+/// This method removes the impact of the overestimation of conservative voxelization 
+/// so the resulting mesh will not have regions hanging in the air over ledges.
+/// 
+/// A span is a ledge if: <tt>rcAbs(currentSpan.smax - neighborSpan.smax) > walkableClimb</tt>
+/// 
+/// @see rcHeightfield, rcConfig
+void rcFilterLedgeSpans(rcContext* ctx, const int walkableHeight, const int walkableClimb,
+						rcHeightfield& solid)
+{
+	rcAssert(ctx);
+	
+	rcScopedTimer timer(ctx, RC_TIMER_FILTER_BORDER);
+
+	const int w = solid.width;
+	const int h = solid.height;
+	const int MAX_HEIGHT = 0xffff;
+	
+	// Mark border spans.
+	for (int y = 0; y < h; ++y)
+	{
+		for (int x = 0; x < w; ++x)
+		{
+			for (rcSpan* s = solid.spans[x + y*w]; s; s = s->next)
+			{
+				// Skip non walkable spans.
+				if (s->area == RC_NULL_AREA)
+					continue;
+				
+				const int bot = (int)(s->smax);
+				const int top = s->next ? (int)(s->next->smin) : MAX_HEIGHT;
+				
+				// Find neighbours minimum height.
+				int minh = MAX_HEIGHT;
+
+				// Min and max height of accessible neighbours.
+				int asmin = s->smax;
+				int asmax = s->smax;
+
+				for (int dir = 0; dir < 4; ++dir)
+				{
+					int dx = x + rcGetDirOffsetX(dir);
+					int dy = y + rcGetDirOffsetY(dir);
+					// Skip neighbours which are out of bounds.
+					if (dx < 0 || dy < 0 || dx >= w || dy >= h)
+					{
+						minh = rcMin(minh, -walkableClimb - bot);
+						continue;
+					}
+
+					// From minus infinity to the first span.
+					rcSpan* ns = solid.spans[dx + dy*w];
+					int nbot = -walkableClimb;
+					int ntop = ns ? (int)ns->smin : MAX_HEIGHT;
+					// Skip neightbour if the gap between the spans is too small.
+					if (rcMin(top,ntop) - rcMax(bot,nbot) > walkableHeight)
+						minh = rcMin(minh, nbot - bot);
+					
+					// Rest of the spans.
+					for (ns = solid.spans[dx + dy*w]; ns; ns = ns->next)
+					{
+						nbot = (int)ns->smax;
+						ntop = ns->next ? (int)ns->next->smin : MAX_HEIGHT;
+						// Skip neightbour if the gap between the spans is too small.
+						if (rcMin(top,ntop) - rcMax(bot,nbot) > walkableHeight)
+						{
+							minh = rcMin(minh, nbot - bot);
+						
+							// Find min/max accessible neighbour height. 
+							if (rcAbs(nbot - bot) <= walkableClimb)
+							{
+								if (nbot < asmin) asmin = nbot;
+								if (nbot > asmax) asmax = nbot;
+							}
+							
+						}
+					}
+				}
+				
+				// The current span is close to a ledge if the drop to any
+				// neighbour span is less than the walkableClimb.
+				if (minh < -walkableClimb)
+				{
+					s->area = RC_NULL_AREA;
+				}
+				// If the difference between all neighbours is too large,
+				// we are at steep slope, mark the span as ledge.
+				else if ((asmax - asmin) > walkableClimb)
+				{
+					s->area = RC_NULL_AREA;
+				}
+			}
+		}
+	}
+}
+
+/// @par
+///
+/// For this filter, the clearance above the span is the distance from the span's 
+/// maximum to the next higher span's minimum. (Same grid column.)
+/// 
+/// @see rcHeightfield, rcConfig
+void rcFilterWalkableLowHeightSpans(rcContext* ctx, int walkableHeight, rcHeightfield& solid)
+{
+	rcAssert(ctx);
+	
+	rcScopedTimer timer(ctx, RC_TIMER_FILTER_WALKABLE);
+	
+	const int w = solid.width;
+	const int h = solid.height;
+	const int MAX_HEIGHT = 0xffff;
+	
+	// Remove walkable flag from spans which do not have enough
+	// space above them for the agent to stand there.
+	for (int y = 0; y < h; ++y)
+	{
+		for (int x = 0; x < w; ++x)
+		{
+			for (rcSpan* s = solid.spans[x + y*w]; s; s = s->next)
+			{
+				const int bot = (int)(s->smax);
+				const int top = s->next ? (int)(s->next->smin) : MAX_HEIGHT;
+				if ((top - bot) <= walkableHeight)
+					s->area = RC_NULL_AREA;
+			}
+		}
+	}
+}
diff --git a/thirdparty/recastnavigation/Recast/Source/RecastLayers.cpp b/thirdparty/recastnavigation/Recast/Source/RecastLayers.cpp
new file mode 100644
index 0000000000..acc97e44f0
--- /dev/null
+++ b/thirdparty/recastnavigation/Recast/Source/RecastLayers.cpp
@@ -0,0 +1,644 @@
+//
+// Copyright (c) 2009-2010 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 <float.h>
+#define _USE_MATH_DEFINES
+#include <math.h>
+#include <string.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include "Recast.h"
+#include "RecastAlloc.h"
+#include "RecastAssert.h"
+
+
+// Must be 255 or smaller (not 256) because layer IDs are stored as
+// a byte where 255 is a special value.
+static const int RC_MAX_LAYERS = 63;
+static const int RC_MAX_NEIS = 16;
+
+struct rcLayerRegion
+{
+	unsigned char layers[RC_MAX_LAYERS];
+	unsigned char neis[RC_MAX_NEIS];
+	unsigned short ymin, ymax;
+	unsigned char layerId;		// Layer ID
+	unsigned char nlayers;		// Layer count
+	unsigned char nneis;		// Neighbour count
+	unsigned char base;		// Flag indicating if the region is the base of merged regions.
+};
+
+
+static bool contains(const unsigned char* a, const unsigned char an, const unsigned char v)
+{
+	const int n = (int)an;
+	for (int i = 0; i < n; ++i)
+	{
+		if (a[i] == v)
+			return true;
+	}
+	return false;
+}
+
+static bool addUnique(unsigned char* a, unsigned char& an, int anMax, unsigned char v)
+{
+	if (contains(a, an, v))
+		return true;
+
+	if ((int)an >= anMax)
+		return false;
+
+	a[an] = v;
+	an++;
+	return true;
+}
+
+
+inline bool overlapRange(const unsigned short amin, const unsigned short amax,
+						 const unsigned short bmin, const unsigned short bmax)
+{
+	return (amin > bmax || amax < bmin) ? false : true;
+}
+
+
+
+struct rcLayerSweepSpan
+{
+	unsigned short ns;	// number samples
+	unsigned char id;	// region id
+	unsigned char nei;	// neighbour id
+};
+
+/// @par
+/// 
+/// See the #rcConfig documentation for more information on the configuration parameters.
+/// 
+/// @see rcAllocHeightfieldLayerSet, rcCompactHeightfield, rcHeightfieldLayerSet, rcConfig
+bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
+							  const int borderSize, const int walkableHeight,
+							  rcHeightfieldLayerSet& lset)
+{
+	rcAssert(ctx);
+	
+	rcScopedTimer timer(ctx, RC_TIMER_BUILD_LAYERS);
+	
+	const int w = chf.width;
+	const int h = chf.height;
+	
+	rcScopedDelete<unsigned char> srcReg((unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_TEMP));
+	if (!srcReg)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'srcReg' (%d).", chf.spanCount);
+		return false;
+	}
+	memset(srcReg,0xff,sizeof(unsigned char)*chf.spanCount);
+	
+	const int nsweeps = chf.width;
+	rcScopedDelete<rcLayerSweepSpan> sweeps((rcLayerSweepSpan*)rcAlloc(sizeof(rcLayerSweepSpan)*nsweeps, RC_ALLOC_TEMP));
+	if (!sweeps)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'sweeps' (%d).", nsweeps);
+		return false;
+	}
+	
+	
+	// Partition walkable area into monotone regions.
+	int prevCount[256];
+	unsigned char regId = 0;
+
+	for (int y = borderSize; y < h-borderSize; ++y)
+	{
+		memset(prevCount,0,sizeof(int)*regId);
+		unsigned char sweepId = 0;
+		
+		for (int x = borderSize; x < w-borderSize; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+y*w];
+			
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				const rcCompactSpan& s = chf.spans[i];
+				if (chf.areas[i] == RC_NULL_AREA) continue;
+
+				unsigned char sid = 0xff;
+
+				// -x
+				if (rcGetCon(s, 0) != RC_NOT_CONNECTED)
+				{
+					const int ax = x + rcGetDirOffsetX(0);
+					const int ay = y + rcGetDirOffsetY(0);
+					const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 0);
+					if (chf.areas[ai] != RC_NULL_AREA && srcReg[ai] != 0xff)
+						sid = srcReg[ai];
+				}
+				
+				if (sid == 0xff)
+				{
+					sid = sweepId++;
+					sweeps[sid].nei = 0xff;
+					sweeps[sid].ns = 0;
+				}
+				
+				// -y
+				if (rcGetCon(s,3) != RC_NOT_CONNECTED)
+				{
+					const int ax = x + rcGetDirOffsetX(3);
+					const int ay = y + rcGetDirOffsetY(3);
+					const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 3);
+					const unsigned char nr = srcReg[ai];
+					if (nr != 0xff)
+					{
+						// Set neighbour when first valid neighbour is encoutered.
+						if (sweeps[sid].ns == 0)
+							sweeps[sid].nei = nr;
+						
+						if (sweeps[sid].nei == nr)
+						{
+							// Update existing neighbour
+							sweeps[sid].ns++;
+							prevCount[nr]++;
+						}
+						else
+						{
+							// This is hit if there is nore than one neighbour.
+							// Invalidate the neighbour.
+							sweeps[sid].nei = 0xff;
+						}
+					}
+				}
+				
+				srcReg[i] = sid;
+			}
+		}
+		
+		// Create unique ID.
+		for (int i = 0; i < sweepId; ++i)
+		{
+			// If the neighbour is set and there is only one continuous connection to it,
+			// the sweep will be merged with the previous one, else new region is created.
+			if (sweeps[i].nei != 0xff && prevCount[sweeps[i].nei] == (int)sweeps[i].ns)
+			{
+				sweeps[i].id = sweeps[i].nei;
+			}
+			else
+			{
+				if (regId == 255)
+				{
+					ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Region ID overflow.");
+					return false;
+				}
+				sweeps[i].id = regId++;
+			}
+		}
+		
+		// Remap local sweep ids to region ids.
+		for (int x = borderSize; x < w-borderSize; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+y*w];
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				if (srcReg[i] != 0xff)
+					srcReg[i] = sweeps[srcReg[i]].id;
+			}
+		}
+	}
+
+	// Allocate and init layer regions.
+	const int nregs = (int)regId;
+	rcScopedDelete<rcLayerRegion> regs((rcLayerRegion*)rcAlloc(sizeof(rcLayerRegion)*nregs, RC_ALLOC_TEMP));
+	if (!regs)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'regs' (%d).", nregs);
+		return false;
+	}
+	memset(regs, 0, sizeof(rcLayerRegion)*nregs);
+	for (int i = 0; i < nregs; ++i)
+	{
+		regs[i].layerId = 0xff;
+		regs[i].ymin = 0xffff;
+		regs[i].ymax = 0;
+	}
+	
+	// Find region neighbours and overlapping regions.
+	for (int y = 0; y < h; ++y)
+	{
+		for (int x = 0; x < w; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+y*w];
+			
+			unsigned char lregs[RC_MAX_LAYERS];
+			int nlregs = 0;
+			
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				const rcCompactSpan& s = chf.spans[i];
+				const unsigned char ri = srcReg[i];
+				if (ri == 0xff) continue;
+				
+				regs[ri].ymin = rcMin(regs[ri].ymin, s.y);
+				regs[ri].ymax = rcMax(regs[ri].ymax, s.y);
+				
+				// Collect all region layers.
+				if (nlregs < RC_MAX_LAYERS)
+					lregs[nlregs++] = ri;
+				
+				// Update neighbours
+				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*w].index + rcGetCon(s, dir);
+						const unsigned char rai = srcReg[ai];
+						if (rai != 0xff && rai != ri)
+						{
+							// Don't check return value -- if we cannot add the neighbor
+							// it will just cause a few more regions to be created, which
+							// is fine.
+							addUnique(regs[ri].neis, regs[ri].nneis, RC_MAX_NEIS, rai);
+						}
+					}
+				}
+				
+			}
+			
+			// Update overlapping regions.
+			for (int i = 0; i < nlregs-1; ++i)
+			{
+				for (int j = i+1; j < nlregs; ++j)
+				{
+					if (lregs[i] != lregs[j])
+					{
+						rcLayerRegion& ri = regs[lregs[i]];
+						rcLayerRegion& rj = regs[lregs[j]];
+
+						if (!addUnique(ri.layers, ri.nlayers, RC_MAX_LAYERS, lregs[j]) ||
+							!addUnique(rj.layers, rj.nlayers, RC_MAX_LAYERS, lregs[i]))
+						{
+							ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: layer overflow (too many overlapping walkable platforms). Try increasing RC_MAX_LAYERS.");
+							return false;
+						}
+					}
+				}
+			}
+			
+		}
+	}
+	
+	// Create 2D layers from regions.
+	unsigned char layerId = 0;
+	
+	static const int MAX_STACK = 64;
+	unsigned char stack[MAX_STACK];
+	int nstack = 0;
+	
+	for (int i = 0; i < nregs; ++i)
+	{
+		rcLayerRegion& root = regs[i];
+		// Skip already visited.
+		if (root.layerId != 0xff)
+			continue;
+
+		// Start search.
+		root.layerId = layerId;
+		root.base = 1;
+		
+		nstack = 0;
+		stack[nstack++] = (unsigned char)i;
+		
+		while (nstack)
+		{
+			// Pop front
+			rcLayerRegion& reg = regs[stack[0]];
+			nstack--;
+			for (int j = 0; j < nstack; ++j)
+				stack[j] = stack[j+1];
+			
+			const int nneis = (int)reg.nneis;
+			for (int j = 0; j < nneis; ++j)
+			{
+				const unsigned char nei = reg.neis[j];
+				rcLayerRegion& regn = regs[nei];
+				// Skip already visited.
+				if (regn.layerId != 0xff)
+					continue;
+				// Skip if the neighbour is overlapping root region.
+				if (contains(root.layers, root.nlayers, nei))
+					continue;
+				// Skip if the height range would become too large.
+				const int ymin = rcMin(root.ymin, regn.ymin);
+				const int ymax = rcMax(root.ymax, regn.ymax);
+				if ((ymax - ymin) >= 255)
+					 continue;
+
+				if (nstack < MAX_STACK)
+				{
+					// Deepen
+					stack[nstack++] = (unsigned char)nei;
+					
+					// Mark layer id
+					regn.layerId = layerId;
+					// Merge current layers to root.
+					for (int k = 0; k < regn.nlayers; ++k)
+					{
+						if (!addUnique(root.layers, root.nlayers, RC_MAX_LAYERS, regn.layers[k]))
+						{
+							ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: layer overflow (too many overlapping walkable platforms). Try increasing RC_MAX_LAYERS.");
+							return false;
+						}
+					}
+					root.ymin = rcMin(root.ymin, regn.ymin);
+					root.ymax = rcMax(root.ymax, regn.ymax);
+				}
+			}
+		}
+		
+		layerId++;
+	}
+	
+	// Merge non-overlapping regions that are close in height.
+	const unsigned short mergeHeight = (unsigned short)walkableHeight * 4;
+	
+	for (int i = 0; i < nregs; ++i)
+	{
+		rcLayerRegion& ri = regs[i];
+		if (!ri.base) continue;
+		
+		unsigned char newId = ri.layerId;
+		
+		for (;;)
+		{
+			unsigned char oldId = 0xff;
+			
+			for (int j = 0; j < nregs; ++j)
+			{
+				if (i == j) continue;
+				rcLayerRegion& rj = regs[j];
+				if (!rj.base) continue;
+				
+				// Skip if the regions are not close to each other.
+				if (!overlapRange(ri.ymin,ri.ymax+mergeHeight, rj.ymin,rj.ymax+mergeHeight))
+					continue;
+				// Skip if the height range would become too large.
+				const int ymin = rcMin(ri.ymin, rj.ymin);
+				const int ymax = rcMax(ri.ymax, rj.ymax);
+				if ((ymax - ymin) >= 255)
+				  continue;
+						  
+				// Make sure that there is no overlap when merging 'ri' and 'rj'.
+				bool overlap = false;
+				// Iterate over all regions which have the same layerId as 'rj'
+				for (int k = 0; k < nregs; ++k)
+				{
+					if (regs[k].layerId != rj.layerId)
+						continue;
+					// Check if region 'k' is overlapping region 'ri'
+					// Index to 'regs' is the same as region id.
+					if (contains(ri.layers,ri.nlayers, (unsigned char)k))
+					{
+						overlap = true;
+						break;
+					}
+				}
+				// Cannot merge of regions overlap.
+				if (overlap)
+					continue;
+				
+				// Can merge i and j.
+				oldId = rj.layerId;
+				break;
+			}
+			
+			// Could not find anything to merge with, stop.
+			if (oldId == 0xff)
+				break;
+			
+			// Merge
+			for (int j = 0; j < nregs; ++j)
+			{
+				rcLayerRegion& rj = regs[j];
+				if (rj.layerId == oldId)
+				{
+					rj.base = 0;
+					// Remap layerIds.
+					rj.layerId = newId;
+					// Add overlaid layers from 'rj' to 'ri'.
+					for (int k = 0; k < rj.nlayers; ++k)
+					{
+						if (!addUnique(ri.layers, ri.nlayers, RC_MAX_LAYERS, rj.layers[k]))
+						{
+							ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: layer overflow (too many overlapping walkable platforms). Try increasing RC_MAX_LAYERS.");
+							return false;
+						}
+					}
+
+					// Update height bounds.
+					ri.ymin = rcMin(ri.ymin, rj.ymin);
+					ri.ymax = rcMax(ri.ymax, rj.ymax);
+				}
+			}
+		}
+	}
+	
+	// Compact layerIds
+	unsigned char remap[256];
+	memset(remap, 0, 256);
+
+	// Find number of unique layers.
+	layerId = 0;
+	for (int i = 0; i < nregs; ++i)
+		remap[regs[i].layerId] = 1;
+	for (int i = 0; i < 256; ++i)
+	{
+		if (remap[i])
+			remap[i] = layerId++;
+		else
+			remap[i] = 0xff;
+	}
+	// Remap ids.
+	for (int i = 0; i < nregs; ++i)
+		regs[i].layerId = remap[regs[i].layerId];
+	
+	// No layers, return empty.
+	if (layerId == 0)
+		return true;
+	
+	// Create layers.
+	rcAssert(lset.layers == 0);
+	
+	const int lw = w - borderSize*2;
+	const int lh = h - borderSize*2;
+
+	// Build contracted bbox for layers.
+	float bmin[3], bmax[3];
+	rcVcopy(bmin, chf.bmin);
+	rcVcopy(bmax, chf.bmax);
+	bmin[0] += borderSize*chf.cs;
+	bmin[2] += borderSize*chf.cs;
+	bmax[0] -= borderSize*chf.cs;
+	bmax[2] -= borderSize*chf.cs;
+	
+	lset.nlayers = (int)layerId;
+	
+	lset.layers = (rcHeightfieldLayer*)rcAlloc(sizeof(rcHeightfieldLayer)*lset.nlayers, RC_ALLOC_PERM);
+	if (!lset.layers)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'layers' (%d).", lset.nlayers);
+		return false;
+	}
+	memset(lset.layers, 0, sizeof(rcHeightfieldLayer)*lset.nlayers);
+
+	
+	// Store layers.
+	for (int i = 0; i < lset.nlayers; ++i)
+	{
+		unsigned char curId = (unsigned char)i;
+
+		rcHeightfieldLayer* layer = &lset.layers[i];
+
+		const int gridSize = sizeof(unsigned char)*lw*lh;
+
+		layer->heights = (unsigned char*)rcAlloc(gridSize, RC_ALLOC_PERM);
+		if (!layer->heights)
+		{
+			ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'heights' (%d).", gridSize);
+			return false;
+		}
+		memset(layer->heights, 0xff, gridSize);
+
+		layer->areas = (unsigned char*)rcAlloc(gridSize, RC_ALLOC_PERM);
+		if (!layer->areas)
+		{
+			ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'areas' (%d).", gridSize);
+			return false;
+		}
+		memset(layer->areas, 0, gridSize);
+
+		layer->cons = (unsigned char*)rcAlloc(gridSize, RC_ALLOC_PERM);
+		if (!layer->cons)
+		{
+			ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'cons' (%d).", gridSize);
+			return false;
+		}
+		memset(layer->cons, 0, gridSize);
+		
+		// Find layer height bounds.
+		int hmin = 0, hmax = 0;
+		for (int j = 0; j < nregs; ++j)
+		{
+			if (regs[j].base && regs[j].layerId == curId)
+			{
+				hmin = (int)regs[j].ymin;
+				hmax = (int)regs[j].ymax;
+			}
+		}
+
+		layer->width = lw;
+		layer->height = lh;
+		layer->cs = chf.cs;
+		layer->ch = chf.ch;
+		
+		// Adjust the bbox to fit the heightfield.
+		rcVcopy(layer->bmin, bmin);
+		rcVcopy(layer->bmax, bmax);
+		layer->bmin[1] = bmin[1] + hmin*chf.ch;
+		layer->bmax[1] = bmin[1] + hmax*chf.ch;
+		layer->hmin = hmin;
+		layer->hmax = hmax;
+
+		// Update usable data region.
+		layer->minx = layer->width;
+		layer->maxx = 0;
+		layer->miny = layer->height;
+		layer->maxy = 0;
+		
+		// Copy height and area from compact heightfield. 
+		for (int y = 0; y < lh; ++y)
+		{
+			for (int x = 0; x < lw; ++x)
+			{
+				const int cx = borderSize+x;
+				const int cy = borderSize+y;
+				const rcCompactCell& c = chf.cells[cx+cy*w];
+				for (int j = (int)c.index, nj = (int)(c.index+c.count); j < nj; ++j)
+				{
+					const rcCompactSpan& s = chf.spans[j];
+					// Skip unassigned regions.
+					if (srcReg[j] == 0xff)
+						continue;
+					// Skip of does nto belong to current layer.
+					unsigned char lid = regs[srcReg[j]].layerId;
+					if (lid != curId)
+						continue;
+					
+					// Update data bounds.
+					layer->minx = rcMin(layer->minx, x);
+					layer->maxx = rcMax(layer->maxx, x);
+					layer->miny = rcMin(layer->miny, y);
+					layer->maxy = rcMax(layer->maxy, y);
+					
+					// Store height and area type.
+					const int idx = x+y*lw;
+					layer->heights[idx] = (unsigned char)(s.y - hmin);
+					layer->areas[idx] = chf.areas[j];
+					
+					// Check connection.
+					unsigned char portal = 0;
+					unsigned char con = 0;
+					for (int dir = 0; dir < 4; ++dir)
+					{
+						if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
+						{
+							const int ax = cx + rcGetDirOffsetX(dir);
+							const int ay = cy + rcGetDirOffsetY(dir);
+							const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, dir);
+							unsigned char alid = srcReg[ai] != 0xff ? regs[srcReg[ai]].layerId : 0xff;
+							// Portal mask
+							if (chf.areas[ai] != RC_NULL_AREA && lid != alid)
+							{
+								portal |= (unsigned char)(1<<dir);
+								// Update height so that it matches on both sides of the portal.
+								const rcCompactSpan& as = chf.spans[ai];
+								if (as.y > hmin)
+									layer->heights[idx] = rcMax(layer->heights[idx], (unsigned char)(as.y - hmin));
+							}
+							// Valid connection mask
+							if (chf.areas[ai] != RC_NULL_AREA && lid == alid)
+							{
+								const int nx = ax - borderSize;
+								const int ny = ay - borderSize;
+								if (nx >= 0 && ny >= 0 && nx < lw && ny < lh)
+									con |= (unsigned char)(1<<dir);
+							}
+						}
+					}
+					
+					layer->cons[idx] = (portal << 4) | con;
+				}
+			}
+		}
+		
+		if (layer->minx > layer->maxx)
+			layer->minx = layer->maxx = 0;
+		if (layer->miny > layer->maxy)
+			layer->miny = layer->maxy = 0;
+	}
+	
+	return true;
+}
diff --git a/thirdparty/recastnavigation/Recast/Source/RecastMesh.cpp b/thirdparty/recastnavigation/Recast/Source/RecastMesh.cpp
new file mode 100644
index 0000000000..e99eaebb79
--- /dev/null
+++ b/thirdparty/recastnavigation/Recast/Source/RecastMesh.cpp
@@ -0,0 +1,1552 @@
+//
+// Copyright (c) 2009-2010 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 <string.h>
+#include <stdio.h>
+#include "Recast.h"
+#include "RecastAlloc.h"
+#include "RecastAssert.h"
+
+struct rcEdge
+{
+	unsigned short vert[2];
+	unsigned short polyEdge[2];
+	unsigned short poly[2];
+};
+
+static bool buildMeshAdjacency(unsigned short* polys, const int npolys,
+							   const int nverts, const int vertsPerPoly)
+{
+	// Based on code by Eric Lengyel from:
+	// http://www.terathon.com/code/edges.php
+	
+	int maxEdgeCount = npolys*vertsPerPoly;
+	unsigned short* firstEdge = (unsigned short*)rcAlloc(sizeof(unsigned short)*(nverts + maxEdgeCount), RC_ALLOC_TEMP);
+	if (!firstEdge)
+		return false;
+	unsigned short* nextEdge = firstEdge + nverts;
+	int edgeCount = 0;
+	
+	rcEdge* edges = (rcEdge*)rcAlloc(sizeof(rcEdge)*maxEdgeCount, RC_ALLOC_TEMP);
+	if (!edges)
+	{
+		rcFree(firstEdge);
+		return false;
+	}
+	
+	for (int i = 0; i < nverts; i++)
+		firstEdge[i] = RC_MESH_NULL_IDX;
+	
+	for (int i = 0; i < npolys; ++i)
+	{
+		unsigned short* t = &polys[i*vertsPerPoly*2];
+		for (int j = 0; j < vertsPerPoly; ++j)
+		{
+			if (t[j] == RC_MESH_NULL_IDX) break;
+			unsigned short v0 = t[j];
+			unsigned short v1 = (j+1 >= vertsPerPoly || t[j+1] == RC_MESH_NULL_IDX) ? t[0] : t[j+1];
+			if (v0 < v1)
+			{
+				rcEdge& edge = edges[edgeCount];
+				edge.vert[0] = v0;
+				edge.vert[1] = v1;
+				edge.poly[0] = (unsigned short)i;
+				edge.polyEdge[0] = (unsigned short)j;
+				edge.poly[1] = (unsigned short)i;
+				edge.polyEdge[1] = 0;
+				// Insert edge
+				nextEdge[edgeCount] = firstEdge[v0];
+				firstEdge[v0] = (unsigned short)edgeCount;
+				edgeCount++;
+			}
+		}
+	}
+	
+	for (int i = 0; i < npolys; ++i)
+	{
+		unsigned short* t = &polys[i*vertsPerPoly*2];
+		for (int j = 0; j < vertsPerPoly; ++j)
+		{
+			if (t[j] == RC_MESH_NULL_IDX) break;
+			unsigned short v0 = t[j];
+			unsigned short v1 = (j+1 >= vertsPerPoly || t[j+1] == RC_MESH_NULL_IDX) ? t[0] : t[j+1];
+			if (v0 > v1)
+			{
+				for (unsigned short e = firstEdge[v1]; e != RC_MESH_NULL_IDX; e = nextEdge[e])
+				{
+					rcEdge& edge = edges[e];
+					if (edge.vert[1] == v0 && edge.poly[0] == edge.poly[1])
+					{
+						edge.poly[1] = (unsigned short)i;
+						edge.polyEdge[1] = (unsigned short)j;
+						break;
+					}
+				}
+			}
+		}
+	}
+	
+	// Store adjacency
+	for (int i = 0; i < edgeCount; ++i)
+	{
+		const rcEdge& e = edges[i];
+		if (e.poly[0] != e.poly[1])
+		{
+			unsigned short* p0 = &polys[e.poly[0]*vertsPerPoly*2];
+			unsigned short* p1 = &polys[e.poly[1]*vertsPerPoly*2];
+			p0[vertsPerPoly + e.polyEdge[0]] = e.poly[1];
+			p1[vertsPerPoly + e.polyEdge[1]] = e.poly[0];
+		}
+	}
+	
+	rcFree(firstEdge);
+	rcFree(edges);
+	
+	return true;
+}
+
+
+static const int VERTEX_BUCKET_COUNT = (1<<12);
+
+inline int computeVertexHash(int x, int y, int z)
+{
+	const unsigned int h1 = 0x8da6b343; // Large multiplicative constants;
+	const unsigned int h2 = 0xd8163841; // here arbitrarily chosen primes
+	const unsigned int h3 = 0xcb1ab31f;
+	unsigned int n = h1 * x + h2 * y + h3 * z;
+	return (int)(n & (VERTEX_BUCKET_COUNT-1));
+}
+
+static unsigned short addVertex(unsigned short x, unsigned short y, unsigned short z,
+								unsigned short* verts, int* firstVert, int* nextVert, int& nv)
+{
+	int bucket = computeVertexHash(x, 0, z);
+	int i = firstVert[bucket];
+	
+	while (i != -1)
+	{
+		const unsigned short* v = &verts[i*3];
+		if (v[0] == x && (rcAbs(v[1] - y) <= 2) && v[2] == z)
+			return (unsigned short)i;
+		i = nextVert[i]; // next
+	}
+	
+	// Could not find, create new.
+	i = nv; nv++;
+	unsigned short* v = &verts[i*3];
+	v[0] = x;
+	v[1] = y;
+	v[2] = z;
+	nextVert[i] = firstVert[bucket];
+	firstVert[bucket] = i;
+	
+	return (unsigned short)i;
+}
+
+// Last time I checked the if version got compiled using cmov, which was a lot faster than module (with idiv).
+inline int prev(int i, int n) { return i-1 >= 0 ? i-1 : n-1; }
+inline int next(int i, int n) { return i+1 < n ? i+1 : 0; }
+
+inline int area2(const int* a, const int* b, const int* c)
+{
+	return (b[0] - a[0]) * (c[2] - a[2]) - (c[0] - a[0]) * (b[2] - a[2]);
+}
+
+//	Exclusive or: true iff exactly one argument is true.
+//	The arguments are negated to ensure that they are 0/1
+//	values.  Then the bitwise Xor operator may apply.
+//	(This idea is due to Michael Baldwin.)
+inline bool xorb(bool x, bool y)
+{
+	return !x ^ !y;
+}
+
+// Returns true iff c is strictly to the left of the directed
+// line through a to b.
+inline bool left(const int* a, const int* b, const int* c)
+{
+	return area2(a, b, c) < 0;
+}
+
+inline bool leftOn(const int* a, const int* b, const int* c)
+{
+	return area2(a, b, c) <= 0;
+}
+
+inline bool collinear(const int* a, const int* b, const int* c)
+{
+	return area2(a, b, c) == 0;
+}
+
+//	Returns true iff ab properly intersects cd: they share
+//	a point interior to both segments.  The properness of the
+//	intersection is ensured by using strict leftness.
+static bool intersectProp(const int* a, const int* b, const int* c, const int* d)
+{
+	// Eliminate improper cases.
+	if (collinear(a,b,c) || collinear(a,b,d) ||
+		collinear(c,d,a) || collinear(c,d,b))
+		return false;
+	
+	return xorb(left(a,b,c), left(a,b,d)) && xorb(left(c,d,a), left(c,d,b));
+}
+
+// Returns T iff (a,b,c) are collinear and point c lies 
+// on the closed segement ab.
+static bool between(const int* a, const int* b, const int* c)
+{
+	if (!collinear(a, b, c))
+		return false;
+	// If ab not vertical, check betweenness on x; else on y.
+	if (a[0] != b[0])
+		return	((a[0] <= c[0]) && (c[0] <= b[0])) || ((a[0] >= c[0]) && (c[0] >= b[0]));
+	else
+		return	((a[2] <= c[2]) && (c[2] <= b[2])) || ((a[2] >= c[2]) && (c[2] >= b[2]));
+}
+
+// Returns true iff segments ab and cd intersect, properly or improperly.
+static bool intersect(const int* a, const int* b, const int* c, const int* d)
+{
+	if (intersectProp(a, b, c, d))
+		return true;
+	else if (between(a, b, c) || between(a, b, d) ||
+			 between(c, d, a) || between(c, d, b))
+		return true;
+	else
+		return false;
+}
+
+static bool vequal(const int* a, const int* b)
+{
+	return a[0] == b[0] && a[2] == b[2];
+}
+
+// Returns T iff (v_i, v_j) is a proper internal *or* external
+// diagonal of P, *ignoring edges incident to v_i and v_j*.
+static bool diagonalie(int i, int j, int n, const int* verts, int* indices)
+{
+	const int* d0 = &verts[(indices[i] & 0x0fffffff) * 4];
+	const int* d1 = &verts[(indices[j] & 0x0fffffff) * 4];
+	
+	// For each edge (k,k+1) of P
+	for (int k = 0; k < n; k++)
+	{
+		int k1 = next(k, n);
+		// Skip edges incident to i or j
+		if (!((k == i) || (k1 == i) || (k == j) || (k1 == j)))
+		{
+			const int* p0 = &verts[(indices[k] & 0x0fffffff) * 4];
+			const int* p1 = &verts[(indices[k1] & 0x0fffffff) * 4];
+
+			if (vequal(d0, p0) || vequal(d1, p0) || vequal(d0, p1) || vequal(d1, p1))
+				continue;
+			
+			if (intersect(d0, d1, p0, p1))
+				return false;
+		}
+	}
+	return true;
+}
+
+// Returns true iff the diagonal (i,j) is strictly internal to the 
+// polygon P in the neighborhood of the i endpoint.
+static bool	inCone(int i, int j, int n, const int* verts, int* indices)
+{
+	const int* pi = &verts[(indices[i] & 0x0fffffff) * 4];
+	const int* pj = &verts[(indices[j] & 0x0fffffff) * 4];
+	const int* pi1 = &verts[(indices[next(i, n)] & 0x0fffffff) * 4];
+	const int* pin1 = &verts[(indices[prev(i, n)] & 0x0fffffff) * 4];
+
+	// If P[i] is a convex vertex [ i+1 left or on (i-1,i) ].
+	if (leftOn(pin1, pi, pi1))
+		return left(pi, pj, pin1) && left(pj, pi, pi1);
+	// Assume (i-1,i,i+1) not collinear.
+	// else P[i] is reflex.
+	return !(leftOn(pi, pj, pi1) && leftOn(pj, pi, pin1));
+}
+
+// Returns T iff (v_i, v_j) is a proper internal
+// diagonal of P.
+static bool diagonal(int i, int j, int n, const int* verts, int* indices)
+{
+	return inCone(i, j, n, verts, indices) && diagonalie(i, j, n, verts, indices);
+}
+
+
+static bool diagonalieLoose(int i, int j, int n, const int* verts, int* indices)
+{
+	const int* d0 = &verts[(indices[i] & 0x0fffffff) * 4];
+	const int* d1 = &verts[(indices[j] & 0x0fffffff) * 4];
+	
+	// For each edge (k,k+1) of P
+	for (int k = 0; k < n; k++)
+	{
+		int k1 = next(k, n);
+		// Skip edges incident to i or j
+		if (!((k == i) || (k1 == i) || (k == j) || (k1 == j)))
+		{
+			const int* p0 = &verts[(indices[k] & 0x0fffffff) * 4];
+			const int* p1 = &verts[(indices[k1] & 0x0fffffff) * 4];
+			
+			if (vequal(d0, p0) || vequal(d1, p0) || vequal(d0, p1) || vequal(d1, p1))
+				continue;
+			
+			if (intersectProp(d0, d1, p0, p1))
+				return false;
+		}
+	}
+	return true;
+}
+
+static bool	inConeLoose(int i, int j, int n, const int* verts, int* indices)
+{
+	const int* pi = &verts[(indices[i] & 0x0fffffff) * 4];
+	const int* pj = &verts[(indices[j] & 0x0fffffff) * 4];
+	const int* pi1 = &verts[(indices[next(i, n)] & 0x0fffffff) * 4];
+	const int* pin1 = &verts[(indices[prev(i, n)] & 0x0fffffff) * 4];
+	
+	// If P[i] is a convex vertex [ i+1 left or on (i-1,i) ].
+	if (leftOn(pin1, pi, pi1))
+		return leftOn(pi, pj, pin1) && leftOn(pj, pi, pi1);
+	// Assume (i-1,i,i+1) not collinear.
+	// else P[i] is reflex.
+	return !(leftOn(pi, pj, pi1) && leftOn(pj, pi, pin1));
+}
+
+static bool diagonalLoose(int i, int j, int n, const int* verts, int* indices)
+{
+	return inConeLoose(i, j, n, verts, indices) && diagonalieLoose(i, j, n, verts, indices);
+}
+
+
+static int triangulate(int n, const int* verts, int* indices, int* tris)
+{
+	int ntris = 0;
+	int* dst = tris;
+	
+	// The last bit of the index is used to indicate if the vertex can be removed.
+	for (int i = 0; i < n; i++)
+	{
+		int i1 = next(i, n);
+		int i2 = next(i1, n);
+		if (diagonal(i, i2, n, verts, indices))
+			indices[i1] |= 0x80000000;
+	}
+	
+	while (n > 3)
+	{
+		int minLen = -1;
+		int mini = -1;
+		for (int i = 0; i < n; i++)
+		{
+			int i1 = next(i, n);
+			if (indices[i1] & 0x80000000)
+			{
+				const int* p0 = &verts[(indices[i] & 0x0fffffff) * 4];
+				const int* p2 = &verts[(indices[next(i1, n)] & 0x0fffffff) * 4];
+				
+				int dx = p2[0] - p0[0];
+				int dy = p2[2] - p0[2];
+				int len = dx*dx + dy*dy;
+				
+				if (minLen < 0 || len < minLen)
+				{
+					minLen = len;
+					mini = i;
+				}
+			}
+		}
+		
+		if (mini == -1)
+		{
+			// We might get here because the contour has overlapping segments, like this:
+			//
+			//  A o-o=====o---o B
+			//   /  |C   D|    \.
+			//  o   o     o     o
+			//  :   :     :     :
+			// We'll try to recover by loosing up the inCone test a bit so that a diagonal
+			// like A-B or C-D can be found and we can continue.
+			minLen = -1;
+			mini = -1;
+			for (int i = 0; i < n; i++)
+			{
+				int i1 = next(i, n);
+				int i2 = next(i1, n);
+				if (diagonalLoose(i, i2, n, verts, indices))
+				{
+					const int* p0 = &verts[(indices[i] & 0x0fffffff) * 4];
+					const int* p2 = &verts[(indices[next(i2, n)] & 0x0fffffff) * 4];
+					int dx = p2[0] - p0[0];
+					int dy = p2[2] - p0[2];
+					int len = dx*dx + dy*dy;
+					
+					if (minLen < 0 || len < minLen)
+					{
+						minLen = len;
+						mini = i;
+					}
+				}
+			}
+			if (mini == -1)
+			{
+				// The contour is messed up. This sometimes happens
+				// if the contour simplification is too aggressive.
+				return -ntris;
+			}
+		}
+		
+		int i = mini;
+		int i1 = next(i, n);
+		int i2 = next(i1, n);
+		
+		*dst++ = indices[i] & 0x0fffffff;
+		*dst++ = indices[i1] & 0x0fffffff;
+		*dst++ = indices[i2] & 0x0fffffff;
+		ntris++;
+		
+		// Removes P[i1] by copying P[i+1]...P[n-1] left one index.
+		n--;
+		for (int k = i1; k < n; k++)
+			indices[k] = indices[k+1];
+		
+		if (i1 >= n) i1 = 0;
+		i = prev(i1,n);
+		// Update diagonal flags.
+		if (diagonal(prev(i, n), i1, n, verts, indices))
+			indices[i] |= 0x80000000;
+		else
+			indices[i] &= 0x0fffffff;
+		
+		if (diagonal(i, next(i1, n), n, verts, indices))
+			indices[i1] |= 0x80000000;
+		else
+			indices[i1] &= 0x0fffffff;
+	}
+	
+	// Append the remaining triangle.
+	*dst++ = indices[0] & 0x0fffffff;
+	*dst++ = indices[1] & 0x0fffffff;
+	*dst++ = indices[2] & 0x0fffffff;
+	ntris++;
+	
+	return ntris;
+}
+
+static int countPolyVerts(const unsigned short* p, const int nvp)
+{
+	for (int i = 0; i < nvp; ++i)
+		if (p[i] == RC_MESH_NULL_IDX)
+			return i;
+	return nvp;
+}
+
+inline bool uleft(const unsigned short* a, const unsigned short* b, const unsigned short* c)
+{
+	return ((int)b[0] - (int)a[0]) * ((int)c[2] - (int)a[2]) -
+		   ((int)c[0] - (int)a[0]) * ((int)b[2] - (int)a[2]) < 0;
+}
+
+static int getPolyMergeValue(unsigned short* pa, unsigned short* pb,
+							 const unsigned short* verts, int& ea, int& eb,
+							 const int nvp)
+{
+	const int na = countPolyVerts(pa, nvp);
+	const int nb = countPolyVerts(pb, nvp);
+	
+	// If the merged polygon would be too big, do not merge.
+	if (na+nb-2 > nvp)
+		return -1;
+	
+	// Check if the polygons share an edge.
+	ea = -1;
+	eb = -1;
+	
+	for (int i = 0; i < na; ++i)
+	{
+		unsigned short va0 = pa[i];
+		unsigned short va1 = pa[(i+1) % na];
+		if (va0 > va1)
+			rcSwap(va0, va1);
+		for (int j = 0; j < nb; ++j)
+		{
+			unsigned short vb0 = pb[j];
+			unsigned short vb1 = pb[(j+1) % nb];
+			if (vb0 > vb1)
+				rcSwap(vb0, vb1);
+			if (va0 == vb0 && va1 == vb1)
+			{
+				ea = i;
+				eb = j;
+				break;
+			}
+		}
+	}
+	
+	// No common edge, cannot merge.
+	if (ea == -1 || eb == -1)
+		return -1;
+	
+	// Check to see if the merged polygon would be convex.
+	unsigned short va, vb, vc;
+	
+	va = pa[(ea+na-1) % na];
+	vb = pa[ea];
+	vc = pb[(eb+2) % nb];
+	if (!uleft(&verts[va*3], &verts[vb*3], &verts[vc*3]))
+		return -1;
+	
+	va = pb[(eb+nb-1) % nb];
+	vb = pb[eb];
+	vc = pa[(ea+2) % na];
+	if (!uleft(&verts[va*3], &verts[vb*3], &verts[vc*3]))
+		return -1;
+	
+	va = pa[ea];
+	vb = pa[(ea+1)%na];
+	
+	int dx = (int)verts[va*3+0] - (int)verts[vb*3+0];
+	int dy = (int)verts[va*3+2] - (int)verts[vb*3+2];
+	
+	return dx*dx + dy*dy;
+}
+
+static void mergePolyVerts(unsigned short* pa, unsigned short* pb, int ea, int eb,
+						   unsigned short* tmp, const int nvp)
+{
+	const int na = countPolyVerts(pa, nvp);
+	const int nb = countPolyVerts(pb, nvp);
+	
+	// Merge polygons.
+	memset(tmp, 0xff, sizeof(unsigned short)*nvp);
+	int n = 0;
+	// Add pa
+	for (int i = 0; i < na-1; ++i)
+		tmp[n++] = pa[(ea+1+i) % na];
+	// Add pb
+	for (int i = 0; i < nb-1; ++i)
+		tmp[n++] = pb[(eb+1+i) % nb];
+	
+	memcpy(pa, tmp, sizeof(unsigned short)*nvp);
+}
+
+
+static void pushFront(int v, int* arr, int& an)
+{
+	an++;
+	for (int i = an-1; i > 0; --i) arr[i] = arr[i-1];
+	arr[0] = v;
+}
+
+static void pushBack(int v, int* arr, int& an)
+{
+	arr[an] = v;
+	an++;
+}
+
+static bool canRemoveVertex(rcContext* ctx, rcPolyMesh& mesh, const unsigned short rem)
+{
+	const int nvp = mesh.nvp;
+	
+	// Count number of polygons to remove.
+	int numRemovedVerts = 0;
+	int numTouchedVerts = 0;
+	int numRemainingEdges = 0;
+	for (int i = 0; i < mesh.npolys; ++i)
+	{
+		unsigned short* p = &mesh.polys[i*nvp*2];
+		const int nv = countPolyVerts(p, nvp);
+		int numRemoved = 0;
+		int numVerts = 0;
+		for (int j = 0; j < nv; ++j)
+		{
+			if (p[j] == rem)
+			{
+				numTouchedVerts++;
+				numRemoved++;
+			}
+			numVerts++;
+		}
+		if (numRemoved)
+		{
+			numRemovedVerts += numRemoved;
+			numRemainingEdges += numVerts-(numRemoved+1);
+		}
+	}
+	
+	// There would be too few edges remaining to create a polygon.
+	// This can happen for example when a tip of a triangle is marked
+	// as deletion, but there are no other polys that share the vertex.
+	// In this case, the vertex should not be removed.
+	if (numRemainingEdges <= 2)
+		return false;
+	
+	// Find edges which share the removed vertex.
+	const int maxEdges = numTouchedVerts*2;
+	int nedges = 0;
+	rcScopedDelete<int> edges((int*)rcAlloc(sizeof(int)*maxEdges*3, RC_ALLOC_TEMP));
+	if (!edges)
+	{
+		ctx->log(RC_LOG_WARNING, "canRemoveVertex: Out of memory 'edges' (%d).", maxEdges*3);
+		return false;
+	}
+		
+	for (int i = 0; i < mesh.npolys; ++i)
+	{
+		unsigned short* p = &mesh.polys[i*nvp*2];
+		const int nv = countPolyVerts(p, nvp);
+
+		// Collect edges which touches the removed vertex.
+		for (int j = 0, k = nv-1; j < nv; k = j++)
+		{
+			if (p[j] == rem || p[k] == rem)
+			{
+				// Arrange edge so that a=rem.
+				int a = p[j], b = p[k];
+				if (b == rem)
+					rcSwap(a,b);
+					
+				// Check if the edge exists
+				bool exists = false;
+				for (int m = 0; m < nedges; ++m)
+				{
+					int* e = &edges[m*3];
+					if (e[1] == b)
+					{
+						// Exists, increment vertex share count.
+						e[2]++;
+						exists = true;
+					}
+				}
+				// Add new edge.
+				if (!exists)
+				{
+					int* e = &edges[nedges*3];
+					e[0] = a;
+					e[1] = b;
+					e[2] = 1;
+					nedges++;
+				}
+			}
+		}
+	}
+
+	// There should be no more than 2 open edges.
+	// This catches the case that two non-adjacent polygons
+	// share the removed vertex. In that case, do not remove the vertex.
+	int numOpenEdges = 0;
+	for (int i = 0; i < nedges; ++i)
+	{
+		if (edges[i*3+2] < 2)
+			numOpenEdges++;
+	}
+	if (numOpenEdges > 2)
+		return false;
+	
+	return true;
+}
+
+static bool removeVertex(rcContext* ctx, rcPolyMesh& mesh, const unsigned short rem, const int maxTris)
+{
+	const int nvp = mesh.nvp;
+
+	// Count number of polygons to remove.
+	int numRemovedVerts = 0;
+	for (int i = 0; i < mesh.npolys; ++i)
+	{
+		unsigned short* p = &mesh.polys[i*nvp*2];
+		const int nv = countPolyVerts(p, nvp);
+		for (int j = 0; j < nv; ++j)
+		{
+			if (p[j] == rem)
+				numRemovedVerts++;
+		}
+	}
+	
+	int nedges = 0;
+	rcScopedDelete<int> edges((int*)rcAlloc(sizeof(int)*numRemovedVerts*nvp*4, RC_ALLOC_TEMP));
+	if (!edges)
+	{
+		ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'edges' (%d).", numRemovedVerts*nvp*4);
+		return false;
+	}
+
+	int nhole = 0;
+	rcScopedDelete<int> hole((int*)rcAlloc(sizeof(int)*numRemovedVerts*nvp, RC_ALLOC_TEMP));
+	if (!hole)
+	{
+		ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'hole' (%d).", numRemovedVerts*nvp);
+		return false;
+	}
+
+	int nhreg = 0;
+	rcScopedDelete<int> hreg((int*)rcAlloc(sizeof(int)*numRemovedVerts*nvp, RC_ALLOC_TEMP));
+	if (!hreg)
+	{
+		ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'hreg' (%d).", numRemovedVerts*nvp);
+		return false;
+	}
+
+	int nharea = 0;
+	rcScopedDelete<int> harea((int*)rcAlloc(sizeof(int)*numRemovedVerts*nvp, RC_ALLOC_TEMP));
+	if (!harea)
+	{
+		ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'harea' (%d).", numRemovedVerts*nvp);
+		return false;
+	}
+	
+	for (int i = 0; i < mesh.npolys; ++i)
+	{
+		unsigned short* p = &mesh.polys[i*nvp*2];
+		const int nv = countPolyVerts(p, nvp);
+		bool hasRem = false;
+		for (int j = 0; j < nv; ++j)
+			if (p[j] == rem) hasRem = true;
+		if (hasRem)
+		{
+			// Collect edges which does not touch the removed vertex.
+			for (int j = 0, k = nv-1; j < nv; k = j++)
+			{
+				if (p[j] != rem && p[k] != rem)
+				{
+					int* e = &edges[nedges*4];
+					e[0] = p[k];
+					e[1] = p[j];
+					e[2] = mesh.regs[i];
+					e[3] = mesh.areas[i];
+					nedges++;
+				}
+			}
+			// Remove the polygon.
+			unsigned short* p2 = &mesh.polys[(mesh.npolys-1)*nvp*2];
+			if (p != p2)
+				memcpy(p,p2,sizeof(unsigned short)*nvp);
+			memset(p+nvp,0xff,sizeof(unsigned short)*nvp);
+			mesh.regs[i] = mesh.regs[mesh.npolys-1];
+			mesh.areas[i] = mesh.areas[mesh.npolys-1];
+			mesh.npolys--;
+			--i;
+		}
+	}
+	
+	// Remove vertex.
+	for (int i = (int)rem; i < mesh.nverts - 1; ++i)
+	{
+		mesh.verts[i*3+0] = mesh.verts[(i+1)*3+0];
+		mesh.verts[i*3+1] = mesh.verts[(i+1)*3+1];
+		mesh.verts[i*3+2] = mesh.verts[(i+1)*3+2];
+	}
+	mesh.nverts--;
+
+	// Adjust indices to match the removed vertex layout.
+	for (int i = 0; i < mesh.npolys; ++i)
+	{
+		unsigned short* p = &mesh.polys[i*nvp*2];
+		const int nv = countPolyVerts(p, nvp);
+		for (int j = 0; j < nv; ++j)
+			if (p[j] > rem) p[j]--;
+	}
+	for (int i = 0; i < nedges; ++i)
+	{
+		if (edges[i*4+0] > rem) edges[i*4+0]--;
+		if (edges[i*4+1] > rem) edges[i*4+1]--;
+	}
+
+	if (nedges == 0)
+		return true;
+
+	// Start with one vertex, keep appending connected
+	// segments to the start and end of the hole.
+	pushBack(edges[0], hole, nhole);
+	pushBack(edges[2], hreg, nhreg);
+	pushBack(edges[3], harea, nharea);
+	
+	while (nedges)
+	{
+		bool match = false;
+		
+		for (int i = 0; i < nedges; ++i)
+		{
+			const int ea = edges[i*4+0];
+			const int eb = edges[i*4+1];
+			const int r = edges[i*4+2];
+			const int a = edges[i*4+3];
+			bool add = false;
+			if (hole[0] == eb)
+			{
+				// The segment matches the beginning of the hole boundary.
+				pushFront(ea, hole, nhole);
+				pushFront(r, hreg, nhreg);
+				pushFront(a, harea, nharea);
+				add = true;
+			}
+			else if (hole[nhole-1] == ea)
+			{
+				// The segment matches the end of the hole boundary.
+				pushBack(eb, hole, nhole);
+				pushBack(r, hreg, nhreg);
+				pushBack(a, harea, nharea);
+				add = true;
+			}
+			if (add)
+			{
+				// The edge segment was added, remove it.
+				edges[i*4+0] = edges[(nedges-1)*4+0];
+				edges[i*4+1] = edges[(nedges-1)*4+1];
+				edges[i*4+2] = edges[(nedges-1)*4+2];
+				edges[i*4+3] = edges[(nedges-1)*4+3];
+				--nedges;
+				match = true;
+				--i;
+			}
+		}
+		
+		if (!match)
+			break;
+	}
+
+	rcScopedDelete<int> tris((int*)rcAlloc(sizeof(int)*nhole*3, RC_ALLOC_TEMP));
+	if (!tris)
+	{
+		ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'tris' (%d).", nhole*3);
+		return false;
+	}
+
+	rcScopedDelete<int> tverts((int*)rcAlloc(sizeof(int)*nhole*4, RC_ALLOC_TEMP));
+	if (!tverts)
+	{
+		ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'tverts' (%d).", nhole*4);
+		return false;
+	}
+
+	rcScopedDelete<int> thole((int*)rcAlloc(sizeof(int)*nhole, RC_ALLOC_TEMP));
+	if (!thole)
+	{
+		ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'thole' (%d).", nhole);
+		return false;
+	}
+
+	// Generate temp vertex array for triangulation.
+	for (int i = 0; i < nhole; ++i)
+	{
+		const int pi = hole[i];
+		tverts[i*4+0] = mesh.verts[pi*3+0];
+		tverts[i*4+1] = mesh.verts[pi*3+1];
+		tverts[i*4+2] = mesh.verts[pi*3+2];
+		tverts[i*4+3] = 0;
+		thole[i] = i;
+	}
+
+	// Triangulate the hole.
+	int ntris = triangulate(nhole, &tverts[0], &thole[0], tris);
+	if (ntris < 0)
+	{
+		ntris = -ntris;
+		ctx->log(RC_LOG_WARNING, "removeVertex: triangulate() returned bad results.");
+	}
+	
+	// Merge the hole triangles back to polygons.
+	rcScopedDelete<unsigned short> polys((unsigned short*)rcAlloc(sizeof(unsigned short)*(ntris+1)*nvp, RC_ALLOC_TEMP));
+	if (!polys)
+	{
+		ctx->log(RC_LOG_ERROR, "removeVertex: Out of memory 'polys' (%d).", (ntris+1)*nvp);
+		return false;
+	}
+	rcScopedDelete<unsigned short> pregs((unsigned short*)rcAlloc(sizeof(unsigned short)*ntris, RC_ALLOC_TEMP));
+	if (!pregs)
+	{
+		ctx->log(RC_LOG_ERROR, "removeVertex: Out of memory 'pregs' (%d).", ntris);
+		return false;
+	}
+	rcScopedDelete<unsigned char> pareas((unsigned char*)rcAlloc(sizeof(unsigned char)*ntris, RC_ALLOC_TEMP));
+	if (!pareas)
+	{
+		ctx->log(RC_LOG_ERROR, "removeVertex: Out of memory 'pareas' (%d).", ntris);
+		return false;
+	}
+	
+	unsigned short* tmpPoly = &polys[ntris*nvp];
+			
+	// Build initial polygons.
+	int npolys = 0;
+	memset(polys, 0xff, ntris*nvp*sizeof(unsigned short));
+	for (int j = 0; j < ntris; ++j)
+	{
+		int* t = &tris[j*3];
+		if (t[0] != t[1] && t[0] != t[2] && t[1] != t[2])
+		{
+			polys[npolys*nvp+0] = (unsigned short)hole[t[0]];
+			polys[npolys*nvp+1] = (unsigned short)hole[t[1]];
+			polys[npolys*nvp+2] = (unsigned short)hole[t[2]];
+
+			// If this polygon covers multiple region types then
+			// mark it as such
+			if (hreg[t[0]] != hreg[t[1]] || hreg[t[1]] != hreg[t[2]])
+				pregs[npolys] = RC_MULTIPLE_REGS;
+			else
+				pregs[npolys] = (unsigned short)hreg[t[0]];
+
+			pareas[npolys] = (unsigned char)harea[t[0]];
+			npolys++;
+		}
+	}
+	if (!npolys)
+		return true;
+	
+	// Merge polygons.
+	if (nvp > 3)
+	{
+		for (;;)
+		{
+			// Find best polygons to merge.
+			int bestMergeVal = 0;
+			int bestPa = 0, bestPb = 0, bestEa = 0, bestEb = 0;
+			
+			for (int j = 0; j < npolys-1; ++j)
+			{
+				unsigned short* pj = &polys[j*nvp];
+				for (int k = j+1; k < npolys; ++k)
+				{
+					unsigned short* pk = &polys[k*nvp];
+					int ea, eb;
+					int v = getPolyMergeValue(pj, pk, mesh.verts, ea, eb, nvp);
+					if (v > bestMergeVal)
+					{
+						bestMergeVal = v;
+						bestPa = j;
+						bestPb = k;
+						bestEa = ea;
+						bestEb = eb;
+					}
+				}
+			}
+			
+			if (bestMergeVal > 0)
+			{
+				// Found best, merge.
+				unsigned short* pa = &polys[bestPa*nvp];
+				unsigned short* pb = &polys[bestPb*nvp];
+				mergePolyVerts(pa, pb, bestEa, bestEb, tmpPoly, nvp);
+				if (pregs[bestPa] != pregs[bestPb])
+					pregs[bestPa] = RC_MULTIPLE_REGS;
+
+				unsigned short* last = &polys[(npolys-1)*nvp];
+				if (pb != last)
+					memcpy(pb, last, sizeof(unsigned short)*nvp);
+				pregs[bestPb] = pregs[npolys-1];
+				pareas[bestPb] = pareas[npolys-1];
+				npolys--;
+			}
+			else
+			{
+				// Could not merge any polygons, stop.
+				break;
+			}
+		}
+	}
+	
+	// Store polygons.
+	for (int i = 0; i < npolys; ++i)
+	{
+		if (mesh.npolys >= maxTris) break;
+		unsigned short* p = &mesh.polys[mesh.npolys*nvp*2];
+		memset(p,0xff,sizeof(unsigned short)*nvp*2);
+		for (int j = 0; j < nvp; ++j)
+			p[j] = polys[i*nvp+j];
+		mesh.regs[mesh.npolys] = pregs[i];
+		mesh.areas[mesh.npolys] = pareas[i];
+		mesh.npolys++;
+		if (mesh.npolys > maxTris)
+		{
+			ctx->log(RC_LOG_ERROR, "removeVertex: Too many polygons %d (max:%d).", mesh.npolys, maxTris);
+			return false;
+		}
+	}
+	
+	return true;
+}
+
+/// @par
+///
+/// @note If the mesh data is to be used to construct a Detour navigation mesh, then the upper 
+/// limit must be retricted to <= #DT_VERTS_PER_POLYGON.
+///
+/// @see rcAllocPolyMesh, rcContourSet, rcPolyMesh, rcConfig
+bool rcBuildPolyMesh(rcContext* ctx, rcContourSet& cset, const int nvp, rcPolyMesh& mesh)
+{
+	rcAssert(ctx);
+	
+	rcScopedTimer timer(ctx, RC_TIMER_BUILD_POLYMESH);
+
+	rcVcopy(mesh.bmin, cset.bmin);
+	rcVcopy(mesh.bmax, cset.bmax);
+	mesh.cs = cset.cs;
+	mesh.ch = cset.ch;
+	mesh.borderSize = cset.borderSize;
+	mesh.maxEdgeError = cset.maxError;
+	
+	int maxVertices = 0;
+	int maxTris = 0;
+	int maxVertsPerCont = 0;
+	for (int i = 0; i < cset.nconts; ++i)
+	{
+		// Skip null contours.
+		if (cset.conts[i].nverts < 3) continue;
+		maxVertices += cset.conts[i].nverts;
+		maxTris += cset.conts[i].nverts - 2;
+		maxVertsPerCont = rcMax(maxVertsPerCont, cset.conts[i].nverts);
+	}
+	
+	if (maxVertices >= 0xfffe)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Too many vertices %d.", maxVertices);
+		return false;
+	}
+		
+	rcScopedDelete<unsigned char> vflags((unsigned char*)rcAlloc(sizeof(unsigned char)*maxVertices, RC_ALLOC_TEMP));
+	if (!vflags)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'vflags' (%d).", maxVertices);
+		return false;
+	}
+	memset(vflags, 0, maxVertices);
+	
+	mesh.verts = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxVertices*3, RC_ALLOC_PERM);
+	if (!mesh.verts)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.verts' (%d).", maxVertices);
+		return false;
+	}
+	mesh.polys = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxTris*nvp*2, RC_ALLOC_PERM);
+	if (!mesh.polys)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.polys' (%d).", maxTris*nvp*2);
+		return false;
+	}
+	mesh.regs = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxTris, RC_ALLOC_PERM);
+	if (!mesh.regs)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.regs' (%d).", maxTris);
+		return false;
+	}
+	mesh.areas = (unsigned char*)rcAlloc(sizeof(unsigned char)*maxTris, RC_ALLOC_PERM);
+	if (!mesh.areas)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.areas' (%d).", maxTris);
+		return false;
+	}
+	
+	mesh.nverts = 0;
+	mesh.npolys = 0;
+	mesh.nvp = nvp;
+	mesh.maxpolys = maxTris;
+	
+	memset(mesh.verts, 0, sizeof(unsigned short)*maxVertices*3);
+	memset(mesh.polys, 0xff, sizeof(unsigned short)*maxTris*nvp*2);
+	memset(mesh.regs, 0, sizeof(unsigned short)*maxTris);
+	memset(mesh.areas, 0, sizeof(unsigned char)*maxTris);
+	
+	rcScopedDelete<int> nextVert((int*)rcAlloc(sizeof(int)*maxVertices, RC_ALLOC_TEMP));
+	if (!nextVert)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'nextVert' (%d).", maxVertices);
+		return false;
+	}
+	memset(nextVert, 0, sizeof(int)*maxVertices);
+	
+	rcScopedDelete<int> firstVert((int*)rcAlloc(sizeof(int)*VERTEX_BUCKET_COUNT, RC_ALLOC_TEMP));
+	if (!firstVert)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'firstVert' (%d).", VERTEX_BUCKET_COUNT);
+		return false;
+	}
+	for (int i = 0; i < VERTEX_BUCKET_COUNT; ++i)
+		firstVert[i] = -1;
+	
+	rcScopedDelete<int> indices((int*)rcAlloc(sizeof(int)*maxVertsPerCont, RC_ALLOC_TEMP));
+	if (!indices)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'indices' (%d).", maxVertsPerCont);
+		return false;
+	}
+	rcScopedDelete<int> tris((int*)rcAlloc(sizeof(int)*maxVertsPerCont*3, RC_ALLOC_TEMP));
+	if (!tris)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'tris' (%d).", maxVertsPerCont*3);
+		return false;
+	}
+	rcScopedDelete<unsigned short> polys((unsigned short*)rcAlloc(sizeof(unsigned short)*(maxVertsPerCont+1)*nvp, RC_ALLOC_TEMP));
+	if (!polys)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'polys' (%d).", maxVertsPerCont*nvp);
+		return false;
+	}
+	unsigned short* tmpPoly = &polys[maxVertsPerCont*nvp];
+
+	for (int i = 0; i < cset.nconts; ++i)
+	{
+		rcContour& cont = cset.conts[i];
+		
+		// Skip null contours.
+		if (cont.nverts < 3)
+			continue;
+		
+		// Triangulate contour
+		for (int j = 0; j < cont.nverts; ++j)
+			indices[j] = j;
+			
+		int ntris = triangulate(cont.nverts, cont.verts, &indices[0], &tris[0]);
+		if (ntris <= 0)
+		{
+			// Bad triangulation, should not happen.
+/*			printf("\tconst float bmin[3] = {%ff,%ff,%ff};\n", cset.bmin[0], cset.bmin[1], cset.bmin[2]);
+			printf("\tconst float cs = %ff;\n", cset.cs);
+			printf("\tconst float ch = %ff;\n", cset.ch);
+			printf("\tconst int verts[] = {\n");
+			for (int k = 0; k < cont.nverts; ++k)
+			{
+				const int* v = &cont.verts[k*4];
+				printf("\t\t%d,%d,%d,%d,\n", v[0], v[1], v[2], v[3]);
+			}
+			printf("\t};\n\tconst int nverts = sizeof(verts)/(sizeof(int)*4);\n");*/
+			ctx->log(RC_LOG_WARNING, "rcBuildPolyMesh: Bad triangulation Contour %d.", i);
+			ntris = -ntris;
+		}
+				
+		// Add and merge vertices.
+		for (int j = 0; j < cont.nverts; ++j)
+		{
+			const int* v = &cont.verts[j*4];
+			indices[j] = addVertex((unsigned short)v[0], (unsigned short)v[1], (unsigned short)v[2],
+								   mesh.verts, firstVert, nextVert, mesh.nverts);
+			if (v[3] & RC_BORDER_VERTEX)
+			{
+				// This vertex should be removed.
+				vflags[indices[j]] = 1;
+			}
+		}
+
+		// Build initial polygons.
+		int npolys = 0;
+		memset(polys, 0xff, maxVertsPerCont*nvp*sizeof(unsigned short));
+		for (int j = 0; j < ntris; ++j)
+		{
+			int* t = &tris[j*3];
+			if (t[0] != t[1] && t[0] != t[2] && t[1] != t[2])
+			{
+				polys[npolys*nvp+0] = (unsigned short)indices[t[0]];
+				polys[npolys*nvp+1] = (unsigned short)indices[t[1]];
+				polys[npolys*nvp+2] = (unsigned short)indices[t[2]];
+				npolys++;
+			}
+		}
+		if (!npolys)
+			continue;
+		
+		// Merge polygons.
+		if (nvp > 3)
+		{
+			for(;;)
+			{
+				// Find best polygons to merge.
+				int bestMergeVal = 0;
+				int bestPa = 0, bestPb = 0, bestEa = 0, bestEb = 0;
+				
+				for (int j = 0; j < npolys-1; ++j)
+				{
+					unsigned short* pj = &polys[j*nvp];
+					for (int k = j+1; k < npolys; ++k)
+					{
+						unsigned short* pk = &polys[k*nvp];
+						int ea, eb;
+						int v = getPolyMergeValue(pj, pk, mesh.verts, ea, eb, nvp);
+						if (v > bestMergeVal)
+						{
+							bestMergeVal = v;
+							bestPa = j;
+							bestPb = k;
+							bestEa = ea;
+							bestEb = eb;
+						}
+					}
+				}
+				
+				if (bestMergeVal > 0)
+				{
+					// Found best, merge.
+					unsigned short* pa = &polys[bestPa*nvp];
+					unsigned short* pb = &polys[bestPb*nvp];
+					mergePolyVerts(pa, pb, bestEa, bestEb, tmpPoly, nvp);
+					unsigned short* lastPoly = &polys[(npolys-1)*nvp];
+					if (pb != lastPoly)
+						memcpy(pb, lastPoly, sizeof(unsigned short)*nvp);
+					npolys--;
+				}
+				else
+				{
+					// Could not merge any polygons, stop.
+					break;
+				}
+			}
+		}
+		
+		// Store polygons.
+		for (int j = 0; j < npolys; ++j)
+		{
+			unsigned short* p = &mesh.polys[mesh.npolys*nvp*2];
+			unsigned short* q = &polys[j*nvp];
+			for (int k = 0; k < nvp; ++k)
+				p[k] = q[k];
+			mesh.regs[mesh.npolys] = cont.reg;
+			mesh.areas[mesh.npolys] = cont.area;
+			mesh.npolys++;
+			if (mesh.npolys > maxTris)
+			{
+				ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Too many polygons %d (max:%d).", mesh.npolys, maxTris);
+				return false;
+			}
+		}
+	}
+	
+	
+	// Remove edge vertices.
+	for (int i = 0; i < mesh.nverts; ++i)
+	{
+		if (vflags[i])
+		{
+			if (!canRemoveVertex(ctx, mesh, (unsigned short)i))
+				continue;
+			if (!removeVertex(ctx, mesh, (unsigned short)i, maxTris))
+			{
+				// Failed to remove vertex
+				ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Failed to remove edge vertex %d.", i);
+				return false;
+			}
+			// Remove vertex
+			// Note: mesh.nverts is already decremented inside removeVertex()!
+			// Fixup vertex flags
+			for (int j = i; j < mesh.nverts; ++j)
+				vflags[j] = vflags[j+1];
+			--i;
+		}
+	}
+	
+	// Calculate adjacency.
+	if (!buildMeshAdjacency(mesh.polys, mesh.npolys, mesh.nverts, nvp))
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Adjacency failed.");
+		return false;
+	}
+	
+	// Find portal edges
+	if (mesh.borderSize > 0)
+	{
+		const int w = cset.width;
+		const int h = cset.height;
+		for (int i = 0; i < mesh.npolys; ++i)
+		{
+			unsigned short* p = &mesh.polys[i*2*nvp];
+			for (int j = 0; j < nvp; ++j)
+			{
+				if (p[j] == RC_MESH_NULL_IDX) break;
+				// Skip connected edges.
+				if (p[nvp+j] != RC_MESH_NULL_IDX)
+					continue;
+				int nj = j+1;
+				if (nj >= nvp || p[nj] == RC_MESH_NULL_IDX) nj = 0;
+				const unsigned short* va = &mesh.verts[p[j]*3];
+				const unsigned short* vb = &mesh.verts[p[nj]*3];
+
+				if ((int)va[0] == 0 && (int)vb[0] == 0)
+					p[nvp+j] = 0x8000 | 0;
+				else if ((int)va[2] == h && (int)vb[2] == h)
+					p[nvp+j] = 0x8000 | 1;
+				else if ((int)va[0] == w && (int)vb[0] == w)
+					p[nvp+j] = 0x8000 | 2;
+				else if ((int)va[2] == 0 && (int)vb[2] == 0)
+					p[nvp+j] = 0x8000 | 3;
+			}
+		}
+	}
+
+	// Just allocate the mesh flags array. The user is resposible to fill it.
+	mesh.flags = (unsigned short*)rcAlloc(sizeof(unsigned short)*mesh.npolys, RC_ALLOC_PERM);
+	if (!mesh.flags)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.flags' (%d).", mesh.npolys);
+		return false;
+	}
+	memset(mesh.flags, 0, sizeof(unsigned short) * mesh.npolys);
+	
+	if (mesh.nverts > 0xffff)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: The resulting mesh has too many vertices %d (max %d). Data can be corrupted.", mesh.nverts, 0xffff);
+	}
+	if (mesh.npolys > 0xffff)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: The resulting mesh has too many polygons %d (max %d). Data can be corrupted.", mesh.npolys, 0xffff);
+	}
+	
+	return true;
+}
+
+/// @see rcAllocPolyMesh, rcPolyMesh
+bool rcMergePolyMeshes(rcContext* ctx, rcPolyMesh** meshes, const int nmeshes, rcPolyMesh& mesh)
+{
+	rcAssert(ctx);
+	
+	if (!nmeshes || !meshes)
+		return true;
+
+	rcScopedTimer timer(ctx, RC_TIMER_MERGE_POLYMESH);
+
+	mesh.nvp = meshes[0]->nvp;
+	mesh.cs = meshes[0]->cs;
+	mesh.ch = meshes[0]->ch;
+	rcVcopy(mesh.bmin, meshes[0]->bmin);
+	rcVcopy(mesh.bmax, meshes[0]->bmax);
+
+	int maxVerts = 0;
+	int maxPolys = 0;
+	int maxVertsPerMesh = 0;
+	for (int i = 0; i < nmeshes; ++i)
+	{
+		rcVmin(mesh.bmin, meshes[i]->bmin);
+		rcVmax(mesh.bmax, meshes[i]->bmax);
+		maxVertsPerMesh = rcMax(maxVertsPerMesh, meshes[i]->nverts);
+		maxVerts += meshes[i]->nverts;
+		maxPolys += meshes[i]->npolys;
+	}
+	
+	mesh.nverts = 0;
+	mesh.verts = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxVerts*3, RC_ALLOC_PERM);
+	if (!mesh.verts)
+	{
+		ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'mesh.verts' (%d).", maxVerts*3);
+		return false;
+	}
+
+	mesh.npolys = 0;
+	mesh.polys = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxPolys*2*mesh.nvp, RC_ALLOC_PERM);
+	if (!mesh.polys)
+	{
+		ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'mesh.polys' (%d).", maxPolys*2*mesh.nvp);
+		return false;
+	}
+	memset(mesh.polys, 0xff, sizeof(unsigned short)*maxPolys*2*mesh.nvp);
+
+	mesh.regs = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxPolys, RC_ALLOC_PERM);
+	if (!mesh.regs)
+	{
+		ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'mesh.regs' (%d).", maxPolys);
+		return false;
+	}
+	memset(mesh.regs, 0, sizeof(unsigned short)*maxPolys);
+
+	mesh.areas = (unsigned char*)rcAlloc(sizeof(unsigned char)*maxPolys, RC_ALLOC_PERM);
+	if (!mesh.areas)
+	{
+		ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'mesh.areas' (%d).", maxPolys);
+		return false;
+	}
+	memset(mesh.areas, 0, sizeof(unsigned char)*maxPolys);
+
+	mesh.flags = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxPolys, RC_ALLOC_PERM);
+	if (!mesh.flags)
+	{
+		ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'mesh.flags' (%d).", maxPolys);
+		return false;
+	}
+	memset(mesh.flags, 0, sizeof(unsigned short)*maxPolys);
+	
+	rcScopedDelete<int> nextVert((int*)rcAlloc(sizeof(int)*maxVerts, RC_ALLOC_TEMP));
+	if (!nextVert)
+	{
+		ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'nextVert' (%d).", maxVerts);
+		return false;
+	}
+	memset(nextVert, 0, sizeof(int)*maxVerts);
+	
+	rcScopedDelete<int> firstVert((int*)rcAlloc(sizeof(int)*VERTEX_BUCKET_COUNT, RC_ALLOC_TEMP));
+	if (!firstVert)
+	{
+		ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'firstVert' (%d).", VERTEX_BUCKET_COUNT);
+		return false;
+	}
+	for (int i = 0; i < VERTEX_BUCKET_COUNT; ++i)
+		firstVert[i] = -1;
+
+	rcScopedDelete<unsigned short> vremap((unsigned short*)rcAlloc(sizeof(unsigned short)*maxVertsPerMesh, RC_ALLOC_PERM));
+	if (!vremap)
+	{
+		ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'vremap' (%d).", maxVertsPerMesh);
+		return false;
+	}
+	memset(vremap, 0, sizeof(unsigned short)*maxVertsPerMesh);
+	
+	for (int i = 0; i < nmeshes; ++i)
+	{
+		const rcPolyMesh* pmesh = meshes[i];
+		
+		const unsigned short ox = (unsigned short)floorf((pmesh->bmin[0]-mesh.bmin[0])/mesh.cs+0.5f);
+		const unsigned short oz = (unsigned short)floorf((pmesh->bmin[2]-mesh.bmin[2])/mesh.cs+0.5f);
+		
+		bool isMinX = (ox == 0);
+		bool isMinZ = (oz == 0);
+		bool isMaxX = ((unsigned short)floorf((mesh.bmax[0] - pmesh->bmax[0]) / mesh.cs + 0.5f)) == 0;
+		bool isMaxZ = ((unsigned short)floorf((mesh.bmax[2] - pmesh->bmax[2]) / mesh.cs + 0.5f)) == 0;
+		bool isOnBorder = (isMinX || isMinZ || isMaxX || isMaxZ);
+
+		for (int j = 0; j < pmesh->nverts; ++j)
+		{
+			unsigned short* v = &pmesh->verts[j*3];
+			vremap[j] = addVertex(v[0]+ox, v[1], v[2]+oz,
+								  mesh.verts, firstVert, nextVert, mesh.nverts);
+		}
+		
+		for (int j = 0; j < pmesh->npolys; ++j)
+		{
+			unsigned short* tgt = &mesh.polys[mesh.npolys*2*mesh.nvp];
+			unsigned short* src = &pmesh->polys[j*2*mesh.nvp];
+			mesh.regs[mesh.npolys] = pmesh->regs[j];
+			mesh.areas[mesh.npolys] = pmesh->areas[j];
+			mesh.flags[mesh.npolys] = pmesh->flags[j];
+			mesh.npolys++;
+			for (int k = 0; k < mesh.nvp; ++k)
+			{
+				if (src[k] == RC_MESH_NULL_IDX) break;
+				tgt[k] = vremap[src[k]];
+			}
+
+			if (isOnBorder)
+			{
+				for (int k = mesh.nvp; k < mesh.nvp * 2; ++k)
+				{
+					if (src[k] & 0x8000 && src[k] != 0xffff)
+					{
+						unsigned short dir = src[k] & 0xf;
+						switch (dir)
+						{
+							case 0: // Portal x-
+								if (isMinX)
+									tgt[k] = src[k];
+								break;
+							case 1: // Portal z+
+								if (isMaxZ)
+									tgt[k] = src[k];
+								break;
+							case 2: // Portal x+
+								if (isMaxX)
+									tgt[k] = src[k];
+								break;
+							case 3: // Portal z-
+								if (isMinZ)
+									tgt[k] = src[k];
+								break;
+						}
+					}
+				}
+			}
+		}
+	}
+
+	// Calculate adjacency.
+	if (!buildMeshAdjacency(mesh.polys, mesh.npolys, mesh.nverts, mesh.nvp))
+	{
+		ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Adjacency failed.");
+		return false;
+	}
+
+	if (mesh.nverts > 0xffff)
+	{
+		ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: The resulting mesh has too many vertices %d (max %d). Data can be corrupted.", mesh.nverts, 0xffff);
+	}
+	if (mesh.npolys > 0xffff)
+	{
+		ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: The resulting mesh has too many polygons %d (max %d). Data can be corrupted.", mesh.npolys, 0xffff);
+	}
+	
+	return true;
+}
+
+bool rcCopyPolyMesh(rcContext* ctx, const rcPolyMesh& src, rcPolyMesh& dst)
+{
+	rcAssert(ctx);
+	
+	// Destination must be empty.
+	rcAssert(dst.verts == 0);
+	rcAssert(dst.polys == 0);
+	rcAssert(dst.regs == 0);
+	rcAssert(dst.areas == 0);
+	rcAssert(dst.flags == 0);
+	
+	dst.nverts = src.nverts;
+	dst.npolys = src.npolys;
+	dst.maxpolys = src.npolys;
+	dst.nvp = src.nvp;
+	rcVcopy(dst.bmin, src.bmin);
+	rcVcopy(dst.bmax, src.bmax);
+	dst.cs = src.cs;
+	dst.ch = src.ch;
+	dst.borderSize = src.borderSize;
+	dst.maxEdgeError = src.maxEdgeError;
+	
+	dst.verts = (unsigned short*)rcAlloc(sizeof(unsigned short)*src.nverts*3, RC_ALLOC_PERM);
+	if (!dst.verts)
+	{
+		ctx->log(RC_LOG_ERROR, "rcCopyPolyMesh: Out of memory 'dst.verts' (%d).", src.nverts*3);
+		return false;
+	}
+	memcpy(dst.verts, src.verts, sizeof(unsigned short)*src.nverts*3);
+	
+	dst.polys = (unsigned short*)rcAlloc(sizeof(unsigned short)*src.npolys*2*src.nvp, RC_ALLOC_PERM);
+	if (!dst.polys)
+	{
+		ctx->log(RC_LOG_ERROR, "rcCopyPolyMesh: Out of memory 'dst.polys' (%d).", src.npolys*2*src.nvp);
+		return false;
+	}
+	memcpy(dst.polys, src.polys, sizeof(unsigned short)*src.npolys*2*src.nvp);
+	
+	dst.regs = (unsigned short*)rcAlloc(sizeof(unsigned short)*src.npolys, RC_ALLOC_PERM);
+	if (!dst.regs)
+	{
+		ctx->log(RC_LOG_ERROR, "rcCopyPolyMesh: Out of memory 'dst.regs' (%d).", src.npolys);
+		return false;
+	}
+	memcpy(dst.regs, src.regs, sizeof(unsigned short)*src.npolys);
+	
+	dst.areas = (unsigned char*)rcAlloc(sizeof(unsigned char)*src.npolys, RC_ALLOC_PERM);
+	if (!dst.areas)
+	{
+		ctx->log(RC_LOG_ERROR, "rcCopyPolyMesh: Out of memory 'dst.areas' (%d).", src.npolys);
+		return false;
+	}
+	memcpy(dst.areas, src.areas, sizeof(unsigned char)*src.npolys);
+	
+	dst.flags = (unsigned short*)rcAlloc(sizeof(unsigned short)*src.npolys, RC_ALLOC_PERM);
+	if (!dst.flags)
+	{
+		ctx->log(RC_LOG_ERROR, "rcCopyPolyMesh: Out of memory 'dst.flags' (%d).", src.npolys);
+		return false;
+	}
+	memcpy(dst.flags, src.flags, sizeof(unsigned short)*src.npolys);
+	
+	return true;
+}
diff --git a/thirdparty/recastnavigation/Recast/Source/RecastMeshDetail.cpp b/thirdparty/recastnavigation/Recast/Source/RecastMeshDetail.cpp
new file mode 100644
index 0000000000..f953132f74
--- /dev/null
+++ b/thirdparty/recastnavigation/Recast/Source/RecastMeshDetail.cpp
@@ -0,0 +1,1462 @@
+//
+// Copyright (c) 2009-2010 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 <float.h>
+#define _USE_MATH_DEFINES
+#include <math.h>
+#include <string.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include "Recast.h"
+#include "RecastAlloc.h"
+#include "RecastAssert.h"
+
+
+static const unsigned RC_UNSET_HEIGHT = 0xffff;
+
+struct rcHeightPatch
+{
+	inline rcHeightPatch() : data(0), xmin(0), ymin(0), width(0), height(0) {}
+	inline ~rcHeightPatch() { rcFree(data); }
+	unsigned short* data;
+	int xmin, ymin, width, height;
+};
+
+
+inline float vdot2(const float* a, const float* b)
+{
+	return a[0]*b[0] + a[2]*b[2];
+}
+
+inline float vdistSq2(const float* p, const float* q)
+{
+	const float dx = q[0] - p[0];
+	const float dy = q[2] - p[2];
+	return dx*dx + dy*dy;
+}
+
+inline float vdist2(const float* p, const float* q)
+{
+	return sqrtf(vdistSq2(p,q));
+}
+
+inline float vcross2(const float* p1, const float* p2, const float* p3)
+{
+	const float u1 = p2[0] - p1[0];
+	const float v1 = p2[2] - p1[2];
+	const float u2 = p3[0] - p1[0];
+	const float v2 = p3[2] - p1[2];
+	return u1 * v2 - v1 * u2;
+}
+
+static bool circumCircle(const float* p1, const float* p2, const float* p3,
+						 float* c, float& r)
+{
+	static const float EPS = 1e-6f;
+	// Calculate the circle relative to p1, to avoid some precision issues.
+	const float v1[3] = {0,0,0};
+	float v2[3], v3[3];
+	rcVsub(v2, p2,p1);
+	rcVsub(v3, p3,p1);
+	
+	const float cp = vcross2(v1, v2, v3);
+	if (fabsf(cp) > EPS)
+	{
+		const float v1Sq = vdot2(v1,v1);
+		const float v2Sq = vdot2(v2,v2);
+		const float v3Sq = vdot2(v3,v3);
+		c[0] = (v1Sq*(v2[2]-v3[2]) + v2Sq*(v3[2]-v1[2]) + v3Sq*(v1[2]-v2[2])) / (2*cp);
+		c[1] = 0;
+		c[2] = (v1Sq*(v3[0]-v2[0]) + v2Sq*(v1[0]-v3[0]) + v3Sq*(v2[0]-v1[0])) / (2*cp);
+		r = vdist2(c, v1);
+		rcVadd(c, c, p1);
+		return true;
+	}
+	
+	rcVcopy(c, p1);
+	r = 0;
+	return false;
+}
+
+static float distPtTri(const float* p, const float* a, const float* b, const float* c)
+{
+	float v0[3], v1[3], v2[3];
+	rcVsub(v0, c,a);
+	rcVsub(v1, b,a);
+	rcVsub(v2, p,a);
+	
+	const float dot00 = vdot2(v0, v0);
+	const float dot01 = vdot2(v0, v1);
+	const float dot02 = vdot2(v0, v2);
+	const float dot11 = vdot2(v1, v1);
+	const float dot12 = vdot2(v1, v2);
+	
+	// Compute barycentric coordinates
+	const float invDenom = 1.0f / (dot00 * dot11 - dot01 * dot01);
+	const float u = (dot11 * dot02 - dot01 * dot12) * invDenom;
+	float v = (dot00 * dot12 - dot01 * dot02) * invDenom;
+	
+	// If point lies inside the triangle, return interpolated y-coord.
+	static const float EPS = 1e-4f;
+	if (u >= -EPS && v >= -EPS && (u+v) <= 1+EPS)
+	{
+		const float y = a[1] + v0[1]*u + v1[1]*v;
+		return fabsf(y-p[1]);
+	}
+	return FLT_MAX;
+}
+
+static float distancePtSeg(const float* pt, const float* p, const float* q)
+{
+	float pqx = q[0] - p[0];
+	float pqy = q[1] - p[1];
+	float pqz = q[2] - p[2];
+	float dx = pt[0] - p[0];
+	float dy = pt[1] - p[1];
+	float dz = pt[2] - p[2];
+	float d = pqx*pqx + pqy*pqy + pqz*pqz;
+	float t = pqx*dx + pqy*dy + pqz*dz;
+	if (d > 0)
+		t /= d;
+	if (t < 0)
+		t = 0;
+	else if (t > 1)
+		t = 1;
+	
+	dx = p[0] + t*pqx - pt[0];
+	dy = p[1] + t*pqy - pt[1];
+	dz = p[2] + t*pqz - pt[2];
+	
+	return dx*dx + dy*dy + dz*dz;
+}
+
+static float distancePtSeg2d(const float* pt, const float* p, const float* q)
+{
+	float pqx = q[0] - p[0];
+	float pqz = q[2] - p[2];
+	float dx = pt[0] - p[0];
+	float dz = pt[2] - p[2];
+	float d = pqx*pqx + pqz*pqz;
+	float t = pqx*dx + pqz*dz;
+	if (d > 0)
+		t /= d;
+	if (t < 0)
+		t = 0;
+	else if (t > 1)
+		t = 1;
+	
+	dx = p[0] + t*pqx - pt[0];
+	dz = p[2] + t*pqz - pt[2];
+	
+	return dx*dx + dz*dz;
+}
+
+static float distToTriMesh(const float* p, const float* verts, const int /*nverts*/, const int* tris, const int ntris)
+{
+	float dmin = FLT_MAX;
+	for (int i = 0; i < ntris; ++i)
+	{
+		const float* va = &verts[tris[i*4+0]*3];
+		const float* vb = &verts[tris[i*4+1]*3];
+		const float* vc = &verts[tris[i*4+2]*3];
+		float d = distPtTri(p, va,vb,vc);
+		if (d < dmin)
+			dmin = d;
+	}
+	if (dmin == FLT_MAX) return -1;
+	return dmin;
+}
+
+static float distToPoly(int nvert, const float* verts, const float* p)
+{
+	
+	float dmin = FLT_MAX;
+	int i, j, c = 0;
+	for (i = 0, j = nvert-1; i < nvert; j = i++)
+	{
+		const float* vi = &verts[i*3];
+		const float* vj = &verts[j*3];
+		if (((vi[2] > p[2]) != (vj[2] > p[2])) &&
+			(p[0] < (vj[0]-vi[0]) * (p[2]-vi[2]) / (vj[2]-vi[2]) + vi[0]) )
+			c = !c;
+		dmin = rcMin(dmin, distancePtSeg2d(p, vj, vi));
+	}
+	return c ? -dmin : dmin;
+}
+
+
+static unsigned short getHeight(const float fx, const float fy, const float fz,
+								const float /*cs*/, const float ics, const float ch,
+								const int radius, const rcHeightPatch& hp)
+{
+	int ix = (int)floorf(fx*ics + 0.01f);
+	int iz = (int)floorf(fz*ics + 0.01f);
+	ix = rcClamp(ix-hp.xmin, 0, hp.width - 1);
+	iz = rcClamp(iz-hp.ymin, 0, hp.height - 1);
+	unsigned short h = hp.data[ix+iz*hp.width];
+	if (h == RC_UNSET_HEIGHT)
+	{
+		// Special case when data might be bad.
+		// Walk adjacent cells in a spiral up to 'radius', and look
+		// for a pixel which has a valid height.
+		int x = 1, z = 0, dx = 1, dz = 0;
+		int maxSize = radius * 2 + 1;
+		int maxIter = maxSize * maxSize - 1;
+
+		int nextRingIterStart = 8;
+		int nextRingIters = 16;
+
+		float dmin = FLT_MAX;
+		for (int i = 0; i < maxIter; i++)
+		{
+			const int nx = ix + x;
+			const int nz = iz + z;
+
+			if (nx >= 0 && nz >= 0 && nx < hp.width && nz < hp.height)
+			{
+				const unsigned short nh = hp.data[nx + nz*hp.width];
+				if (nh != RC_UNSET_HEIGHT)
+				{
+					const float d = fabsf(nh*ch - fy);
+					if (d < dmin)
+					{
+						h = nh;
+						dmin = d;
+					}
+				}
+			}
+
+			// We are searching in a grid which looks approximately like this:
+			//  __________
+			// |2 ______ 2|
+			// | |1 __ 1| |
+			// | | |__| | |
+			// | |______| |
+			// |__________|
+			// We want to find the best height as close to the center cell as possible. This means that
+			// if we find a height in one of the neighbor cells to the center, we don't want to
+			// expand further out than the 8 neighbors - we want to limit our search to the closest
+			// of these "rings", but the best height in the ring.
+			// For example, the center is just 1 cell. We checked that at the entrance to the function.
+			// The next "ring" contains 8 cells (marked 1 above). Those are all the neighbors to the center cell.
+			// The next one again contains 16 cells (marked 2). In general each ring has 8 additional cells, which
+			// can be thought of as adding 2 cells around the "center" of each side when we expand the ring.
+			// Here we detect if we are about to enter the next ring, and if we are and we have found
+			// a height, we abort the search.
+			if (i + 1 == nextRingIterStart)
+			{
+				if (h != RC_UNSET_HEIGHT)
+					break;
+
+				nextRingIterStart += nextRingIters;
+				nextRingIters += 8;
+			}
+
+			if ((x == z) || ((x < 0) && (x == -z)) || ((x > 0) && (x == 1 - z)))
+			{
+				int tmp = dx;
+				dx = -dz;
+				dz = tmp;
+			}
+			x += dx;
+			z += dz;
+		}
+	}
+	return h;
+}
+
+
+enum EdgeValues
+{
+	EV_UNDEF = -1,
+	EV_HULL = -2,
+};
+
+static int findEdge(const int* edges, int nedges, int s, int t)
+{
+	for (int i = 0; i < nedges; i++)
+	{
+		const int* e = &edges[i*4];
+		if ((e[0] == s && e[1] == t) || (e[0] == t && e[1] == s))
+			return i;
+	}
+	return EV_UNDEF;
+}
+
+static int addEdge(rcContext* ctx, int* edges, int& nedges, const int maxEdges, int s, int t, int l, int r)
+{
+	if (nedges >= maxEdges)
+	{
+		ctx->log(RC_LOG_ERROR, "addEdge: Too many edges (%d/%d).", nedges, maxEdges);
+		return EV_UNDEF;
+	}
+	
+	// Add edge if not already in the triangulation.
+	int e = findEdge(edges, nedges, s, t);
+	if (e == EV_UNDEF)
+	{
+		int* edge = &edges[nedges*4];
+		edge[0] = s;
+		edge[1] = t;
+		edge[2] = l;
+		edge[3] = r;
+		return nedges++;
+	}
+	else
+	{
+		return EV_UNDEF;
+	}
+}
+
+static void updateLeftFace(int* e, int s, int t, int f)
+{
+	if (e[0] == s && e[1] == t && e[2] == EV_UNDEF)
+		e[2] = f;
+	else if (e[1] == s && e[0] == t && e[3] == EV_UNDEF)
+		e[3] = f;
+}
+
+static int overlapSegSeg2d(const float* a, const float* b, const float* c, const float* d)
+{
+	const float a1 = vcross2(a, b, d);
+	const float a2 = vcross2(a, b, c);
+	if (a1*a2 < 0.0f)
+	{
+		float a3 = vcross2(c, d, a);
+		float a4 = a3 + a2 - a1;
+		if (a3 * a4 < 0.0f)
+			return 1;
+	}
+	return 0;
+}
+
+static bool overlapEdges(const float* pts, const int* edges, int nedges, int s1, int t1)
+{
+	for (int i = 0; i < nedges; ++i)
+	{
+		const int s0 = edges[i*4+0];
+		const int t0 = edges[i*4+1];
+		// Same or connected edges do not overlap.
+		if (s0 == s1 || s0 == t1 || t0 == s1 || t0 == t1)
+			continue;
+		if (overlapSegSeg2d(&pts[s0*3],&pts[t0*3], &pts[s1*3],&pts[t1*3]))
+			return true;
+	}
+	return false;
+}
+
+static void completeFacet(rcContext* ctx, const float* pts, int npts, int* edges, int& nedges, const int maxEdges, int& nfaces, int e)
+{
+	static const float EPS = 1e-5f;
+	
+	int* edge = &edges[e*4];
+	
+	// Cache s and t.
+	int s,t;
+	if (edge[2] == EV_UNDEF)
+	{
+		s = edge[0];
+		t = edge[1];
+	}
+	else if (edge[3] == EV_UNDEF)
+	{
+		s = edge[1];
+		t = edge[0];
+	}
+	else
+	{
+	    // Edge already completed.
+	    return;
+	}
+    
+	// Find best point on left of edge.
+	int pt = npts;
+	float c[3] = {0,0,0};
+	float r = -1;
+	for (int u = 0; u < npts; ++u)
+	{
+		if (u == s || u == t) continue;
+		if (vcross2(&pts[s*3], &pts[t*3], &pts[u*3]) > EPS)
+		{
+			if (r < 0)
+			{
+				// The circle is not updated yet, do it now.
+				pt = u;
+				circumCircle(&pts[s*3], &pts[t*3], &pts[u*3], c, r);
+				continue;
+			}
+			const float d = vdist2(c, &pts[u*3]);
+			const float tol = 0.001f;
+			if (d > r*(1+tol))
+			{
+				// Outside current circumcircle, skip.
+				continue;
+			}
+			else if (d < r*(1-tol))
+			{
+				// Inside safe circumcircle, update circle.
+				pt = u;
+				circumCircle(&pts[s*3], &pts[t*3], &pts[u*3], c, r);
+			}
+			else
+			{
+				// Inside epsilon circum circle, do extra tests to make sure the edge is valid.
+				// s-u and t-u cannot overlap with s-pt nor t-pt if they exists.
+				if (overlapEdges(pts, edges, nedges, s,u))
+					continue;
+				if (overlapEdges(pts, edges, nedges, t,u))
+					continue;
+				// Edge is valid.
+				pt = u;
+				circumCircle(&pts[s*3], &pts[t*3], &pts[u*3], c, r);
+			}
+		}
+	}
+	
+	// Add new triangle or update edge info if s-t is on hull.
+	if (pt < npts)
+	{
+		// Update face information of edge being completed.
+		updateLeftFace(&edges[e*4], s, t, nfaces);
+		
+		// Add new edge or update face info of old edge.
+		e = findEdge(edges, nedges, pt, s);
+		if (e == EV_UNDEF)
+		    addEdge(ctx, edges, nedges, maxEdges, pt, s, nfaces, EV_UNDEF);
+		else
+		    updateLeftFace(&edges[e*4], pt, s, nfaces);
+		
+		// Add new edge or update face info of old edge.
+		e = findEdge(edges, nedges, t, pt);
+		if (e == EV_UNDEF)
+		    addEdge(ctx, edges, nedges, maxEdges, t, pt, nfaces, EV_UNDEF);
+		else
+		    updateLeftFace(&edges[e*4], t, pt, nfaces);
+		
+		nfaces++;
+	}
+	else
+	{
+		updateLeftFace(&edges[e*4], s, t, EV_HULL);
+	}
+}
+
+static void delaunayHull(rcContext* ctx, const int npts, const float* pts,
+						 const int nhull, const int* hull,
+						 rcIntArray& tris, rcIntArray& edges)
+{
+	int nfaces = 0;
+	int nedges = 0;
+	const int maxEdges = npts*10;
+	edges.resize(maxEdges*4);
+	
+	for (int i = 0, j = nhull-1; i < nhull; j=i++)
+		addEdge(ctx, &edges[0], nedges, maxEdges, hull[j],hull[i], EV_HULL, EV_UNDEF);
+	
+	int currentEdge = 0;
+	while (currentEdge < nedges)
+	{
+		if (edges[currentEdge*4+2] == EV_UNDEF)
+			completeFacet(ctx, pts, npts, &edges[0], nedges, maxEdges, nfaces, currentEdge);
+		if (edges[currentEdge*4+3] == EV_UNDEF)
+			completeFacet(ctx, pts, npts, &edges[0], nedges, maxEdges, nfaces, currentEdge);
+		currentEdge++;
+	}
+	
+	// Create tris
+	tris.resize(nfaces*4);
+	for (int i = 0; i < nfaces*4; ++i)
+		tris[i] = -1;
+	
+	for (int i = 0; i < nedges; ++i)
+	{
+		const int* e = &edges[i*4];
+		if (e[3] >= 0)
+		{
+			// Left face
+			int* t = &tris[e[3]*4];
+			if (t[0] == -1)
+			{
+				t[0] = e[0];
+				t[1] = e[1];
+			}
+			else if (t[0] == e[1])
+				t[2] = e[0];
+			else if (t[1] == e[0])
+				t[2] = e[1];
+		}
+		if (e[2] >= 0)
+		{
+			// Right
+			int* t = &tris[e[2]*4];
+			if (t[0] == -1)
+			{
+				t[0] = e[1];
+				t[1] = e[0];
+			}
+			else if (t[0] == e[0])
+				t[2] = e[1];
+			else if (t[1] == e[1])
+				t[2] = e[0];
+		}
+	}
+	
+	for (int i = 0; i < tris.size()/4; ++i)
+	{
+		int* t = &tris[i*4];
+		if (t[0] == -1 || t[1] == -1 || t[2] == -1)
+		{
+			ctx->log(RC_LOG_WARNING, "delaunayHull: Removing dangling face %d [%d,%d,%d].", i, t[0],t[1],t[2]);
+			t[0] = tris[tris.size()-4];
+			t[1] = tris[tris.size()-3];
+			t[2] = tris[tris.size()-2];
+			t[3] = tris[tris.size()-1];
+			tris.resize(tris.size()-4);
+			--i;
+		}
+	}
+}
+
+// Calculate minimum extend of the polygon.
+static float polyMinExtent(const float* verts, const int nverts)
+{
+	float minDist = FLT_MAX;
+	for (int i = 0; i < nverts; i++)
+	{
+		const int ni = (i+1) % nverts;
+		const float* p1 = &verts[i*3];
+		const float* p2 = &verts[ni*3];
+		float maxEdgeDist = 0;
+		for (int j = 0; j < nverts; j++)
+		{
+			if (j == i || j == ni) continue;
+			float d = distancePtSeg2d(&verts[j*3], p1,p2);
+			maxEdgeDist = rcMax(maxEdgeDist, d);
+		}
+		minDist = rcMin(minDist, maxEdgeDist);
+	}
+	return rcSqrt(minDist);
+}
+
+// Last time I checked the if version got compiled using cmov, which was a lot faster than module (with idiv).
+inline int prev(int i, int n) { return i-1 >= 0 ? i-1 : n-1; }
+inline int next(int i, int n) { return i+1 < n ? i+1 : 0; }
+
+static void triangulateHull(const int /*nverts*/, const float* verts, const int nhull, const int* hull, rcIntArray& tris)
+{
+	int start = 0, left = 1, right = nhull-1;
+	
+	// Start from an ear with shortest perimeter.
+	// This tends to favor well formed triangles as starting point.
+	float dmin = 0;
+	for (int i = 0; i < nhull; i++)
+	{
+		int pi = prev(i, nhull);
+		int ni = next(i, nhull);
+		const float* pv = &verts[hull[pi]*3];
+		const float* cv = &verts[hull[i]*3];
+		const float* nv = &verts[hull[ni]*3];
+		const float d = vdist2(pv,cv) + vdist2(cv,nv) + vdist2(nv,pv);
+		if (d < dmin)
+		{
+			start = i;
+			left = ni;
+			right = pi;
+			dmin = d;
+		}
+	}
+	
+	// Add first triangle
+	tris.push(hull[start]);
+	tris.push(hull[left]);
+	tris.push(hull[right]);
+	tris.push(0);
+	
+	// Triangulate the polygon by moving left or right,
+	// depending on which triangle has shorter perimeter.
+	// This heuristic was chose emprically, since it seems
+	// handle tesselated straight edges well.
+	while (next(left, nhull) != right)
+	{
+		// Check to see if se should advance left or right.
+		int nleft = next(left, nhull);
+		int nright = prev(right, nhull);
+		
+		const float* cvleft = &verts[hull[left]*3];
+		const float* nvleft = &verts[hull[nleft]*3];
+		const float* cvright = &verts[hull[right]*3];
+		const float* nvright = &verts[hull[nright]*3];
+		const float dleft = vdist2(cvleft, nvleft) + vdist2(nvleft, cvright);
+		const float dright = vdist2(cvright, nvright) + vdist2(cvleft, nvright);
+		
+		if (dleft < dright)
+		{
+			tris.push(hull[left]);
+			tris.push(hull[nleft]);
+			tris.push(hull[right]);
+			tris.push(0);
+			left = nleft;
+		}
+		else
+		{
+			tris.push(hull[left]);
+			tris.push(hull[nright]);
+			tris.push(hull[right]);
+			tris.push(0);
+			right = nright;
+		}
+	}
+}
+
+
+inline float getJitterX(const int i)
+{
+	return (((i * 0x8da6b343) & 0xffff) / 65535.0f * 2.0f) - 1.0f;
+}
+
+inline float getJitterY(const int i)
+{
+	return (((i * 0xd8163841) & 0xffff) / 65535.0f * 2.0f) - 1.0f;
+}
+
+static bool buildPolyDetail(rcContext* ctx, const float* in, const int nin,
+							const float sampleDist, const float sampleMaxError,
+							const int heightSearchRadius, const rcCompactHeightfield& chf,
+							const rcHeightPatch& hp, float* verts, int& nverts,
+							rcIntArray& tris, rcIntArray& edges, rcIntArray& samples)
+{
+	static const int MAX_VERTS = 127;
+	static const int MAX_TRIS = 255;	// Max tris for delaunay is 2n-2-k (n=num verts, k=num hull verts).
+	static const int MAX_VERTS_PER_EDGE = 32;
+	float edge[(MAX_VERTS_PER_EDGE+1)*3];
+	int hull[MAX_VERTS];
+	int nhull = 0;
+	
+	nverts = nin;
+	
+	for (int i = 0; i < nin; ++i)
+		rcVcopy(&verts[i*3], &in[i*3]);
+	
+	edges.resize(0);
+	tris.resize(0);
+	
+	const float cs = chf.cs;
+	const float ics = 1.0f/cs;
+	
+	// Calculate minimum extents of the polygon based on input data.
+	float minExtent = polyMinExtent(verts, nverts);
+	
+	// Tessellate outlines.
+	// This is done in separate pass in order to ensure
+	// seamless height values across the ply boundaries.
+	if (sampleDist > 0)
+	{
+		for (int i = 0, j = nin-1; i < nin; j=i++)
+		{
+			const float* vj = &in[j*3];
+			const float* vi = &in[i*3];
+			bool swapped = false;
+			// Make sure the segments are always handled in same order
+			// using lexological sort or else there will be seams.
+			if (fabsf(vj[0]-vi[0]) < 1e-6f)
+			{
+				if (vj[2] > vi[2])
+				{
+					rcSwap(vj,vi);
+					swapped = true;
+				}
+			}
+			else
+			{
+				if (vj[0] > vi[0])
+				{
+					rcSwap(vj,vi);
+					swapped = true;
+				}
+			}
+			// Create samples along the edge.
+			float dx = vi[0] - vj[0];
+			float dy = vi[1] - vj[1];
+			float dz = vi[2] - vj[2];
+			float d = sqrtf(dx*dx + dz*dz);
+			int nn = 1 + (int)floorf(d/sampleDist);
+			if (nn >= MAX_VERTS_PER_EDGE) nn = MAX_VERTS_PER_EDGE-1;
+			if (nverts+nn >= MAX_VERTS)
+				nn = MAX_VERTS-1-nverts;
+			
+			for (int k = 0; k <= nn; ++k)
+			{
+				float u = (float)k/(float)nn;
+				float* pos = &edge[k*3];
+				pos[0] = vj[0] + dx*u;
+				pos[1] = vj[1] + dy*u;
+				pos[2] = vj[2] + dz*u;
+				pos[1] = getHeight(pos[0],pos[1],pos[2], cs, ics, chf.ch, heightSearchRadius, hp)*chf.ch;
+			}
+			// Simplify samples.
+			int idx[MAX_VERTS_PER_EDGE] = {0,nn};
+			int nidx = 2;
+			for (int k = 0; k < nidx-1; )
+			{
+				const int a = idx[k];
+				const int b = idx[k+1];
+				const float* va = &edge[a*3];
+				const float* vb = &edge[b*3];
+				// Find maximum deviation along the segment.
+				float maxd = 0;
+				int maxi = -1;
+				for (int m = a+1; m < b; ++m)
+				{
+					float dev = distancePtSeg(&edge[m*3],va,vb);
+					if (dev > maxd)
+					{
+						maxd = dev;
+						maxi = m;
+					}
+				}
+				// If the max deviation is larger than accepted error,
+				// add new point, else continue to next segment.
+				if (maxi != -1 && maxd > rcSqr(sampleMaxError))
+				{
+					for (int m = nidx; m > k; --m)
+						idx[m] = idx[m-1];
+					idx[k+1] = maxi;
+					nidx++;
+				}
+				else
+				{
+					++k;
+				}
+			}
+			
+			hull[nhull++] = j;
+			// Add new vertices.
+			if (swapped)
+			{
+				for (int k = nidx-2; k > 0; --k)
+				{
+					rcVcopy(&verts[nverts*3], &edge[idx[k]*3]);
+					hull[nhull++] = nverts;
+					nverts++;
+				}
+			}
+			else
+			{
+				for (int k = 1; k < nidx-1; ++k)
+				{
+					rcVcopy(&verts[nverts*3], &edge[idx[k]*3]);
+					hull[nhull++] = nverts;
+					nverts++;
+				}
+			}
+		}
+	}
+	
+	// If the polygon minimum extent is small (sliver or small triangle), do not try to add internal points.
+	if (minExtent < sampleDist*2)
+	{
+		triangulateHull(nverts, verts, nhull, hull, tris);
+		return true;
+	}
+	
+	// Tessellate the base mesh.
+	// We're using the triangulateHull instead of delaunayHull as it tends to
+	// create a bit better triangulation for long thin triangles when there
+	// are no internal points.
+	triangulateHull(nverts, verts, nhull, hull, tris);
+	
+	if (tris.size() == 0)
+	{
+		// Could not triangulate the poly, make sure there is some valid data there.
+		ctx->log(RC_LOG_WARNING, "buildPolyDetail: Could not triangulate polygon (%d verts).", nverts);
+		return true;
+	}
+	
+	if (sampleDist > 0)
+	{
+		// Create sample locations in a grid.
+		float bmin[3], bmax[3];
+		rcVcopy(bmin, in);
+		rcVcopy(bmax, in);
+		for (int i = 1; i < nin; ++i)
+		{
+			rcVmin(bmin, &in[i*3]);
+			rcVmax(bmax, &in[i*3]);
+		}
+		int x0 = (int)floorf(bmin[0]/sampleDist);
+		int x1 = (int)ceilf(bmax[0]/sampleDist);
+		int z0 = (int)floorf(bmin[2]/sampleDist);
+		int z1 = (int)ceilf(bmax[2]/sampleDist);
+		samples.resize(0);
+		for (int z = z0; z < z1; ++z)
+		{
+			for (int x = x0; x < x1; ++x)
+			{
+				float pt[3];
+				pt[0] = x*sampleDist;
+				pt[1] = (bmax[1]+bmin[1])*0.5f;
+				pt[2] = z*sampleDist;
+				// Make sure the samples are not too close to the edges.
+				if (distToPoly(nin,in,pt) > -sampleDist/2) continue;
+				samples.push(x);
+				samples.push(getHeight(pt[0], pt[1], pt[2], cs, ics, chf.ch, heightSearchRadius, hp));
+				samples.push(z);
+				samples.push(0); // Not added
+			}
+		}
+		
+		// Add the samples starting from the one that has the most
+		// error. The procedure stops when all samples are added
+		// or when the max error is within treshold.
+		const int nsamples = samples.size()/4;
+		for (int iter = 0; iter < nsamples; ++iter)
+		{
+			if (nverts >= MAX_VERTS)
+				break;
+			
+			// Find sample with most error.
+			float bestpt[3] = {0,0,0};
+			float bestd = 0;
+			int besti = -1;
+			for (int i = 0; i < nsamples; ++i)
+			{
+				const int* s = &samples[i*4];
+				if (s[3]) continue; // skip added.
+				float pt[3];
+				// The sample location is jittered to get rid of some bad triangulations
+				// which are cause by symmetrical data from the grid structure.
+				pt[0] = s[0]*sampleDist + getJitterX(i)*cs*0.1f;
+				pt[1] = s[1]*chf.ch;
+				pt[2] = s[2]*sampleDist + getJitterY(i)*cs*0.1f;
+				float d = distToTriMesh(pt, verts, nverts, &tris[0], tris.size()/4);
+				if (d < 0) continue; // did not hit the mesh.
+				if (d > bestd)
+				{
+					bestd = d;
+					besti = i;
+					rcVcopy(bestpt,pt);
+				}
+			}
+			// If the max error is within accepted threshold, stop tesselating.
+			if (bestd <= sampleMaxError || besti == -1)
+				break;
+			// Mark sample as added.
+			samples[besti*4+3] = 1;
+			// Add the new sample point.
+			rcVcopy(&verts[nverts*3],bestpt);
+			nverts++;
+			
+			// Create new triangulation.
+			// TODO: Incremental add instead of full rebuild.
+			edges.resize(0);
+			tris.resize(0);
+			delaunayHull(ctx, nverts, verts, nhull, hull, tris, edges);
+		}
+	}
+	
+	const int ntris = tris.size()/4;
+	if (ntris > MAX_TRIS)
+	{
+		tris.resize(MAX_TRIS*4);
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Shrinking triangle count from %d to max %d.", ntris, MAX_TRIS);
+	}
+	
+	return true;
+}
+
+static void seedArrayWithPolyCenter(rcContext* ctx, const rcCompactHeightfield& chf,
+									const unsigned short* poly, const int npoly,
+									const unsigned short* verts, const int bs,
+									rcHeightPatch& hp, rcIntArray& array)
+{
+	// Note: Reads to the compact heightfield are offset by border size (bs)
+	// since border size offset is already removed from the polymesh vertices.
+	
+	static const int offset[9*2] =
+	{
+		0,0, -1,-1, 0,-1, 1,-1, 1,0, 1,1, 0,1, -1,1, -1,0,
+	};
+	
+	// Find cell closest to a poly vertex
+	int startCellX = 0, startCellY = 0, startSpanIndex = -1;
+	int dmin = RC_UNSET_HEIGHT;
+	for (int j = 0; j < npoly && dmin > 0; ++j)
+	{
+		for (int k = 0; k < 9 && dmin > 0; ++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 && dmin > 0; ++i)
+			{
+				const rcCompactSpan& s = chf.spans[i];
+				int d = rcAbs(ay - (int)s.y);
+				if (d < dmin)
+				{
+					startCellX = ax;
+					startCellY = az;
+					startSpanIndex = i;
+					dmin = d;
+				}
+			}
+		}
+	}
+	
+	rcAssert(startSpanIndex != -1);
+	// Find center of the polygon
+	int pcx = 0, pcy = 0;
+	for (int j = 0; j < npoly; ++j)
+	{
+		pcx += (int)verts[poly[j]*3+0];
+		pcy += (int)verts[poly[j]*3+2];
+	}
+	pcx /= npoly;
+	pcy /= npoly;
+	
+	// Use seeds array as a stack for DFS
+	array.resize(0);
+	array.push(startCellX);
+	array.push(startCellY);
+	array.push(startSpanIndex);
+
+	int dirs[] = { 0, 1, 2, 3 };
+	memset(hp.data, 0, sizeof(unsigned short)*hp.width*hp.height);
+	// DFS to move to the center. Note that we need a DFS here and can not just move
+	// directly towards the center without recording intermediate nodes, even though the polygons
+	// are convex. In very rare we can get stuck due to contour simplification if we do not
+	// record nodes.
+	int cx = -1, cy = -1, ci = -1;
+	while (true)
+	{
+		if (array.size() < 3)
+		{
+			ctx->log(RC_LOG_WARNING, "Walk towards polygon center failed to reach center");
+			break;
+		}
+
+		ci = array.pop();
+		cy = array.pop();
+		cx = array.pop();
+
+		if (cx == pcx && cy == pcy)
+			break;
+
+		// If we are already at the correct X-position, prefer direction
+		// directly towards the center in the Y-axis; otherwise prefer
+		// direction in the X-axis
+		int directDir;
+		if (cx == pcx)
+			directDir = rcGetDirForOffset(0, pcy > cy ? 1 : -1);
+		else
+			directDir = rcGetDirForOffset(pcx > cx ? 1 : -1, 0);
+
+		// Push the direct dir last so we start with this on next iteration
+		rcSwap(dirs[directDir], dirs[3]);
+
+		const rcCompactSpan& cs = chf.spans[ci];
+		for (int i = 0; i < 4; i++)
+		{
+			int dir = dirs[i];
+			if (rcGetCon(cs, dir) == RC_NOT_CONNECTED)
+				continue;
+
+			int newX = cx + rcGetDirOffsetX(dir);
+			int newY = cy + rcGetDirOffsetY(dir);
+
+			int hpx = newX - hp.xmin;
+			int hpy = newY - hp.ymin;
+			if (hpx < 0 || hpx >= hp.width || hpy < 0 || hpy >= hp.height)
+				continue;
+
+			if (hp.data[hpx+hpy*hp.width] != 0)
+				continue;
+
+			hp.data[hpx+hpy*hp.width] = 1;
+			array.push(newX);
+			array.push(newY);
+			array.push((int)chf.cells[(newX+bs)+(newY+bs)*chf.width].index + rcGetCon(cs, dir));
+		}
+
+		rcSwap(dirs[directDir], dirs[3]);
+	}
+
+	array.resize(0);
+	// getHeightData seeds are given in coordinates with borders
+	array.push(cx+bs);
+	array.push(cy+bs);
+	array.push(ci);
+
+	memset(hp.data, 0xff, sizeof(unsigned short)*hp.width*hp.height);
+	const rcCompactSpan& cs = chf.spans[ci];
+	hp.data[cx-hp.xmin+(cy-hp.ymin)*hp.width] = cs.y;
+}
+
+
+static void push3(rcIntArray& queue, int v1, int v2, int v3)
+{
+	queue.resize(queue.size() + 3);
+	queue[queue.size() - 3] = v1;
+	queue[queue.size() - 2] = v2;
+	queue[queue.size() - 1] = v3;
+}
+
+static void getHeightData(rcContext* ctx, const rcCompactHeightfield& chf,
+						  const unsigned short* poly, const int npoly,
+						  const unsigned short* verts, const int bs,
+						  rcHeightPatch& hp, rcIntArray& queue,
+						  int region)
+{
+	// Note: Reads to the compact heightfield are offset by border size (bs)
+	// since border size offset is already removed from the polymesh vertices.
+	
+	queue.resize(0);
+	// Set all heights to RC_UNSET_HEIGHT.
+	memset(hp.data, 0xff, sizeof(unsigned short)*hp.width*hp.height);
+
+	bool empty = true;
+	
+	// We cannot sample from this poly if it was created from polys
+	// of different regions. If it was then it could potentially be overlapping
+	// with polys of that region and the heights sampled here could be wrong.
+	if (region != RC_MULTIPLE_REGS)
+	{
+		// 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 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;
+						empty = false;
+
+						// 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)
+							push3(queue, x, y, i);
+						break;
+					}
+				}
+			}
+		}
+	}
+	
+	// if the polygon does not contain any points from the current region (rare, but happens)
+	// or if it could potentially be overlapping polygons of the same region,
+	// then use the center as the seed point.
+	if (empty)
+		seedArrayWithPolyCenter(ctx, chf, poly, npoly, verts, bs, hp, queue);
+	
+	static const int RETRACT_SIZE = 256;
+	int head = 0;
+	
+	// We assume the seed is centered in the polygon, so a BFS to collect
+	// height data will ensure we do not move onto overlapping polygons and
+	// sample wrong heights.
+	while (head*3 < queue.size())
+	{
+		int cx = queue[head*3+0];
+		int cy = queue[head*3+1];
+		int ci = queue[head*3+2];
+		head++;
+		if (head >= RETRACT_SIZE)
+		{
+			head = 0;
+			if (queue.size() > RETRACT_SIZE*3)
+				memmove(&queue[0], &queue[RETRACT_SIZE*3], sizeof(int)*(queue.size()-RETRACT_SIZE*3));
+			queue.resize(queue.size()-RETRACT_SIZE*3);
+		}
+		
+		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);
+			const int hx = ax - hp.xmin - bs;
+			const int hy = ay - hp.ymin - bs;
+			
+			if ((unsigned int)hx >= (unsigned int)hp.width || (unsigned int)hy >= (unsigned int)hp.height)
+				continue;
+			
+			if (hp.data[hx + hy*hp.width] != RC_UNSET_HEIGHT)
+				continue;
+			
+			const int ai = (int)chf.cells[ax + ay*chf.width].index + rcGetCon(cs, dir);
+			const rcCompactSpan& as = chf.spans[ai];
+			
+			hp.data[hx + hy*hp.width] = as.y;
+			
+			push3(queue, ax, ay, ai);
+		}
+	}
+}
+
+static unsigned char getEdgeFlags(const float* va, const float* vb,
+								  const float* vpoly, const int npoly)
+{
+	// Return true if edge (va,vb) is part of the polygon.
+	static const float thrSqr = rcSqr(0.001f);
+	for (int i = 0, j = npoly-1; i < npoly; j=i++)
+	{
+		if (distancePtSeg2d(va, &vpoly[j*3], &vpoly[i*3]) < thrSqr &&
+			distancePtSeg2d(vb, &vpoly[j*3], &vpoly[i*3]) < thrSqr)
+			return 1;
+	}
+	return 0;
+}
+
+static unsigned char getTriFlags(const float* va, const float* vb, const float* vc,
+								 const float* vpoly, const int npoly)
+{
+	unsigned char flags = 0;
+	flags |= getEdgeFlags(va,vb,vpoly,npoly) << 0;
+	flags |= getEdgeFlags(vb,vc,vpoly,npoly) << 2;
+	flags |= getEdgeFlags(vc,va,vpoly,npoly) << 4;
+	return flags;
+}
+
+/// @par
+///
+/// See the #rcConfig documentation for more information on the configuration parameters.
+///
+/// @see rcAllocPolyMeshDetail, rcPolyMesh, rcCompactHeightfield, rcPolyMeshDetail, rcConfig
+bool rcBuildPolyMeshDetail(rcContext* ctx, const rcPolyMesh& mesh, const rcCompactHeightfield& chf,
+						   const float sampleDist, const float sampleMaxError,
+						   rcPolyMeshDetail& dmesh)
+{
+	rcAssert(ctx);
+	
+	rcScopedTimer timer(ctx, RC_TIMER_BUILD_POLYMESHDETAIL);
+	
+	if (mesh.nverts == 0 || mesh.npolys == 0)
+		return true;
+	
+	const int nvp = mesh.nvp;
+	const float cs = mesh.cs;
+	const float ch = mesh.ch;
+	const float* orig = mesh.bmin;
+	const int borderSize = mesh.borderSize;
+	const int heightSearchRadius = rcMax(1, (int)ceilf(mesh.maxEdgeError));
+	
+	rcIntArray edges(64);
+	rcIntArray tris(512);
+	rcIntArray arr(512);
+	rcIntArray samples(512);
+	float verts[256*3];
+	rcHeightPatch hp;
+	int nPolyVerts = 0;
+	int maxhw = 0, maxhh = 0;
+	
+	rcScopedDelete<int> bounds((int*)rcAlloc(sizeof(int)*mesh.npolys*4, RC_ALLOC_TEMP));
+	if (!bounds)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'bounds' (%d).", mesh.npolys*4);
+		return false;
+	}
+	rcScopedDelete<float> poly((float*)rcAlloc(sizeof(float)*nvp*3, RC_ALLOC_TEMP));
+	if (!poly)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'poly' (%d).", nvp*3);
+		return false;
+	}
+	
+	// Find max size for a polygon area.
+	for (int i = 0; i < mesh.npolys; ++i)
+	{
+		const unsigned short* p = &mesh.polys[i*nvp*2];
+		int& xmin = bounds[i*4+0];
+		int& xmax = bounds[i*4+1];
+		int& ymin = bounds[i*4+2];
+		int& ymax = bounds[i*4+3];
+		xmin = chf.width;
+		xmax = 0;
+		ymin = chf.height;
+		ymax = 0;
+		for (int j = 0; j < nvp; ++j)
+		{
+			if(p[j] == RC_MESH_NULL_IDX) break;
+			const unsigned short* v = &mesh.verts[p[j]*3];
+			xmin = rcMin(xmin, (int)v[0]);
+			xmax = rcMax(xmax, (int)v[0]);
+			ymin = rcMin(ymin, (int)v[2]);
+			ymax = rcMax(ymax, (int)v[2]);
+			nPolyVerts++;
+		}
+		xmin = rcMax(0,xmin-1);
+		xmax = rcMin(chf.width,xmax+1);
+		ymin = rcMax(0,ymin-1);
+		ymax = rcMin(chf.height,ymax+1);
+		if (xmin >= xmax || ymin >= ymax) continue;
+		maxhw = rcMax(maxhw, xmax-xmin);
+		maxhh = rcMax(maxhh, ymax-ymin);
+	}
+	
+	hp.data = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxhw*maxhh, RC_ALLOC_TEMP);
+	if (!hp.data)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'hp.data' (%d).", maxhw*maxhh);
+		return false;
+	}
+	
+	dmesh.nmeshes = mesh.npolys;
+	dmesh.nverts = 0;
+	dmesh.ntris = 0;
+	dmesh.meshes = (unsigned int*)rcAlloc(sizeof(unsigned int)*dmesh.nmeshes*4, RC_ALLOC_PERM);
+	if (!dmesh.meshes)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'dmesh.meshes' (%d).", dmesh.nmeshes*4);
+		return false;
+	}
+	
+	int vcap = nPolyVerts+nPolyVerts/2;
+	int tcap = vcap*2;
+	
+	dmesh.nverts = 0;
+	dmesh.verts = (float*)rcAlloc(sizeof(float)*vcap*3, RC_ALLOC_PERM);
+	if (!dmesh.verts)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'dmesh.verts' (%d).", vcap*3);
+		return false;
+	}
+	dmesh.ntris = 0;
+	dmesh.tris = (unsigned char*)rcAlloc(sizeof(unsigned char)*tcap*4, RC_ALLOC_PERM);
+	if (!dmesh.tris)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'dmesh.tris' (%d).", tcap*4);
+		return false;
+	}
+	
+	for (int i = 0; i < mesh.npolys; ++i)
+	{
+		const unsigned short* p = &mesh.polys[i*nvp*2];
+		
+		// Store polygon vertices for processing.
+		int npoly = 0;
+		for (int j = 0; j < nvp; ++j)
+		{
+			if(p[j] == RC_MESH_NULL_IDX) break;
+			const unsigned short* v = &mesh.verts[p[j]*3];
+			poly[j*3+0] = v[0]*cs;
+			poly[j*3+1] = v[1]*ch;
+			poly[j*3+2] = v[2]*cs;
+			npoly++;
+		}
+		
+		// Get the height data from the area of the polygon.
+		hp.xmin = bounds[i*4+0];
+		hp.ymin = bounds[i*4+2];
+		hp.width = bounds[i*4+1]-bounds[i*4+0];
+		hp.height = bounds[i*4+3]-bounds[i*4+2];
+		getHeightData(ctx, chf, p, npoly, mesh.verts, borderSize, hp, arr, mesh.regs[i]);
+		
+		// Build detail mesh.
+		int nverts = 0;
+		if (!buildPolyDetail(ctx, poly, npoly,
+							 sampleDist, sampleMaxError,
+							 heightSearchRadius, chf, hp,
+							 verts, nverts, tris,
+							 edges, samples))
+		{
+			return false;
+		}
+		
+		// Move detail verts to world space.
+		for (int j = 0; j < nverts; ++j)
+		{
+			verts[j*3+0] += orig[0];
+			verts[j*3+1] += orig[1] + chf.ch; // Is this offset necessary?
+			verts[j*3+2] += orig[2];
+		}
+		// Offset poly too, will be used to flag checking.
+		for (int j = 0; j < npoly; ++j)
+		{
+			poly[j*3+0] += orig[0];
+			poly[j*3+1] += orig[1];
+			poly[j*3+2] += orig[2];
+		}
+		
+		// Store detail submesh.
+		const int ntris = tris.size()/4;
+		
+		dmesh.meshes[i*4+0] = (unsigned int)dmesh.nverts;
+		dmesh.meshes[i*4+1] = (unsigned int)nverts;
+		dmesh.meshes[i*4+2] = (unsigned int)dmesh.ntris;
+		dmesh.meshes[i*4+3] = (unsigned int)ntris;
+		
+		// Store vertices, allocate more memory if necessary.
+		if (dmesh.nverts+nverts > vcap)
+		{
+			while (dmesh.nverts+nverts > vcap)
+				vcap += 256;
+			
+			float* newv = (float*)rcAlloc(sizeof(float)*vcap*3, RC_ALLOC_PERM);
+			if (!newv)
+			{
+				ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'newv' (%d).", vcap*3);
+				return false;
+			}
+			if (dmesh.nverts)
+				memcpy(newv, dmesh.verts, sizeof(float)*3*dmesh.nverts);
+			rcFree(dmesh.verts);
+			dmesh.verts = newv;
+		}
+		for (int j = 0; j < nverts; ++j)
+		{
+			dmesh.verts[dmesh.nverts*3+0] = verts[j*3+0];
+			dmesh.verts[dmesh.nverts*3+1] = verts[j*3+1];
+			dmesh.verts[dmesh.nverts*3+2] = verts[j*3+2];
+			dmesh.nverts++;
+		}
+		
+		// Store triangles, allocate more memory if necessary.
+		if (dmesh.ntris+ntris > tcap)
+		{
+			while (dmesh.ntris+ntris > tcap)
+				tcap += 256;
+			unsigned char* newt = (unsigned char*)rcAlloc(sizeof(unsigned char)*tcap*4, RC_ALLOC_PERM);
+			if (!newt)
+			{
+				ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'newt' (%d).", tcap*4);
+				return false;
+			}
+			if (dmesh.ntris)
+				memcpy(newt, dmesh.tris, sizeof(unsigned char)*4*dmesh.ntris);
+			rcFree(dmesh.tris);
+			dmesh.tris = newt;
+		}
+		for (int j = 0; j < ntris; ++j)
+		{
+			const int* t = &tris[j*4];
+			dmesh.tris[dmesh.ntris*4+0] = (unsigned char)t[0];
+			dmesh.tris[dmesh.ntris*4+1] = (unsigned char)t[1];
+			dmesh.tris[dmesh.ntris*4+2] = (unsigned char)t[2];
+			dmesh.tris[dmesh.ntris*4+3] = getTriFlags(&verts[t[0]*3], &verts[t[1]*3], &verts[t[2]*3], poly, npoly);
+			dmesh.ntris++;
+		}
+	}
+	
+	return true;
+}
+
+/// @see rcAllocPolyMeshDetail, rcPolyMeshDetail
+bool rcMergePolyMeshDetails(rcContext* ctx, rcPolyMeshDetail** meshes, const int nmeshes, rcPolyMeshDetail& mesh)
+{
+	rcAssert(ctx);
+	
+	rcScopedTimer timer(ctx, RC_TIMER_MERGE_POLYMESHDETAIL);
+	
+	int maxVerts = 0;
+	int maxTris = 0;
+	int maxMeshes = 0;
+	
+	for (int i = 0; i < nmeshes; ++i)
+	{
+		if (!meshes[i]) continue;
+		maxVerts += meshes[i]->nverts;
+		maxTris += meshes[i]->ntris;
+		maxMeshes += meshes[i]->nmeshes;
+	}
+	
+	mesh.nmeshes = 0;
+	mesh.meshes = (unsigned int*)rcAlloc(sizeof(unsigned int)*maxMeshes*4, RC_ALLOC_PERM);
+	if (!mesh.meshes)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'pmdtl.meshes' (%d).", maxMeshes*4);
+		return false;
+	}
+	
+	mesh.ntris = 0;
+	mesh.tris = (unsigned char*)rcAlloc(sizeof(unsigned char)*maxTris*4, RC_ALLOC_PERM);
+	if (!mesh.tris)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'dmesh.tris' (%d).", maxTris*4);
+		return false;
+	}
+	
+	mesh.nverts = 0;
+	mesh.verts = (float*)rcAlloc(sizeof(float)*maxVerts*3, RC_ALLOC_PERM);
+	if (!mesh.verts)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'dmesh.verts' (%d).", maxVerts*3);
+		return false;
+	}
+	
+	// Merge datas.
+	for (int i = 0; i < nmeshes; ++i)
+	{
+		rcPolyMeshDetail* dm = meshes[i];
+		if (!dm) continue;
+		for (int j = 0; j < dm->nmeshes; ++j)
+		{
+			unsigned int* dst = &mesh.meshes[mesh.nmeshes*4];
+			unsigned int* src = &dm->meshes[j*4];
+			dst[0] = (unsigned int)mesh.nverts+src[0];
+			dst[1] = src[1];
+			dst[2] = (unsigned int)mesh.ntris+src[2];
+			dst[3] = src[3];
+			mesh.nmeshes++;
+		}
+		
+		for (int k = 0; k < dm->nverts; ++k)
+		{
+			rcVcopy(&mesh.verts[mesh.nverts*3], &dm->verts[k*3]);
+			mesh.nverts++;
+		}
+		for (int k = 0; k < dm->ntris; ++k)
+		{
+			mesh.tris[mesh.ntris*4+0] = dm->tris[k*4+0];
+			mesh.tris[mesh.ntris*4+1] = dm->tris[k*4+1];
+			mesh.tris[mesh.ntris*4+2] = dm->tris[k*4+2];
+			mesh.tris[mesh.ntris*4+3] = dm->tris[k*4+3];
+			mesh.ntris++;
+		}
+	}
+	
+	return true;
+}
diff --git a/thirdparty/recastnavigation/Recast/Source/RecastRasterization.cpp b/thirdparty/recastnavigation/Recast/Source/RecastRasterization.cpp
new file mode 100644
index 0000000000..a4cef74909
--- /dev/null
+++ b/thirdparty/recastnavigation/Recast/Source/RecastRasterization.cpp
@@ -0,0 +1,454 @@
+//
+// Copyright (c) 2009-2010 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 "Recast.h"
+#include "RecastAlloc.h"
+#include "RecastAssert.h"
+
+inline bool overlapBounds(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 overlapInterval(unsigned short amin, unsigned short amax,
+							unsigned short bmin, unsigned short bmax)
+{
+	if (amax < bmin) return false;
+	if (amin > bmax) return false;
+	return true;
+}
+
+
+static rcSpan* allocSpan(rcHeightfield& hf)
+{
+	// If running out of memory, allocate new page and update the freelist.
+	if (!hf.freelist || !hf.freelist->next)
+	{
+		// Create new page.
+		// Allocate memory for the new pool.
+		rcSpanPool* pool = (rcSpanPool*)rcAlloc(sizeof(rcSpanPool), RC_ALLOC_PERM);
+		if (!pool) return 0;
+
+		// Add the pool into the list of pools.
+		pool->next = hf.pools;
+		hf.pools = pool;
+		// Add new items to the free list.
+		rcSpan* freelist = hf.freelist;
+		rcSpan* head = &pool->items[0];
+		rcSpan* it = &pool->items[RC_SPANS_PER_POOL];
+		do
+		{
+			--it;
+			it->next = freelist;
+			freelist = it;
+		}
+		while (it != head);
+		hf.freelist = it;
+	}
+	
+	// Pop item from in front of the free list.
+	rcSpan* it = hf.freelist;
+	hf.freelist = hf.freelist->next;
+	return it;
+}
+
+static void freeSpan(rcHeightfield& hf, rcSpan* ptr)
+{
+	if (!ptr) return;
+	// Add the node in front of the free list.
+	ptr->next = hf.freelist;
+	hf.freelist = ptr;
+}
+
+static bool addSpan(rcHeightfield& hf, const int x, const int y,
+					const unsigned short smin, const unsigned short smax,
+					const unsigned char area, const int flagMergeThr)
+{
+	
+	int idx = x + y*hf.width;
+	
+	rcSpan* s = allocSpan(hf);
+	if (!s)
+		return false;
+	s->smin = smin;
+	s->smax = smax;
+	s->area = area;
+	s->next = 0;
+	
+	// Empty cell, add the first span.
+	if (!hf.spans[idx])
+	{
+		hf.spans[idx] = s;
+		return true;
+	}
+	rcSpan* prev = 0;
+	rcSpan* cur = hf.spans[idx];
+	
+	// Insert and merge spans.
+	while (cur)
+	{
+		if (cur->smin > s->smax)
+		{
+			// Current span is further than the new span, break.
+			break;
+		}
+		else if (cur->smax < s->smin)
+		{
+			// Current span is before the new span advance.
+			prev = cur;
+			cur = cur->next;
+		}
+		else
+		{
+			// Merge spans.
+			if (cur->smin < s->smin)
+				s->smin = cur->smin;
+			if (cur->smax > s->smax)
+				s->smax = cur->smax;
+			
+			// Merge flags.
+			if (rcAbs((int)s->smax - (int)cur->smax) <= flagMergeThr)
+				s->area = rcMax(s->area, cur->area);
+			
+			// Remove current span.
+			rcSpan* next = cur->next;
+			freeSpan(hf, cur);
+			if (prev)
+				prev->next = next;
+			else
+				hf.spans[idx] = next;
+			cur = next;
+		}
+	}
+	
+	// Insert new span.
+	if (prev)
+	{
+		s->next = prev->next;
+		prev->next = s;
+	}
+	else
+	{
+		s->next = hf.spans[idx];
+		hf.spans[idx] = s;
+	}
+
+	return true;
+}
+
+/// @par
+///
+/// The span addition can be set to favor flags. If the span is merged to
+/// another span and the new @p smax is within @p flagMergeThr units
+/// from the existing span, the span flags are merged.
+///
+/// @see rcHeightfield, rcSpan.
+bool rcAddSpan(rcContext* ctx, rcHeightfield& hf, const int x, const int y,
+			   const unsigned short smin, const unsigned short smax,
+			   const unsigned char area, const int flagMergeThr)
+{
+	rcAssert(ctx);
+
+	if (!addSpan(hf, x, y, smin, smax, area, flagMergeThr))
+	{
+		ctx->log(RC_LOG_ERROR, "rcAddSpan: Out of memory.");
+		return false;
+	}
+
+	return true;
+}
+
+// divides a convex polygons into two convex polygons on both sides of a line
+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 < nin; ++i)
+		d[i] = x - in[i*3+axis];
+
+	int m = 0, n = 0;
+	for (int i = 0, j = nin-1; i < nin; j=i, ++i)
+	{
+		bool ina = d[j] >= 0;
+		bool inb = d[i] >= 0;
+		if (ina != inb)
+		{
+			float s = d[j] / (d[j] - d[i]);
+			out1[m*3+0] = in[j*3+0] + (in[i*3+0] - in[j*3+0])*s;
+			out1[m*3+1] = in[j*3+1] + (in[i*3+1] - in[j*3+1])*s;
+			out1[m*3+2] = in[j*3+2] + (in[i*3+2] - in[j*3+2])*s;
+			rcVcopy(out2 + n*3, out1 + m*3);
+			m++;
+			n++;
+			// add the i'th point to the right polygon. Do NOT add points that are on the dividing line
+			// since these were already added above
+			if (d[i] > 0)
+			{
+				rcVcopy(out1 + m*3, in + i*3);
+				m++;
+			}
+			else if (d[i] < 0)
+			{
+				rcVcopy(out2 + n*3, in + i*3);
+				n++;
+			}
+		}
+		else // same side
+		{
+			// add the i'th point to the right polygon. Addition is done even for points on the dividing line
+			if (d[i] >= 0)
+			{
+				rcVcopy(out1 + m*3, in + i*3);
+				m++;
+				if (d[i] != 0)
+					continue;
+			}
+			rcVcopy(out2 + n*3, in + i*3);
+			n++;
+		}
+	}
+
+	*nout1 = m;
+	*nout2 = n;
+}
+
+
+
+static bool rasterizeTri(const float* v0, const float* v1, const float* v2,
+						 const unsigned char area, rcHeightfield& hf,
+						 const float* bmin, const float* bmax,
+						 const float cs, const float ics, const float ich,
+						 const int flagMergeThr)
+{
+	const int w = hf.width;
+	const int h = hf.height;
+	float tmin[3], tmax[3];
+	const float by = bmax[1] - bmin[1];
+	
+	// Calculate the bounding box of the triangle.
+	rcVcopy(tmin, v0);
+	rcVcopy(tmax, v0);
+	rcVmin(tmin, v1);
+	rcVmin(tmin, v2);
+	rcVmax(tmax, v1);
+	rcVmax(tmax, v2);
+	
+	// If the triangle does not touch the bbox of the heightfield, skip the triagle.
+	if (!overlapBounds(bmin, bmax, tmin, tmax))
+		return true;
+	
+	// Calculate the footprint of the triangle on the grid's y-axis
+	int y0 = (int)((tmin[2] - bmin[2])*ics);
+	int y1 = (int)((tmax[2] - bmin[2])*ics);
+	y0 = rcClamp(y0, 0, h-1);
+	y1 = rcClamp(y1, 0, h-1);
+	
+	// Clip the triangle into all grid cells it touches.
+	float buf[7*3*4];
+	float *in = buf, *inrow = buf+7*3, *p1 = inrow+7*3, *p2 = p1+7*3;
+
+	rcVcopy(&in[0], v0);
+	rcVcopy(&in[1*3], v1);
+	rcVcopy(&in[2*3], v2);
+	int nvrow, nvIn = 3;
+	
+	for (int y = y0; y <= y1; ++y)
+	{
+		// Clip polygon to row. Store the remaining polygon as well
+		const float cz = bmin[2] + y*cs;
+		dividePoly(in, nvIn, inrow, &nvrow, p1, &nvIn, cz+cs, 2);
+		rcSwap(in, p1);
+		if (nvrow < 3) continue;
+		
+		// find the horizontal bounds in the row
+		float minX = inrow[0], maxX = inrow[0];
+		for (int i=1; i<nvrow; ++i)
+		{
+			if (minX > inrow[i*3])	minX = inrow[i*3];
+			if (maxX < inrow[i*3])	maxX = inrow[i*3];
+		}
+		int x0 = (int)((minX - bmin[0])*ics);
+		int x1 = (int)((maxX - bmin[0])*ics);
+		x0 = rcClamp(x0, 0, w-1);
+		x1 = rcClamp(x1, 0, w-1);
+
+		int nv, nv2 = nvrow;
+
+		for (int x = x0; x <= x1; ++x)
+		{
+			// Clip polygon to column. store the remaining polygon as well
+			const float cx = bmin[0] + x*cs;
+			dividePoly(inrow, nv2, p1, &nv, p2, &nv2, cx+cs, 0);
+			rcSwap(inrow, p2);
+			if (nv < 3) continue;
+			
+			// Calculate min and max of the span.
+			float smin = p1[1], smax = p1[1];
+			for (int i = 1; i < nv; ++i)
+			{
+				smin = rcMin(smin, p1[i*3+1]);
+				smax = rcMax(smax, p1[i*3+1]);
+			}
+			smin -= bmin[1];
+			smax -= bmin[1];
+			// Skip the span if it is outside the heightfield bbox
+			if (smax < 0.0f) continue;
+			if (smin > by) continue;
+			// Clamp the span to the heightfield bbox.
+			if (smin < 0.0f) smin = 0;
+			if (smax > by) smax = by;
+			
+			// Snap the span to the heightfield height grid.
+			unsigned short ismin = (unsigned short)rcClamp((int)floorf(smin * ich), 0, RC_SPAN_MAX_HEIGHT);
+			unsigned short ismax = (unsigned short)rcClamp((int)ceilf(smax * ich), (int)ismin+1, RC_SPAN_MAX_HEIGHT);
+			
+			if (!addSpan(hf, x, y, ismin, ismax, area, flagMergeThr))
+				return false;
+		}
+	}
+
+	return true;
+}
+
+/// @par
+///
+/// No spans will be added if the triangle does not overlap the heightfield grid.
+///
+/// @see rcHeightfield
+bool rcRasterizeTriangle(rcContext* ctx, const float* v0, const float* v1, const float* v2,
+						 const unsigned char area, rcHeightfield& solid,
+						 const int flagMergeThr)
+{
+	rcAssert(ctx);
+
+	rcScopedTimer timer(ctx, RC_TIMER_RASTERIZE_TRIANGLES);
+
+	const float ics = 1.0f/solid.cs;
+	const float ich = 1.0f/solid.ch;
+	if (!rasterizeTri(v0, v1, v2, area, solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr))
+	{
+		ctx->log(RC_LOG_ERROR, "rcRasterizeTriangle: Out of memory.");
+		return false;
+	}
+
+	return true;
+}
+
+/// @par
+///
+/// Spans will only be added for triangles that overlap the heightfield grid.
+///
+/// @see rcHeightfield
+bool rcRasterizeTriangles(rcContext* ctx, const float* verts, const int /*nv*/,
+						  const int* tris, const unsigned char* areas, const int nt,
+						  rcHeightfield& solid, const int flagMergeThr)
+{
+	rcAssert(ctx);
+
+	rcScopedTimer timer(ctx, RC_TIMER_RASTERIZE_TRIANGLES);
+	
+	const float ics = 1.0f/solid.cs;
+	const float ich = 1.0f/solid.ch;
+	// Rasterize triangles.
+	for (int i = 0; i < nt; ++i)
+	{
+		const float* v0 = &verts[tris[i*3+0]*3];
+		const float* v1 = &verts[tris[i*3+1]*3];
+		const float* v2 = &verts[tris[i*3+2]*3];
+		// Rasterize.
+		if (!rasterizeTri(v0, v1, v2, areas[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr))
+		{
+			ctx->log(RC_LOG_ERROR, "rcRasterizeTriangles: Out of memory.");
+			return false;
+		}
+	}
+
+	return true;
+}
+
+/// @par
+///
+/// Spans will only be added for triangles that overlap the heightfield grid.
+///
+/// @see rcHeightfield
+bool rcRasterizeTriangles(rcContext* ctx, const float* verts, const int /*nv*/,
+						  const unsigned short* tris, const unsigned char* areas, const int nt,
+						  rcHeightfield& solid, const int flagMergeThr)
+{
+	rcAssert(ctx);
+
+	rcScopedTimer timer(ctx, RC_TIMER_RASTERIZE_TRIANGLES);
+	
+	const float ics = 1.0f/solid.cs;
+	const float ich = 1.0f/solid.ch;
+	// Rasterize triangles.
+	for (int i = 0; i < nt; ++i)
+	{
+		const float* v0 = &verts[tris[i*3+0]*3];
+		const float* v1 = &verts[tris[i*3+1]*3];
+		const float* v2 = &verts[tris[i*3+2]*3];
+		// Rasterize.
+		if (!rasterizeTri(v0, v1, v2, areas[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr))
+		{
+			ctx->log(RC_LOG_ERROR, "rcRasterizeTriangles: Out of memory.");
+			return false;
+		}
+	}
+
+	return true;
+}
+
+/// @par
+///
+/// Spans will only be added for triangles that overlap the heightfield grid.
+///
+/// @see rcHeightfield
+bool rcRasterizeTriangles(rcContext* ctx, const float* verts, const unsigned char* areas, const int nt,
+						  rcHeightfield& solid, const int flagMergeThr)
+{
+	rcAssert(ctx);
+	
+	rcScopedTimer timer(ctx, RC_TIMER_RASTERIZE_TRIANGLES);
+	
+	const float ics = 1.0f/solid.cs;
+	const float ich = 1.0f/solid.ch;
+	// Rasterize triangles.
+	for (int i = 0; i < nt; ++i)
+	{
+		const float* v0 = &verts[(i*3+0)*3];
+		const float* v1 = &verts[(i*3+1)*3];
+		const float* v2 = &verts[(i*3+2)*3];
+		// Rasterize.
+		if (!rasterizeTri(v0, v1, v2, areas[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr))
+		{
+			ctx->log(RC_LOG_ERROR, "rcRasterizeTriangles: Out of memory.");
+			return false;
+		}
+	}
+
+	return true;
+}
diff --git a/thirdparty/recastnavigation/Recast/Source/RecastRegion.cpp b/thirdparty/recastnavigation/Recast/Source/RecastRegion.cpp
new file mode 100644
index 0000000000..38a2bd6bfa
--- /dev/null
+++ b/thirdparty/recastnavigation/Recast/Source/RecastRegion.cpp
@@ -0,0 +1,1824 @@
+//
+// Copyright (c) 2009-2010 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 <float.h>
+#define _USE_MATH_DEFINES
+#include <math.h>
+#include <string.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include "Recast.h"
+#include "RecastAlloc.h"
+#include "RecastAssert.h"
+#include <new>
+
+
+static void calculateDistanceField(rcCompactHeightfield& chf, unsigned short* src, unsigned short& maxDist)
+{
+	const int w = chf.width;
+	const int h = chf.height;
+	
+	// Init distance and points.
+	for (int i = 0; i < chf.spanCount; ++i)
+		src[i] = 0xffff;
+	
+	// Mark boundary cells.
+	for (int y = 0; y < h; ++y)
+	{
+		for (int x = 0; x < w; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+y*w];
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				const rcCompactSpan& s = chf.spans[i];
+				const unsigned char area = chf.areas[i];
+				
+				int nc = 0;
+				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*w].index + rcGetCon(s, dir);
+						if (area == chf.areas[ai])
+							nc++;
+					}
+				}
+				if (nc != 4)
+					src[i] = 0;
+			}
+		}
+	}
+	
+			
+	// Pass 1
+	for (int y = 0; y < h; ++y)
+	{
+		for (int x = 0; x < w; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+y*w];
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				const rcCompactSpan& s = chf.spans[i];
+				
+				if (rcGetCon(s, 0) != RC_NOT_CONNECTED)
+				{
+					// (-1,0)
+					const int ax = x + rcGetDirOffsetX(0);
+					const int ay = y + rcGetDirOffsetY(0);
+					const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 0);
+					const rcCompactSpan& as = chf.spans[ai];
+					if (src[ai]+2 < src[i])
+						src[i] = src[ai]+2;
+					
+					// (-1,-1)
+					if (rcGetCon(as, 3) != RC_NOT_CONNECTED)
+					{
+						const int aax = ax + rcGetDirOffsetX(3);
+						const int aay = ay + rcGetDirOffsetY(3);
+						const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 3);
+						if (src[aai]+3 < src[i])
+							src[i] = src[aai]+3;
+					}
+				}
+				if (rcGetCon(s, 3) != RC_NOT_CONNECTED)
+				{
+					// (0,-1)
+					const int ax = x + rcGetDirOffsetX(3);
+					const int ay = y + rcGetDirOffsetY(3);
+					const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 3);
+					const rcCompactSpan& as = chf.spans[ai];
+					if (src[ai]+2 < src[i])
+						src[i] = src[ai]+2;
+					
+					// (1,-1)
+					if (rcGetCon(as, 2) != RC_NOT_CONNECTED)
+					{
+						const int aax = ax + rcGetDirOffsetX(2);
+						const int aay = ay + rcGetDirOffsetY(2);
+						const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 2);
+						if (src[aai]+3 < src[i])
+							src[i] = src[aai]+3;
+					}
+				}
+			}
+		}
+	}
+	
+	// Pass 2
+	for (int y = h-1; y >= 0; --y)
+	{
+		for (int x = w-1; x >= 0; --x)
+		{
+			const rcCompactCell& c = chf.cells[x+y*w];
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				const rcCompactSpan& s = chf.spans[i];
+				
+				if (rcGetCon(s, 2) != RC_NOT_CONNECTED)
+				{
+					// (1,0)
+					const int ax = x + rcGetDirOffsetX(2);
+					const int ay = y + rcGetDirOffsetY(2);
+					const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 2);
+					const rcCompactSpan& as = chf.spans[ai];
+					if (src[ai]+2 < src[i])
+						src[i] = src[ai]+2;
+					
+					// (1,1)
+					if (rcGetCon(as, 1) != RC_NOT_CONNECTED)
+					{
+						const int aax = ax + rcGetDirOffsetX(1);
+						const int aay = ay + rcGetDirOffsetY(1);
+						const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 1);
+						if (src[aai]+3 < src[i])
+							src[i] = src[aai]+3;
+					}
+				}
+				if (rcGetCon(s, 1) != RC_NOT_CONNECTED)
+				{
+					// (0,1)
+					const int ax = x + rcGetDirOffsetX(1);
+					const int ay = y + rcGetDirOffsetY(1);
+					const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 1);
+					const rcCompactSpan& as = chf.spans[ai];
+					if (src[ai]+2 < src[i])
+						src[i] = src[ai]+2;
+					
+					// (-1,1)
+					if (rcGetCon(as, 0) != RC_NOT_CONNECTED)
+					{
+						const int aax = ax + rcGetDirOffsetX(0);
+						const int aay = ay + rcGetDirOffsetY(0);
+						const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 0);
+						if (src[aai]+3 < src[i])
+							src[i] = src[aai]+3;
+					}
+				}
+			}
+		}
+	}	
+	
+	maxDist = 0;
+	for (int i = 0; i < chf.spanCount; ++i)
+		maxDist = rcMax(src[i], maxDist);
+	
+}
+
+static unsigned short* boxBlur(rcCompactHeightfield& chf, int thr,
+							   unsigned short* src, unsigned short* dst)
+{
+	const int w = chf.width;
+	const int h = chf.height;
+	
+	thr *= 2;
+	
+	for (int y = 0; y < h; ++y)
+	{
+		for (int x = 0; x < w; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+y*w];
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				const rcCompactSpan& s = chf.spans[i];
+				const unsigned short cd = src[i];
+				if (cd <= thr)
+				{
+					dst[i] = cd;
+					continue;
+				}
+
+				int d = (int)cd;
+				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*w].index + rcGetCon(s, dir);
+						d += (int)src[ai];
+						
+						const rcCompactSpan& as = chf.spans[ai];
+						const int dir2 = (dir+1) & 0x3;
+						if (rcGetCon(as, dir2) != RC_NOT_CONNECTED)
+						{
+							const int ax2 = ax + rcGetDirOffsetX(dir2);
+							const int ay2 = ay + rcGetDirOffsetY(dir2);
+							const int ai2 = (int)chf.cells[ax2+ay2*w].index + rcGetCon(as, dir2);
+							d += (int)src[ai2];
+						}
+						else
+						{
+							d += cd;
+						}
+					}
+					else
+					{
+						d += cd*2;
+					}
+				}
+				dst[i] = (unsigned short)((d+5)/9);
+			}
+		}
+	}
+	return dst;
+}
+
+
+static bool floodRegion(int x, int y, int i,
+						unsigned short level, unsigned short r,
+						rcCompactHeightfield& chf,
+						unsigned short* srcReg, unsigned short* srcDist,
+						rcIntArray& stack)
+{
+	const int w = chf.width;
+	
+	const unsigned char area = chf.areas[i];
+	
+	// Flood fill mark region.
+	stack.resize(0);
+	stack.push((int)x);
+	stack.push((int)y);
+	stack.push((int)i);
+	srcReg[i] = r;
+	srcDist[i] = 0;
+	
+	unsigned short lev = level >= 2 ? level-2 : 0;
+	int count = 0;
+	
+	while (stack.size() > 0)
+	{
+		int ci = stack.pop();
+		int cy = stack.pop();
+		int cx = stack.pop();
+		
+		const rcCompactSpan& cs = chf.spans[ci];
+		
+		// Check if any of the neighbours already have a valid region set.
+		unsigned short ar = 0;
+		for (int dir = 0; dir < 4; ++dir)
+		{
+			// 8 connected
+			if (rcGetCon(cs, dir) != RC_NOT_CONNECTED)
+			{
+				const int ax = cx + rcGetDirOffsetX(dir);
+				const int ay = cy + rcGetDirOffsetY(dir);
+				const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(cs, dir);
+				if (chf.areas[ai] != area)
+					continue;
+				unsigned short nr = srcReg[ai];
+				if (nr & RC_BORDER_REG) // Do not take borders into account.
+					continue;
+				if (nr != 0 && nr != r)
+				{
+					ar = nr;
+					break;
+				}
+				
+				const rcCompactSpan& as = chf.spans[ai];
+				
+				const int dir2 = (dir+1) & 0x3;
+				if (rcGetCon(as, dir2) != RC_NOT_CONNECTED)
+				{
+					const int ax2 = ax + rcGetDirOffsetX(dir2);
+					const int ay2 = ay + rcGetDirOffsetY(dir2);
+					const int ai2 = (int)chf.cells[ax2+ay2*w].index + rcGetCon(as, dir2);
+					if (chf.areas[ai2] != area)
+						continue;
+					unsigned short nr2 = srcReg[ai2];
+					if (nr2 != 0 && nr2 != r)
+					{
+						ar = nr2;
+						break;
+					}
+				}				
+			}
+		}
+		if (ar != 0)
+		{
+			srcReg[ci] = 0;
+			continue;
+		}
+		
+		count++;
+		
+		// Expand neighbours.
+		for (int dir = 0; dir < 4; ++dir)
+		{
+			if (rcGetCon(cs, dir) != RC_NOT_CONNECTED)
+			{
+				const int ax = cx + rcGetDirOffsetX(dir);
+				const int ay = cy + rcGetDirOffsetY(dir);
+				const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(cs, dir);
+				if (chf.areas[ai] != area)
+					continue;
+				if (chf.dist[ai] >= lev && srcReg[ai] == 0)
+				{
+					srcReg[ai] = r;
+					srcDist[ai] = 0;
+					stack.push(ax);
+					stack.push(ay);
+					stack.push(ai);
+				}
+			}
+		}
+	}
+	
+	return count > 0;
+}
+
+static unsigned short* expandRegions(int maxIter, unsigned short level,
+									 rcCompactHeightfield& chf,
+									 unsigned short* srcReg, unsigned short* srcDist,
+									 unsigned short* dstReg, unsigned short* dstDist, 
+									 rcIntArray& stack,
+									 bool fillStack)
+{
+	const int w = chf.width;
+	const int h = chf.height;
+
+	if (fillStack)
+	{
+		// Find cells revealed by the raised level.
+		stack.resize(0);
+		for (int y = 0; y < h; ++y)
+		{
+			for (int x = 0; x < w; ++x)
+			{
+				const rcCompactCell& c = chf.cells[x+y*w];
+				for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+				{
+					if (chf.dist[i] >= level && srcReg[i] == 0 && chf.areas[i] != RC_NULL_AREA)
+					{
+						stack.push(x);
+						stack.push(y);
+						stack.push(i);
+					}
+				}
+			}
+		}
+	}
+	else // use cells in the input stack
+	{
+		// mark all cells which already have a region
+		for (int j=0; j<stack.size(); j+=3)
+		{
+			int i = stack[j+2];
+			if (srcReg[i] != 0)
+				stack[j+2] = -1;
+		}
+	}
+
+	int iter = 0;
+	while (stack.size() > 0)
+	{
+		int failed = 0;
+		
+		memcpy(dstReg, srcReg, sizeof(unsigned short)*chf.spanCount);
+		memcpy(dstDist, srcDist, sizeof(unsigned short)*chf.spanCount);
+		
+		for (int j = 0; j < stack.size(); j += 3)
+		{
+			int x = stack[j+0];
+			int y = stack[j+1];
+			int i = stack[j+2];
+			if (i < 0)
+			{
+				failed++;
+				continue;
+			}
+			
+			unsigned short r = srcReg[i];
+			unsigned short d2 = 0xffff;
+			const unsigned char area = chf.areas[i];
+			const rcCompactSpan& s = chf.spans[i];
+			for (int dir = 0; dir < 4; ++dir)
+			{
+				if (rcGetCon(s, dir) == RC_NOT_CONNECTED) continue;
+				const int ax = x + rcGetDirOffsetX(dir);
+				const int ay = y + rcGetDirOffsetY(dir);
+				const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, dir);
+				if (chf.areas[ai] != area) continue;
+				if (srcReg[ai] > 0 && (srcReg[ai] & RC_BORDER_REG) == 0)
+				{
+					if ((int)srcDist[ai]+2 < (int)d2)
+					{
+						r = srcReg[ai];
+						d2 = srcDist[ai]+2;
+					}
+				}
+			}
+			if (r)
+			{
+				stack[j+2] = -1; // mark as used
+				dstReg[i] = r;
+				dstDist[i] = d2;
+			}
+			else
+			{
+				failed++;
+			}
+		}
+		
+		// rcSwap source and dest.
+		rcSwap(srcReg, dstReg);
+		rcSwap(srcDist, dstDist);
+		
+		if (failed*3 == stack.size())
+			break;
+		
+		if (level > 0)
+		{
+			++iter;
+			if (iter >= maxIter)
+				break;
+		}
+	}
+	
+	return srcReg;
+}
+
+
+
+static void sortCellsByLevel(unsigned short startLevel,
+							  rcCompactHeightfield& chf,
+							  unsigned short* srcReg,
+							  unsigned int nbStacks, rcIntArray* stacks,
+							  unsigned short loglevelsPerStack) // the levels per stack (2 in our case) as a bit shift
+{
+	const int w = chf.width;
+	const int h = chf.height;
+	startLevel = startLevel >> loglevelsPerStack;
+
+	for (unsigned int j=0; j<nbStacks; ++j)
+		stacks[j].resize(0);
+
+	// put all cells in the level range into the appropriate stacks
+	for (int y = 0; y < h; ++y)
+	{
+		for (int x = 0; x < w; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+y*w];
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				if (chf.areas[i] == RC_NULL_AREA || srcReg[i] != 0)
+					continue;
+
+				int level = chf.dist[i] >> loglevelsPerStack;
+				int sId = startLevel - level;
+				if (sId >= (int)nbStacks)
+					continue;
+				if (sId < 0)
+					sId = 0;
+
+				stacks[sId].push(x);
+				stacks[sId].push(y);
+				stacks[sId].push(i);
+			}
+		}
+	}
+}
+
+
+static void appendStacks(rcIntArray& srcStack, rcIntArray& dstStack,
+						 unsigned short* srcReg)
+{
+	for (int j=0; j<srcStack.size(); j+=3)
+	{
+		int i = srcStack[j+2];
+		if ((i < 0) || (srcReg[i] != 0))
+			continue;
+		dstStack.push(srcStack[j]);
+		dstStack.push(srcStack[j+1]);
+		dstStack.push(srcStack[j+2]);
+	}
+}
+
+struct rcRegion
+{
+	inline rcRegion(unsigned short i) :
+		spanCount(0),
+		id(i),
+		areaType(0),
+		remap(false),
+		visited(false),
+		overlap(false),
+		connectsToBorder(false),
+		ymin(0xffff),
+		ymax(0)
+	{}
+	
+	int spanCount;					// Number of spans belonging to this region
+	unsigned short id;				// ID of the region
+	unsigned char areaType;			// Are type.
+	bool remap;
+	bool visited;
+	bool overlap;
+	bool connectsToBorder;
+	unsigned short ymin, ymax;
+	rcIntArray connections;
+	rcIntArray floors;
+};
+
+static void removeAdjacentNeighbours(rcRegion& reg)
+{
+	// Remove adjacent duplicates.
+	for (int i = 0; i < reg.connections.size() && reg.connections.size() > 1; )
+	{
+		int ni = (i+1) % reg.connections.size();
+		if (reg.connections[i] == reg.connections[ni])
+		{
+			// Remove duplicate
+			for (int j = i; j < reg.connections.size()-1; ++j)
+				reg.connections[j] = reg.connections[j+1];
+			reg.connections.pop();
+		}
+		else
+			++i;
+	}
+}
+
+static void replaceNeighbour(rcRegion& reg, unsigned short oldId, unsigned short newId)
+{
+	bool neiChanged = false;
+	for (int i = 0; i < reg.connections.size(); ++i)
+	{
+		if (reg.connections[i] == oldId)
+		{
+			reg.connections[i] = newId;
+			neiChanged = true;
+		}
+	}
+	for (int i = 0; i < reg.floors.size(); ++i)
+	{
+		if (reg.floors[i] == oldId)
+			reg.floors[i] = newId;
+	}
+	if (neiChanged)
+		removeAdjacentNeighbours(reg);
+}
+
+static bool canMergeWithRegion(const rcRegion& rega, const rcRegion& regb)
+{
+	if (rega.areaType != regb.areaType)
+		return false;
+	int n = 0;
+	for (int i = 0; i < rega.connections.size(); ++i)
+	{
+		if (rega.connections[i] == regb.id)
+			n++;
+	}
+	if (n > 1)
+		return false;
+	for (int i = 0; i < rega.floors.size(); ++i)
+	{
+		if (rega.floors[i] == regb.id)
+			return false;
+	}
+	return true;
+}
+
+static void addUniqueFloorRegion(rcRegion& reg, int n)
+{
+	for (int i = 0; i < reg.floors.size(); ++i)
+		if (reg.floors[i] == n)
+			return;
+	reg.floors.push(n);
+}
+
+static bool mergeRegions(rcRegion& rega, rcRegion& regb)
+{
+	unsigned short aid = rega.id;
+	unsigned short bid = regb.id;
+	
+	// Duplicate current neighbourhood.
+	rcIntArray acon;
+	acon.resize(rega.connections.size());
+	for (int i = 0; i < rega.connections.size(); ++i)
+		acon[i] = rega.connections[i];
+	rcIntArray& bcon = regb.connections;
+	
+	// Find insertion point on A.
+	int insa = -1;
+	for (int i = 0; i < acon.size(); ++i)
+	{
+		if (acon[i] == bid)
+		{
+			insa = i;
+			break;
+		}
+	}
+	if (insa == -1)
+		return false;
+	
+	// Find insertion point on B.
+	int insb = -1;
+	for (int i = 0; i < bcon.size(); ++i)
+	{
+		if (bcon[i] == aid)
+		{
+			insb = i;
+			break;
+		}
+	}
+	if (insb == -1)
+		return false;
+	
+	// Merge neighbours.
+	rega.connections.resize(0);
+	for (int i = 0, ni = acon.size(); i < ni-1; ++i)
+		rega.connections.push(acon[(insa+1+i) % ni]);
+		
+	for (int i = 0, ni = bcon.size(); i < ni-1; ++i)
+		rega.connections.push(bcon[(insb+1+i) % ni]);
+	
+	removeAdjacentNeighbours(rega);
+	
+	for (int j = 0; j < regb.floors.size(); ++j)
+		addUniqueFloorRegion(rega, regb.floors[j]);
+	rega.spanCount += regb.spanCount;
+	regb.spanCount = 0;
+	regb.connections.resize(0);
+
+	return true;
+}
+
+static bool isRegionConnectedToBorder(const rcRegion& reg)
+{
+	// Region is connected to border if
+	// one of the neighbours is null id.
+	for (int i = 0; i < reg.connections.size(); ++i)
+	{
+		if (reg.connections[i] == 0)
+			return true;
+	}
+	return false;
+}
+
+static bool isSolidEdge(rcCompactHeightfield& chf, unsigned short* srcReg,
+						int x, int y, int i, int dir)
+{
+	const rcCompactSpan& s = chf.spans[i];
+	unsigned short r = 0;
+	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);
+		r = srcReg[ai];
+	}
+	if (r == srcReg[i])
+		return false;
+	return true;
+}
+
+static void walkContour(int x, int y, int i, int dir,
+						rcCompactHeightfield& chf,
+						unsigned short* srcReg,
+						rcIntArray& cont)
+{
+	int startDir = dir;
+	int starti = i;
+
+	const rcCompactSpan& ss = chf.spans[i];
+	unsigned short curReg = 0;
+	if (rcGetCon(ss, 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(ss, dir);
+		curReg = srcReg[ai];
+	}
+	cont.push(curReg);
+			
+	int iter = 0;
+	while (++iter < 40000)
+	{
+		const rcCompactSpan& s = chf.spans[i];
+		
+		if (isSolidEdge(chf, srcReg, x, y, i, dir))
+		{
+			// Choose the edge corner
+			unsigned short r = 0;
+			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);
+				r = srcReg[ai];
+			}
+			if (r != curReg)
+			{
+				curReg = r;
+				cont.push(curReg);
+			}
+			
+			dir = (dir+1) & 0x3;  // Rotate CW
+		}
+		else
+		{
+			int ni = -1;
+			const int nx = x + rcGetDirOffsetX(dir);
+			const int ny = y + rcGetDirOffsetY(dir);
+			if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
+			{
+				const rcCompactCell& nc = chf.cells[nx+ny*chf.width];
+				ni = (int)nc.index + rcGetCon(s, dir);
+			}
+			if (ni == -1)
+			{
+				// Should not happen.
+				return;
+			}
+			x = nx;
+			y = ny;
+			i = ni;
+			dir = (dir+3) & 0x3;	// Rotate CCW
+		}
+		
+		if (starti == i && startDir == dir)
+		{
+			break;
+		}
+	}
+
+	// Remove adjacent duplicates.
+	if (cont.size() > 1)
+	{
+		for (int j = 0; j < cont.size(); )
+		{
+			int nj = (j+1) % cont.size();
+			if (cont[j] == cont[nj])
+			{
+				for (int k = j; k < cont.size()-1; ++k)
+					cont[k] = cont[k+1];
+				cont.pop();
+			}
+			else
+				++j;
+		}
+	}
+}
+
+
+static bool mergeAndFilterRegions(rcContext* ctx, int minRegionArea, int mergeRegionSize,
+								  unsigned short& maxRegionId,
+								  rcCompactHeightfield& chf,
+								  unsigned short* srcReg, rcIntArray& overlaps)
+{
+	const int w = chf.width;
+	const int h = chf.height;
+	
+	const int nreg = maxRegionId+1;
+	rcRegion* regions = (rcRegion*)rcAlloc(sizeof(rcRegion)*nreg, RC_ALLOC_TEMP);
+	if (!regions)
+	{
+		ctx->log(RC_LOG_ERROR, "mergeAndFilterRegions: Out of memory 'regions' (%d).", nreg);
+		return false;
+	}
+
+	// Construct regions
+	for (int i = 0; i < nreg; ++i)
+		new(&regions[i]) rcRegion((unsigned short)i);
+	
+	// Find edge of a region and find connections around the contour.
+	for (int y = 0; y < h; ++y)
+	{
+		for (int x = 0; x < w; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+y*w];
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				unsigned short r = srcReg[i];
+				if (r == 0 || r >= nreg)
+					continue;
+				
+				rcRegion& reg = regions[r];
+				reg.spanCount++;
+				
+				// Update floors.
+				for (int j = (int)c.index; j < ni; ++j)
+				{
+					if (i == j) continue;
+					unsigned short floorId = srcReg[j];
+					if (floorId == 0 || floorId >= nreg)
+						continue;
+					if (floorId == r)
+						reg.overlap = true;
+					addUniqueFloorRegion(reg, floorId);
+				}
+				
+				// Have found contour
+				if (reg.connections.size() > 0)
+					continue;
+				
+				reg.areaType = chf.areas[i];
+				
+				// Check if this cell is next to a border.
+				int ndir = -1;
+				for (int dir = 0; dir < 4; ++dir)
+				{
+					if (isSolidEdge(chf, srcReg, x, y, i, dir))
+					{
+						ndir = dir;
+						break;
+					}
+				}
+				
+				if (ndir != -1)
+				{
+					// The cell is at border.
+					// Walk around the contour to find all the neighbours.
+					walkContour(x, y, i, ndir, chf, srcReg, reg.connections);
+				}
+			}
+		}
+	}
+
+	// Remove too small regions.
+	rcIntArray stack(32);
+	rcIntArray trace(32);
+	for (int i = 0; i < nreg; ++i)
+	{
+		rcRegion& reg = regions[i];
+		if (reg.id == 0 || (reg.id & RC_BORDER_REG))
+			continue;                       
+		if (reg.spanCount == 0)
+			continue;
+		if (reg.visited)
+			continue;
+		
+		// Count the total size of all the connected regions.
+		// Also keep track of the regions connects to a tile border.
+		bool connectsToBorder = false;
+		int spanCount = 0;
+		stack.resize(0);
+		trace.resize(0);
+
+		reg.visited = true;
+		stack.push(i);
+		
+		while (stack.size())
+		{
+			// Pop
+			int ri = stack.pop();
+			
+			rcRegion& creg = regions[ri];
+
+			spanCount += creg.spanCount;
+			trace.push(ri);
+
+			for (int j = 0; j < creg.connections.size(); ++j)
+			{
+				if (creg.connections[j] & RC_BORDER_REG)
+				{
+					connectsToBorder = true;
+					continue;
+				}
+				rcRegion& neireg = regions[creg.connections[j]];
+				if (neireg.visited)
+					continue;
+				if (neireg.id == 0 || (neireg.id & RC_BORDER_REG))
+					continue;
+				// Visit
+				stack.push(neireg.id);
+				neireg.visited = true;
+			}
+		}
+		
+		// If the accumulated regions size is too small, remove it.
+		// Do not remove areas which connect to tile borders
+		// as their size cannot be estimated correctly and removing them
+		// can potentially remove necessary areas.
+		if (spanCount < minRegionArea && !connectsToBorder)
+		{
+			// Kill all visited regions.
+			for (int j = 0; j < trace.size(); ++j)
+			{
+				regions[trace[j]].spanCount = 0;
+				regions[trace[j]].id = 0;
+			}
+		}
+	}
+	
+	// Merge too small regions to neighbour regions.
+	int mergeCount = 0 ;
+	do
+	{
+		mergeCount = 0;
+		for (int i = 0; i < nreg; ++i)
+		{
+			rcRegion& reg = regions[i];
+			if (reg.id == 0 || (reg.id & RC_BORDER_REG))
+				continue;
+			if (reg.overlap)
+				continue;
+			if (reg.spanCount == 0)
+				continue;
+			
+			// Check to see if the region should be merged.
+			if (reg.spanCount > mergeRegionSize && isRegionConnectedToBorder(reg))
+				continue;
+			
+			// Small region with more than 1 connection.
+			// Or region which is not connected to a border at all.
+			// Find smallest neighbour region that connects to this one.
+			int smallest = 0xfffffff;
+			unsigned short mergeId = reg.id;
+			for (int j = 0; j < reg.connections.size(); ++j)
+			{
+				if (reg.connections[j] & RC_BORDER_REG) continue;
+				rcRegion& mreg = regions[reg.connections[j]];
+				if (mreg.id == 0 || (mreg.id & RC_BORDER_REG) || mreg.overlap) continue;
+				if (mreg.spanCount < smallest &&
+					canMergeWithRegion(reg, mreg) &&
+					canMergeWithRegion(mreg, reg))
+				{
+					smallest = mreg.spanCount;
+					mergeId = mreg.id;
+				}
+			}
+			// Found new id.
+			if (mergeId != reg.id)
+			{
+				unsigned short oldId = reg.id;
+				rcRegion& target = regions[mergeId];
+				
+				// Merge neighbours.
+				if (mergeRegions(target, reg))
+				{
+					// Fixup regions pointing to current region.
+					for (int j = 0; j < nreg; ++j)
+					{
+						if (regions[j].id == 0 || (regions[j].id & RC_BORDER_REG)) continue;
+						// If another region was already merged into current region
+						// change the nid of the previous region too.
+						if (regions[j].id == oldId)
+							regions[j].id = mergeId;
+						// Replace the current region with the new one if the
+						// current regions is neighbour.
+						replaceNeighbour(regions[j], oldId, mergeId);
+					}
+					mergeCount++;
+				}
+			}
+		}
+	}
+	while (mergeCount > 0);
+	
+	// Compress region Ids.
+	for (int i = 0; i < nreg; ++i)
+	{
+		regions[i].remap = false;
+		if (regions[i].id == 0) continue;       // Skip nil regions.
+		if (regions[i].id & RC_BORDER_REG) continue;    // Skip external regions.
+		regions[i].remap = true;
+	}
+	
+	unsigned short regIdGen = 0;
+	for (int i = 0; i < nreg; ++i)
+	{
+		if (!regions[i].remap)
+			continue;
+		unsigned short oldId = regions[i].id;
+		unsigned short newId = ++regIdGen;
+		for (int j = i; j < nreg; ++j)
+		{
+			if (regions[j].id == oldId)
+			{
+				regions[j].id = newId;
+				regions[j].remap = false;
+			}
+		}
+	}
+	maxRegionId = regIdGen;
+	
+	// Remap regions.
+	for (int i = 0; i < chf.spanCount; ++i)
+	{
+		if ((srcReg[i] & RC_BORDER_REG) == 0)
+			srcReg[i] = regions[srcReg[i]].id;
+	}
+
+	// Return regions that we found to be overlapping.
+	for (int i = 0; i < nreg; ++i)
+		if (regions[i].overlap)
+			overlaps.push(regions[i].id);
+
+	for (int i = 0; i < nreg; ++i)
+		regions[i].~rcRegion();
+	rcFree(regions);
+	
+	
+	return true;
+}
+
+
+static void addUniqueConnection(rcRegion& reg, int n)
+{
+	for (int i = 0; i < reg.connections.size(); ++i)
+		if (reg.connections[i] == n)
+			return;
+	reg.connections.push(n);
+}
+
+static bool mergeAndFilterLayerRegions(rcContext* ctx, int minRegionArea,
+									   unsigned short& maxRegionId,
+									   rcCompactHeightfield& chf,
+									   unsigned short* srcReg, rcIntArray& /*overlaps*/)
+{
+	const int w = chf.width;
+	const int h = chf.height;
+	
+	const int nreg = maxRegionId+1;
+	rcRegion* regions = (rcRegion*)rcAlloc(sizeof(rcRegion)*nreg, RC_ALLOC_TEMP);
+	if (!regions)
+	{
+		ctx->log(RC_LOG_ERROR, "mergeAndFilterLayerRegions: Out of memory 'regions' (%d).", nreg);
+		return false;
+	}
+	
+	// Construct regions
+	for (int i = 0; i < nreg; ++i)
+		new(&regions[i]) rcRegion((unsigned short)i);
+	
+	// Find region neighbours and overlapping regions.
+	rcIntArray lregs(32);
+	for (int y = 0; y < h; ++y)
+	{
+		for (int x = 0; x < w; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+y*w];
+
+			lregs.resize(0);
+			
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				const rcCompactSpan& s = chf.spans[i];
+				const unsigned short ri = srcReg[i];
+				if (ri == 0 || ri >= nreg) continue;
+				rcRegion& reg = regions[ri];
+				
+				reg.spanCount++;
+				
+				reg.ymin = rcMin(reg.ymin, s.y);
+				reg.ymax = rcMax(reg.ymax, s.y);
+				
+				// Collect all region layers.
+				lregs.push(ri);
+				
+				// Update neighbours
+				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*w].index + rcGetCon(s, dir);
+						const unsigned short rai = srcReg[ai];
+						if (rai > 0 && rai < nreg && rai != ri)
+							addUniqueConnection(reg, rai);
+						if (rai & RC_BORDER_REG)
+							reg.connectsToBorder = true;
+					}
+				}
+				
+			}
+			
+			// Update overlapping regions.
+			for (int i = 0; i < lregs.size()-1; ++i)
+			{
+				for (int j = i+1; j < lregs.size(); ++j)
+				{
+					if (lregs[i] != lregs[j])
+					{
+						rcRegion& ri = regions[lregs[i]];
+						rcRegion& rj = regions[lregs[j]];
+						addUniqueFloorRegion(ri, lregs[j]);
+						addUniqueFloorRegion(rj, lregs[i]);
+					}
+				}
+			}
+			
+		}
+	}
+
+	// Create 2D layers from regions.
+	unsigned short layerId = 1;
+
+	for (int i = 0; i < nreg; ++i)
+		regions[i].id = 0;
+
+	// Merge montone regions to create non-overlapping areas.
+	rcIntArray stack(32);
+	for (int i = 1; i < nreg; ++i)
+	{
+		rcRegion& root = regions[i];
+		// Skip already visited.
+		if (root.id != 0)
+			continue;
+		
+		// Start search.
+		root.id = layerId;
+
+		stack.resize(0);
+		stack.push(i);
+		
+		while (stack.size() > 0)
+		{
+			// Pop front
+			rcRegion& reg = regions[stack[0]];
+			for (int j = 0; j < stack.size()-1; ++j)
+				stack[j] = stack[j+1];
+			stack.resize(stack.size()-1);
+			
+			const int ncons = (int)reg.connections.size();
+			for (int j = 0; j < ncons; ++j)
+			{
+				const int nei = reg.connections[j];
+				rcRegion& regn = regions[nei];
+				// Skip already visited.
+				if (regn.id != 0)
+					continue;
+				// Skip if the neighbour is overlapping root region.
+				bool overlap = false;
+				for (int k = 0; k < root.floors.size(); k++)
+				{
+					if (root.floors[k] == nei)
+					{
+						overlap = true;
+						break;
+					}
+				}
+				if (overlap)
+					continue;
+					
+				// Deepen
+				stack.push(nei);
+					
+				// Mark layer id
+				regn.id = layerId;
+				// Merge current layers to root.
+				for (int k = 0; k < regn.floors.size(); ++k)
+					addUniqueFloorRegion(root, regn.floors[k]);
+				root.ymin = rcMin(root.ymin, regn.ymin);
+				root.ymax = rcMax(root.ymax, regn.ymax);
+				root.spanCount += regn.spanCount;
+				regn.spanCount = 0;
+				root.connectsToBorder = root.connectsToBorder || regn.connectsToBorder;
+			}
+		}
+		
+		layerId++;
+	}
+	
+	// Remove small regions
+	for (int i = 0; i < nreg; ++i)
+	{
+		if (regions[i].spanCount > 0 && regions[i].spanCount < minRegionArea && !regions[i].connectsToBorder)
+		{
+			unsigned short reg = regions[i].id;
+			for (int j = 0; j < nreg; ++j)
+				if (regions[j].id == reg)
+					regions[j].id = 0;
+		}
+	}
+	
+	// Compress region Ids.
+	for (int i = 0; i < nreg; ++i)
+	{
+		regions[i].remap = false;
+		if (regions[i].id == 0) continue;				// Skip nil regions.
+		if (regions[i].id & RC_BORDER_REG) continue;    // Skip external regions.
+		regions[i].remap = true;
+	}
+	
+	unsigned short regIdGen = 0;
+	for (int i = 0; i < nreg; ++i)
+	{
+		if (!regions[i].remap)
+			continue;
+		unsigned short oldId = regions[i].id;
+		unsigned short newId = ++regIdGen;
+		for (int j = i; j < nreg; ++j)
+		{
+			if (regions[j].id == oldId)
+			{
+				regions[j].id = newId;
+				regions[j].remap = false;
+			}
+		}
+	}
+	maxRegionId = regIdGen;
+	
+	// Remap regions.
+	for (int i = 0; i < chf.spanCount; ++i)
+	{
+		if ((srcReg[i] & RC_BORDER_REG) == 0)
+			srcReg[i] = regions[srcReg[i]].id;
+	}
+	
+	for (int i = 0; i < nreg; ++i)
+		regions[i].~rcRegion();
+	rcFree(regions);
+	
+	return true;
+}
+
+
+
+/// @par
+/// 
+/// This is usually the second to the last step in creating a fully built
+/// compact heightfield.  This step is required before regions are built
+/// using #rcBuildRegions or #rcBuildRegionsMonotone.
+/// 
+/// After this step, the distance data is available via the rcCompactHeightfield::maxDistance
+/// and rcCompactHeightfield::dist fields.
+///
+/// @see rcCompactHeightfield, rcBuildRegions, rcBuildRegionsMonotone
+bool rcBuildDistanceField(rcContext* ctx, rcCompactHeightfield& chf)
+{
+	rcAssert(ctx);
+	
+	rcScopedTimer timer(ctx, RC_TIMER_BUILD_DISTANCEFIELD);
+	
+	if (chf.dist)
+	{
+		rcFree(chf.dist);
+		chf.dist = 0;
+	}
+	
+	unsigned short* src = (unsigned short*)rcAlloc(sizeof(unsigned short)*chf.spanCount, RC_ALLOC_TEMP);
+	if (!src)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildDistanceField: Out of memory 'src' (%d).", chf.spanCount);
+		return false;
+	}
+	unsigned short* dst = (unsigned short*)rcAlloc(sizeof(unsigned short)*chf.spanCount, RC_ALLOC_TEMP);
+	if (!dst)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildDistanceField: Out of memory 'dst' (%d).", chf.spanCount);
+		rcFree(src);
+		return false;
+	}
+	
+	unsigned short maxDist = 0;
+
+	{
+		rcScopedTimer timerDist(ctx, RC_TIMER_BUILD_DISTANCEFIELD_DIST);
+
+		calculateDistanceField(chf, src, maxDist);
+		chf.maxDistance = maxDist;
+	}
+
+	{
+		rcScopedTimer timerBlur(ctx, RC_TIMER_BUILD_DISTANCEFIELD_BLUR);
+
+		// Blur
+		if (boxBlur(chf, 1, src, dst) != src)
+			rcSwap(src, dst);
+
+		// Store distance.
+		chf.dist = src;
+	}
+	
+	rcFree(dst);
+	
+	return true;
+}
+
+static void paintRectRegion(int minx, int maxx, int miny, int maxy, unsigned short regId,
+							rcCompactHeightfield& chf, unsigned short* srcReg)
+{
+	const int w = chf.width;	
+	for (int y = miny; y < maxy; ++y)
+	{
+		for (int x = minx; x < maxx; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+y*w];
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				if (chf.areas[i] != RC_NULL_AREA)
+					srcReg[i] = regId;
+			}
+		}
+	}
+}
+
+
+static const unsigned short RC_NULL_NEI = 0xffff;
+
+struct rcSweepSpan
+{
+	unsigned short rid;	// row id
+	unsigned short id;	// region id
+	unsigned short ns;	// number samples
+	unsigned short nei;	// neighbour id
+};
+
+/// @par
+/// 
+/// Non-null regions will consist of connected, non-overlapping walkable spans that form a single contour.
+/// Contours will form simple polygons.
+/// 
+/// If multiple regions form an area that is smaller than @p minRegionArea, then all spans will be
+/// re-assigned to the zero (null) region.
+/// 
+/// Partitioning can result in smaller than necessary regions. @p mergeRegionArea helps 
+/// reduce unecessarily small regions.
+/// 
+/// See the #rcConfig documentation for more information on the configuration parameters.
+/// 
+/// The region data will be available via the rcCompactHeightfield::maxRegions
+/// and rcCompactSpan::reg fields.
+/// 
+/// @warning The distance field must be created using #rcBuildDistanceField before attempting to build regions.
+/// 
+/// @see rcCompactHeightfield, rcCompactSpan, rcBuildDistanceField, rcBuildRegionsMonotone, rcConfig
+bool rcBuildRegionsMonotone(rcContext* ctx, rcCompactHeightfield& chf,
+							const int borderSize, const int minRegionArea, const int mergeRegionArea)
+{
+	rcAssert(ctx);
+	
+	rcScopedTimer timer(ctx, RC_TIMER_BUILD_REGIONS);
+	
+	const int w = chf.width;
+	const int h = chf.height;
+	unsigned short id = 1;
+	
+	rcScopedDelete<unsigned short> srcReg((unsigned short*)rcAlloc(sizeof(unsigned short)*chf.spanCount, RC_ALLOC_TEMP));
+	if (!srcReg)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildRegionsMonotone: Out of memory 'src' (%d).", chf.spanCount);
+		return false;
+	}
+	memset(srcReg,0,sizeof(unsigned short)*chf.spanCount);
+
+	const int nsweeps = rcMax(chf.width,chf.height);
+	rcScopedDelete<rcSweepSpan> sweeps((rcSweepSpan*)rcAlloc(sizeof(rcSweepSpan)*nsweeps, RC_ALLOC_TEMP));
+	if (!sweeps)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildRegionsMonotone: Out of memory 'sweeps' (%d).", nsweeps);
+		return false;
+	}
+	
+	
+	// Mark border regions.
+	if (borderSize > 0)
+	{
+		// Make sure border will not overflow.
+		const int bw = rcMin(w, borderSize);
+		const int bh = rcMin(h, borderSize);
+		// Paint regions
+		paintRectRegion(0, bw, 0, h, id|RC_BORDER_REG, chf, srcReg); id++;
+		paintRectRegion(w-bw, w, 0, h, id|RC_BORDER_REG, chf, srcReg); id++;
+		paintRectRegion(0, w, 0, bh, id|RC_BORDER_REG, chf, srcReg); id++;
+		paintRectRegion(0, w, h-bh, h, id|RC_BORDER_REG, chf, srcReg); id++;
+		
+		chf.borderSize = borderSize;
+	}
+	
+	rcIntArray prev(256);
+
+	// Sweep one line at a time.
+	for (int y = borderSize; y < h-borderSize; ++y)
+	{
+		// Collect spans from this row.
+		prev.resize(id+1);
+		memset(&prev[0],0,sizeof(int)*id);
+		unsigned short rid = 1;
+		
+		for (int x = borderSize; x < w-borderSize; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+y*w];
+			
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				const rcCompactSpan& s = chf.spans[i];
+				if (chf.areas[i] == RC_NULL_AREA) continue;
+				
+				// -x
+				unsigned short previd = 0;
+				if (rcGetCon(s, 0) != RC_NOT_CONNECTED)
+				{
+					const int ax = x + rcGetDirOffsetX(0);
+					const int ay = y + rcGetDirOffsetY(0);
+					const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 0);
+					if ((srcReg[ai] & RC_BORDER_REG) == 0 && chf.areas[i] == chf.areas[ai])
+						previd = srcReg[ai];
+				}
+				
+				if (!previd)
+				{
+					previd = rid++;
+					sweeps[previd].rid = previd;
+					sweeps[previd].ns = 0;
+					sweeps[previd].nei = 0;
+				}
+
+				// -y
+				if (rcGetCon(s,3) != RC_NOT_CONNECTED)
+				{
+					const int ax = x + rcGetDirOffsetX(3);
+					const int ay = y + rcGetDirOffsetY(3);
+					const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 3);
+					if (srcReg[ai] && (srcReg[ai] & RC_BORDER_REG) == 0 && chf.areas[i] == chf.areas[ai])
+					{
+						unsigned short nr = srcReg[ai];
+						if (!sweeps[previd].nei || sweeps[previd].nei == nr)
+						{
+							sweeps[previd].nei = nr;
+							sweeps[previd].ns++;
+							prev[nr]++;
+						}
+						else
+						{
+							sweeps[previd].nei = RC_NULL_NEI;
+						}
+					}
+				}
+
+				srcReg[i] = previd;
+			}
+		}
+		
+		// Create unique ID.
+		for (int i = 1; i < rid; ++i)
+		{
+			if (sweeps[i].nei != RC_NULL_NEI && sweeps[i].nei != 0 &&
+				prev[sweeps[i].nei] == (int)sweeps[i].ns)
+			{
+				sweeps[i].id = sweeps[i].nei;
+			}
+			else
+			{
+				sweeps[i].id = id++;
+			}
+		}
+		
+		// Remap IDs
+		for (int x = borderSize; x < w-borderSize; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+y*w];
+			
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				if (srcReg[i] > 0 && srcReg[i] < rid)
+					srcReg[i] = sweeps[srcReg[i]].id;
+			}
+		}
+	}
+
+
+	{
+		rcScopedTimer timerFilter(ctx, RC_TIMER_BUILD_REGIONS_FILTER);
+
+		// Merge regions and filter out small regions.
+		rcIntArray overlaps;
+		chf.maxRegions = id;
+		if (!mergeAndFilterRegions(ctx, minRegionArea, mergeRegionArea, chf.maxRegions, chf, srcReg, overlaps))
+			return false;
+
+		// Monotone partitioning does not generate overlapping regions.
+	}
+	
+	// Store the result out.
+	for (int i = 0; i < chf.spanCount; ++i)
+		chf.spans[i].reg = srcReg[i];
+
+	return true;
+}
+
+/// @par
+/// 
+/// Non-null regions will consist of connected, non-overlapping walkable spans that form a single contour.
+/// Contours will form simple polygons.
+/// 
+/// If multiple regions form an area that is smaller than @p minRegionArea, then all spans will be
+/// re-assigned to the zero (null) region.
+/// 
+/// Watershed partitioning can result in smaller than necessary regions, especially in diagonal corridors. 
+/// @p mergeRegionArea helps reduce unecessarily small regions.
+/// 
+/// See the #rcConfig documentation for more information on the configuration parameters.
+/// 
+/// The region data will be available via the rcCompactHeightfield::maxRegions
+/// and rcCompactSpan::reg fields.
+/// 
+/// @warning The distance field must be created using #rcBuildDistanceField before attempting to build regions.
+/// 
+/// @see rcCompactHeightfield, rcCompactSpan, rcBuildDistanceField, rcBuildRegionsMonotone, rcConfig
+bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf,
+					const int borderSize, const int minRegionArea, const int mergeRegionArea)
+{
+	rcAssert(ctx);
+	
+	rcScopedTimer timer(ctx, RC_TIMER_BUILD_REGIONS);
+	
+	const int w = chf.width;
+	const int h = chf.height;
+	
+	rcScopedDelete<unsigned short> buf((unsigned short*)rcAlloc(sizeof(unsigned short)*chf.spanCount*4, RC_ALLOC_TEMP));
+	if (!buf)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildRegions: Out of memory 'tmp' (%d).", chf.spanCount*4);
+		return false;
+	}
+	
+	ctx->startTimer(RC_TIMER_BUILD_REGIONS_WATERSHED);
+
+	const int LOG_NB_STACKS = 3;
+	const int NB_STACKS = 1 << LOG_NB_STACKS;
+	rcIntArray lvlStacks[NB_STACKS];
+	for (int i=0; i<NB_STACKS; ++i)
+		lvlStacks[i].resize(1024);
+
+	rcIntArray stack(1024);
+	rcIntArray visited(1024);
+	
+	unsigned short* srcReg = buf;
+	unsigned short* srcDist = buf+chf.spanCount;
+	unsigned short* dstReg = buf+chf.spanCount*2;
+	unsigned short* dstDist = buf+chf.spanCount*3;
+	
+	memset(srcReg, 0, sizeof(unsigned short)*chf.spanCount);
+	memset(srcDist, 0, sizeof(unsigned short)*chf.spanCount);
+	
+	unsigned short regionId = 1;
+	unsigned short level = (chf.maxDistance+1) & ~1;
+
+	// TODO: Figure better formula, expandIters defines how much the 
+	// watershed "overflows" and simplifies the regions. Tying it to
+	// agent radius was usually good indication how greedy it could be.
+//	const int expandIters = 4 + walkableRadius * 2;
+	const int expandIters = 8;
+
+	if (borderSize > 0)
+	{
+		// Make sure border will not overflow.
+		const int bw = rcMin(w, borderSize);
+		const int bh = rcMin(h, borderSize);
+		
+		// Paint regions
+		paintRectRegion(0, bw, 0, h, regionId|RC_BORDER_REG, chf, srcReg); regionId++;
+		paintRectRegion(w-bw, w, 0, h, regionId|RC_BORDER_REG, chf, srcReg); regionId++;
+		paintRectRegion(0, w, 0, bh, regionId|RC_BORDER_REG, chf, srcReg); regionId++;
+		paintRectRegion(0, w, h-bh, h, regionId|RC_BORDER_REG, chf, srcReg); regionId++;
+
+		chf.borderSize = borderSize;
+	}
+	
+	int sId = -1;
+	while (level > 0)
+	{
+		level = level >= 2 ? level-2 : 0;
+		sId = (sId+1) & (NB_STACKS-1);
+
+//		ctx->startTimer(RC_TIMER_DIVIDE_TO_LEVELS);
+
+		if (sId == 0)
+			sortCellsByLevel(level, chf, srcReg, NB_STACKS, lvlStacks, 1);
+		else 
+			appendStacks(lvlStacks[sId-1], lvlStacks[sId], srcReg); // copy left overs from last level
+
+//		ctx->stopTimer(RC_TIMER_DIVIDE_TO_LEVELS);
+
+		{
+			rcScopedTimer timerExpand(ctx, RC_TIMER_BUILD_REGIONS_EXPAND);
+
+			// Expand current regions until no empty connected cells found.
+			if (expandRegions(expandIters, level, chf, srcReg, srcDist, dstReg, dstDist, lvlStacks[sId], false) != srcReg)
+			{
+				rcSwap(srcReg, dstReg);
+				rcSwap(srcDist, dstDist);
+			}
+		}
+		
+		{
+			rcScopedTimer timerFloor(ctx, RC_TIMER_BUILD_REGIONS_FLOOD);
+
+			// Mark new regions with IDs.
+			for (int j = 0; j<lvlStacks[sId].size(); j += 3)
+			{
+				int x = lvlStacks[sId][j];
+				int y = lvlStacks[sId][j+1];
+				int i = lvlStacks[sId][j+2];
+				if (i >= 0 && srcReg[i] == 0)
+				{
+					if (floodRegion(x, y, i, level, regionId, chf, srcReg, srcDist, stack))
+					{
+						if (regionId == 0xFFFF)
+						{
+							ctx->log(RC_LOG_ERROR, "rcBuildRegions: Region ID overflow");
+							return false;
+						}
+						
+						regionId++;
+					}
+				}
+			}
+		}
+	}
+	
+	// Expand current regions until no empty connected cells found.
+	if (expandRegions(expandIters*8, 0, chf, srcReg, srcDist, dstReg, dstDist, stack, true) != srcReg)
+	{
+		rcSwap(srcReg, dstReg);
+		rcSwap(srcDist, dstDist);
+	}
+	
+	ctx->stopTimer(RC_TIMER_BUILD_REGIONS_WATERSHED);
+	
+	{
+		rcScopedTimer timerFilter(ctx, RC_TIMER_BUILD_REGIONS_FILTER);
+
+		// Merge regions and filter out smalle regions.
+		rcIntArray overlaps;
+		chf.maxRegions = regionId;
+		if (!mergeAndFilterRegions(ctx, minRegionArea, mergeRegionArea, chf.maxRegions, chf, srcReg, overlaps))
+			return false;
+
+		// If overlapping regions were found during merging, split those regions.
+		if (overlaps.size() > 0)
+		{
+			ctx->log(RC_LOG_ERROR, "rcBuildRegions: %d overlapping regions.", overlaps.size());
+		}
+	}
+		
+	// Write the result out.
+	for (int i = 0; i < chf.spanCount; ++i)
+		chf.spans[i].reg = srcReg[i];
+	
+	return true;
+}
+
+
+bool rcBuildLayerRegions(rcContext* ctx, rcCompactHeightfield& chf,
+						 const int borderSize, const int minRegionArea)
+{
+	rcAssert(ctx);
+	
+	rcScopedTimer timer(ctx, RC_TIMER_BUILD_REGIONS);
+	
+	const int w = chf.width;
+	const int h = chf.height;
+	unsigned short id = 1;
+	
+	rcScopedDelete<unsigned short> srcReg((unsigned short*)rcAlloc(sizeof(unsigned short)*chf.spanCount, RC_ALLOC_TEMP));
+	if (!srcReg)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildLayerRegions: Out of memory 'src' (%d).", chf.spanCount);
+		return false;
+	}
+	memset(srcReg,0,sizeof(unsigned short)*chf.spanCount);
+	
+	const int nsweeps = rcMax(chf.width,chf.height);
+	rcScopedDelete<rcSweepSpan> sweeps((rcSweepSpan*)rcAlloc(sizeof(rcSweepSpan)*nsweeps, RC_ALLOC_TEMP));
+	if (!sweeps)
+	{
+		ctx->log(RC_LOG_ERROR, "rcBuildLayerRegions: Out of memory 'sweeps' (%d).", nsweeps);
+		return false;
+	}
+	
+	
+	// Mark border regions.
+	if (borderSize > 0)
+	{
+		// Make sure border will not overflow.
+		const int bw = rcMin(w, borderSize);
+		const int bh = rcMin(h, borderSize);
+		// Paint regions
+		paintRectRegion(0, bw, 0, h, id|RC_BORDER_REG, chf, srcReg); id++;
+		paintRectRegion(w-bw, w, 0, h, id|RC_BORDER_REG, chf, srcReg); id++;
+		paintRectRegion(0, w, 0, bh, id|RC_BORDER_REG, chf, srcReg); id++;
+		paintRectRegion(0, w, h-bh, h, id|RC_BORDER_REG, chf, srcReg); id++;
+		
+		chf.borderSize = borderSize;
+	}
+	
+	rcIntArray prev(256);
+	
+	// Sweep one line at a time.
+	for (int y = borderSize; y < h-borderSize; ++y)
+	{
+		// Collect spans from this row.
+		prev.resize(id+1);
+		memset(&prev[0],0,sizeof(int)*id);
+		unsigned short rid = 1;
+		
+		for (int x = borderSize; x < w-borderSize; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+y*w];
+			
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				const rcCompactSpan& s = chf.spans[i];
+				if (chf.areas[i] == RC_NULL_AREA) continue;
+				
+				// -x
+				unsigned short previd = 0;
+				if (rcGetCon(s, 0) != RC_NOT_CONNECTED)
+				{
+					const int ax = x + rcGetDirOffsetX(0);
+					const int ay = y + rcGetDirOffsetY(0);
+					const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 0);
+					if ((srcReg[ai] & RC_BORDER_REG) == 0 && chf.areas[i] == chf.areas[ai])
+						previd = srcReg[ai];
+				}
+				
+				if (!previd)
+				{
+					previd = rid++;
+					sweeps[previd].rid = previd;
+					sweeps[previd].ns = 0;
+					sweeps[previd].nei = 0;
+				}
+				
+				// -y
+				if (rcGetCon(s,3) != RC_NOT_CONNECTED)
+				{
+					const int ax = x + rcGetDirOffsetX(3);
+					const int ay = y + rcGetDirOffsetY(3);
+					const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 3);
+					if (srcReg[ai] && (srcReg[ai] & RC_BORDER_REG) == 0 && chf.areas[i] == chf.areas[ai])
+					{
+						unsigned short nr = srcReg[ai];
+						if (!sweeps[previd].nei || sweeps[previd].nei == nr)
+						{
+							sweeps[previd].nei = nr;
+							sweeps[previd].ns++;
+							prev[nr]++;
+						}
+						else
+						{
+							sweeps[previd].nei = RC_NULL_NEI;
+						}
+					}
+				}
+				
+				srcReg[i] = previd;
+			}
+		}
+		
+		// Create unique ID.
+		for (int i = 1; i < rid; ++i)
+		{
+			if (sweeps[i].nei != RC_NULL_NEI && sweeps[i].nei != 0 &&
+				prev[sweeps[i].nei] == (int)sweeps[i].ns)
+			{
+				sweeps[i].id = sweeps[i].nei;
+			}
+			else
+			{
+				sweeps[i].id = id++;
+			}
+		}
+		
+		// Remap IDs
+		for (int x = borderSize; x < w-borderSize; ++x)
+		{
+			const rcCompactCell& c = chf.cells[x+y*w];
+			
+			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+			{
+				if (srcReg[i] > 0 && srcReg[i] < rid)
+					srcReg[i] = sweeps[srcReg[i]].id;
+			}
+		}
+	}
+	
+	
+	{
+		rcScopedTimer timerFilter(ctx, RC_TIMER_BUILD_REGIONS_FILTER);
+
+		// Merge monotone regions to layers and remove small regions.
+		rcIntArray overlaps;
+		chf.maxRegions = id;
+		if (!mergeAndFilterLayerRegions(ctx, minRegionArea, chf.maxRegions, chf, srcReg, overlaps))
+			return false;
+	}
+	
+	
+	// Store the result out.
+	for (int i = 0; i < chf.spanCount; ++i)
+		chf.spans[i].reg = srcReg[i];
+	
+	return true;
+}