Dep/Recast: Update recastnavigation to https://github.com/recastnavigation/recastnavigation/commit/14b2631527c4792e95b2c78ebfa8ac4cd3413363

Rebuilding mmaps IS required

(cherry picked from commit 5ff88ea04aec4677f1c1d669674e5442288a25e3)

13 files changed, 489 insertions, 250 deletions

diff --git a/dep/PackageList.txt b/dep/PackageList.txt
index dcc7a5e02c1..c68c3912aaf 100644
--- a/dep/PackageList.txt
+++ b/dep/PackageList.txt
@@ -54,7 +54,7 @@ gSOAP (a portable development toolkit for C and C++ XML Web services and XML dat
 
 recastnavigation (Recast is state of the art navigation mesh construction toolset for games)
   https://github.com/recastnavigation/recastnavigation
-  Version: 2c85309280dbc9c82029e7ab16dfb01b9235c74e
+  Version: 14b2631527c4792e95b2c78ebfa8ac4cd3413363
 
 CascLib (An open-source implementation of library for reading CASC storage from Blizzard games since 2014)
   https://github.com/ladislav-zezula/CascLib
diff --git a/dep/recastnavigation/Detour/Include/DetourStatus.h b/dep/recastnavigation/Detour/Include/DetourStatus.h
index af822c4a92d..8e1bb44b9dc 100644
--- a/dep/recastnavigation/Detour/Include/DetourStatus.h
+++ b/dep/recastnavigation/Detour/Include/DetourStatus.h
@@ -35,6 +35,7 @@ static const unsigned int DT_INVALID_PARAM = 1 << 3;	// An input parameter was i
 static const unsigned int DT_BUFFER_TOO_SMALL = 1 << 4;	// Result buffer for the query was too small to store all results.
 static const unsigned int DT_OUT_OF_NODES = 1 << 5;		// Query ran out of nodes during search.
 static const unsigned int DT_PARTIAL_RESULT = 1 << 6;	// Query did not reach the end location, returning best guess. 
+static const unsigned int DT_ALREADY_OCCUPIED = 1 << 7;	// A tile has already been assigned to the given x,y coordinate
 
 
 // Returns true of status is success.
diff --git a/dep/recastnavigation/Detour/Source/DetourCommon.cpp b/dep/recastnavigation/Detour/Source/DetourCommon.cpp
index 41d0d7bd387..3886f14b04d 100644
--- a/dep/recastnavigation/Detour/Source/DetourCommon.cpp
+++ b/dep/recastnavigation/Detour/Source/DetourCommon.cpp
@@ -204,32 +204,31 @@ void dtCalcPolyCenter(float* tc, const unsigned short* idx, int nidx, const floa
 bool dtClosestHeightPointTriangle(const float* p, const float* a, const float* b, const float* c, float& h)
 {
 	float v0[3], v1[3], v2[3];
+
 	dtVsub(v0, c,a);
 	dtVsub(v1, b,a);
 	dtVsub(v2, p,a);
-	
-	const float dot00 = dtVdot2D(v0, v0);
-	const float dot01 = dtVdot2D(v0, v1);
-	const float dot02 = dtVdot2D(v0, v2);
-	const float dot11 = dtVdot2D(v1, v1);
-	const float dot12 = dtVdot2D(v1, v2);
-	
-	// Compute barycentric coordinates
-	const float invDenom = 1.0f / (dot00 * dot11 - dot01 * dot01);
-	const float u = (dot11 * dot02 - dot01 * dot12) * invDenom;
-	const float v = (dot00 * dot12 - dot01 * dot02) * invDenom;
+
+	// Compute scaled barycentric coordinates
+	float denom = v0[0] * v1[2] - v0[2] * v1[0];
+	float u = v1[2] * v2[0] - v1[0] * v2[2];
+	float v = v0[0] * v2[2] - v0[2] * v2[0];
+
+	if (denom < 0) {
+		denom = -denom;
+		u = -u;
+		v = -v;
+	}
 
 	// The (sloppy) epsilon is needed to allow to get height of points which
 	// are interpolated along the edges of the triangles.
-	static const float EPS = 1e-4f;
-	
+	float epsilon = - 1e-4f * denom;
+
 	// If point lies inside the triangle, return interpolated ycoord.
-	if (u >= -EPS && v >= -EPS && (u+v) <= 1+EPS)
-	{
-		h = a[1] + v0[1]*u + v1[1]*v;
+	if (u >= epsilon && v >= epsilon && (u+v) <= denom - epsilon) {
+		h = a[1] + (v0[1]*u + v1[1]*v) / denom;
 		return true;
 	}
-	
 	return false;
 }
 
diff --git a/dep/recastnavigation/Detour/Source/DetourNavMesh.cpp b/dep/recastnavigation/Detour/Source/DetourNavMesh.cpp
index b81a2567b2e..17df26d8c07 100644
--- a/dep/recastnavigation/Detour/Source/DetourNavMesh.cpp
+++ b/dep/recastnavigation/Detour/Source/DetourNavMesh.cpp
@@ -855,7 +855,7 @@ dtStatus dtNavMesh::addTile(unsigned char* data, int dataSize, int flags,
 		
 	// Make sure the location is free.
 	if (getTileAt(header->x, header->y, header->layer))
-		return DT_FAILURE;
+		return DT_FAILURE | DT_ALREADY_OCCUPIED;
 		
 	// Allocate a tile.
 	dtMeshTile* tile = 0;
diff --git a/dep/recastnavigation/Detour/Source/DetourNavMeshQuery.cpp b/dep/recastnavigation/Detour/Source/DetourNavMeshQuery.cpp
index dafb7d2818e..4e69fcbcc53 100644
--- a/dep/recastnavigation/Detour/Source/DetourNavMeshQuery.cpp
+++ b/dep/recastnavigation/Detour/Source/DetourNavMeshQuery.cpp
@@ -102,6 +102,7 @@ inline float dtQueryFilter::getCost(const float* pa, const float* pb,
 	
 static const float H_SCALE = 0.999f; // Search heuristic scale.
 
+
 dtNavMeshQuery* dtAllocNavMeshQuery()
 {
 	void* mem = dtAlloc(sizeof(dtNavMeshQuery), DT_ALLOC_PERM);
diff --git a/dep/recastnavigation/README.md b/dep/recastnavigation/README.md
index 7db7996366d..afa03689686 100644
--- a/dep/recastnavigation/README.md
+++ b/dep/recastnavigation/README.md
@@ -23,7 +23,7 @@ and then casting a navigation mesh over it. The process consists of three steps,
 building the voxel mold, partitioning the mold into simple regions, peeling off 
 the regions as simple polygons.
 
-1. The voxel mold is build from the input triangle mesh by rasterizing the triangles into a multi-layer heightfield. Some simple filters are  then applied to the mold to prune out locations where the character would not be able to move.
+1. The voxel mold is built from the input triangle mesh by rasterizing the triangles into a multi-layer heightfield. Some simple filters are  then applied to the mold to prune out locations where the character would not be able to move.
 2. The walkable areas described by the mold are divided into simple overlayed 2D regions. The resulting regions have only one non-overlapping contour, which simplifies the final step of the process tremendously.
 3. The navigation polygons are peeled off from the regions by first tracing the boundaries and then simplifying them. The resulting polygons are finally converted to convex polygons which makes them perfect for pathfinding and spatial reasoning about the level. 
 
@@ -45,7 +45,7 @@ RecastDemo uses [premake5](http://premake.github.io/) to build platform specific
 
 #### Linux
 
-- Install SDl2 and its dependencies according to your distro's guidelines.
+- Install SDL2 and its dependencies according to your distro's guidelines.
 - run `premake5 gmake` from the `RecastDemo` folder.
 - `cd Build/gmake` then `make`
 - Run `RecastDemo\Bin\RecastDemo`
diff --git a/dep/recastnavigation/Recast/Include/Recast.h b/dep/recastnavigation/Recast/Include/Recast.h
index 79d77e4a9af..fa25a98bd2a 100644
--- a/dep/recastnavigation/Recast/Include/Recast.h
+++ b/dep/recastnavigation/Recast/Include/Recast.h
@@ -332,6 +332,8 @@ struct rcCompactSpan
 /// @ingroup recast
 struct rcCompactHeightfield
 {
+	rcCompactHeightfield();
+	~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.
@@ -376,6 +378,8 @@ struct rcHeightfieldLayer
 /// @see rcAllocHeightfieldLayerSet, rcFreeHeightfieldLayerSet 
 struct rcHeightfieldLayerSet
 {
+	rcHeightfieldLayerSet();
+	~rcHeightfieldLayerSet();
 	rcHeightfieldLayer* layers;			///< The layers in the set. [Size: #nlayers]
 	int nlayers;						///< The number of layers in the set.
 };
@@ -395,6 +399,8 @@ struct rcContour
 /// @ingroup recast
 struct rcContourSet
 {
+	rcContourSet();
+	~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)]
@@ -411,6 +417,8 @@ struct rcContourSet
 /// @ingroup recast
 struct rcPolyMesh
 {
+	rcPolyMesh();
+	~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]
diff --git a/dep/recastnavigation/Recast/Include/RecastAlloc.h b/dep/recastnavigation/Recast/Include/RecastAlloc.h
index 3cdd450d42d..e436af9a016 100644
--- a/dep/recastnavigation/Recast/Include/RecastAlloc.h
+++ b/dep/recastnavigation/Recast/Include/RecastAlloc.h
@@ -20,6 +20,9 @@
 #define RECASTALLOC_H
 
 #include <stddef.h>
+#include <stdint.h>
+
+#include <RecastAssert.h>
 
 /// Provides hint values to the memory allocator on how long the
 /// memory is expected to be used.
@@ -58,64 +61,257 @@ void* rcAlloc(size_t size, rcAllocHint hint);
 /// @see rcAlloc
 void rcFree(void* ptr);
 
+/// An implementation of operator new usable for placement new. The default one is part of STL (which we don't use).
+/// rcNewTag is a dummy type used to differentiate our operator from the STL one, in case users import both Recast
+/// and STL.
+struct rcNewTag {};
+inline void* operator new(size_t, const rcNewTag&, void* p) { return p; }
+inline void operator delete(void*, const rcNewTag&, void*) {}
 
-/// A simple dynamic array of integers.
-class rcIntArray
-{
-	int* m_data;
-	int m_size, m_cap;
+/// Signed to avoid warnnings when comparing to int loop indexes, and common error with comparing to zero.
+/// MSVC2010 has a bug where ssize_t is unsigned (!!!).
+typedef intptr_t rcSizeType;
+#define RC_SIZE_MAX INTPTR_MAX
 
-	void doResize(int n);
-	
-	// Explicitly disabled copy constructor and copy assignment operator.
-	rcIntArray(const rcIntArray&);
-	rcIntArray& operator=(const rcIntArray&);
+/// Macros to hint to the compiler about the likeliest branch. Please add a benchmark that demonstrates a performance
+/// improvement before introducing use cases.
+#if defined(__GNUC__) || defined(__clang__)
+#define rcLikely(x) __builtin_expect((x), true)
+#define rcUnlikely(x) __builtin_expect((x), false)
+#else
+#define rcLikely(x) (x)
+#define rcUnlikely(x) (x)
+#endif
 
-public:
-	/// Constructs an instance with an initial array size of zero.
-	rcIntArray() : m_data(0), m_size(0), m_cap(0) {}
+/// Variable-sized storage type. Mimics the interface of std::vector<T> with some notable differences:
+///  * Uses rcAlloc()/rcFree() to handle storage.
+///  * No support for a custom allocator.
+///  * Uses signed size instead of size_t to avoid warnings in for loops: "for (int i = 0; i < foo.size(); i++)"
+///  * Omits methods of limited utility: insert/erase, (bad performance), at (we don't use exceptions), operator=.
+///  * assign() and the pre-sizing constructor follow C++11 semantics -- they don't construct a temporary if no value is provided.
+///  * push_back() and resize() support adding values from the current vector. Range-based constructors and assign(begin, end) do not.
+///  * No specialization for bool.
+template <typename T, rcAllocHint H>
+class rcVectorBase {
+	rcSizeType m_size;
+	rcSizeType m_cap;
+	T* m_data;
+	// Constructs a T at the give address with either the copy constructor or the default.
+	static void construct(T* p, const T& v) { ::new(rcNewTag(), (void*)p) T(v); }
+	static void construct(T* p) { ::new(rcNewTag(), (void*)p) T; }
+	static void construct_range(T* begin, T* end);
+	static void construct_range(T* begin, T* end, const T& value);
+	static void copy_range(T* dst, const T* begin, const T* end);
+	void destroy_range(rcSizeType begin, rcSizeType end);
+	// Creates an array of the given size, copies all of this vector's data into it, and returns it.
+	T* allocate_and_copy(rcSizeType size);
+	void resize_impl(rcSizeType size, const T* value);
+ public:
+	typedef rcSizeType size_type;
+	typedef T value_type;
 
-	/// 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); }
+	rcVectorBase() : m_size(0), m_cap(0), m_data(0) {};
+	rcVectorBase(const rcVectorBase<T, H>& other) : m_size(0), m_cap(0), m_data(0) { assign(other.begin(), other.end()); }
+	explicit rcVectorBase(rcSizeType count) : m_size(0), m_cap(0), m_data(0) { resize(count); }
+	rcVectorBase(rcSizeType count, const T& value) : m_size(0), m_cap(0), m_data(0) { resize(count, value); }
+	rcVectorBase(const T* begin, const T* end) : m_size(0), m_cap(0), m_data(0) { assign(begin, end); }
+	~rcVectorBase() { destroy_range(0, m_size); 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;
+	// Unlike in std::vector, we return a bool to indicate whether the alloc was successful.
+	bool reserve(rcSizeType size);
+
+	void assign(rcSizeType count, const T& value) { clear(); resize(count, value); }
+	void assign(const T* begin, const T* end);
+
+	void resize(rcSizeType size) { resize_impl(size, NULL); }
+	void resize(rcSizeType size, const T& value) { resize_impl(size, &value); }
+	// Not implemented as resize(0) because resize requires T to be default-constructible.
+	void clear() { destroy_range(0, m_size); m_size = 0; }
+
+	void push_back(const T& value);
+	void pop_back() { rcAssert(m_size > 0); back().~T(); m_size--; }
+
+	rcSizeType size() const { return m_size; }
+	rcSizeType capacity() const { return m_cap; }
+	bool empty() const { return size() == 0; }
+
+	const T& operator[](rcSizeType i) const { rcAssert(i >= 0 && i < m_size); return m_data[i]; }
+	T& operator[](rcSizeType i) { rcAssert(i >= 0 && i < m_size); return m_data[i]; }
+
+	const T& front() const { rcAssert(m_size); return m_data[0]; }
+	T& front() { rcAssert(m_size); return m_data[0]; }
+	const T& back() const { rcAssert(m_size); return m_data[m_size - 1]; };
+	T& back() { rcAssert(m_size); return m_data[m_size - 1]; };
+	const T* data() const { return m_data; }
+	T* data() { return m_data; }
+
+	T* begin() { return m_data; }
+	T* end() { return m_data + m_size; }
+	const T* begin() const { return m_data; }
+	const T* end() const { return m_data + m_size; }
+
+	void swap(rcVectorBase<T, H>& other);
+
+	// Explicitly deleted.
+	rcVectorBase& operator=(const rcVectorBase<T, H>& other);
+};
+
+template<typename T, rcAllocHint H>
+bool rcVectorBase<T, H>::reserve(rcSizeType count) {
+	if (count <= m_cap) {
+		return true;
+	}
+	T* new_data = allocate_and_copy(count);
+	if (!new_data) {
+	  return false;
+	}
+	destroy_range(0, m_size);
+	rcFree(m_data);
+	m_data = new_data;
+	m_cap = count;
+	return true;
+}
+template <typename T, rcAllocHint H>
+T* rcVectorBase<T, H>::allocate_and_copy(rcSizeType size) {
+	rcAssert(RC_SIZE_MAX / static_cast<rcSizeType>(sizeof(T)) >= size);
+	T* new_data = static_cast<T*>(rcAlloc(sizeof(T) * size, H));
+	if (new_data) {
+		copy_range(new_data, m_data, m_data + m_size);
+	}
+	return new_data;
+}
+template <typename T, rcAllocHint H>
+void rcVectorBase<T, H>::assign(const T* begin, const T* end) {
+	clear();
+	reserve(end - begin);
+	m_size = end - begin;
+	copy_range(m_data, begin, end);
+}
+template <typename T, rcAllocHint H>
+void rcVectorBase<T, H>::push_back(const T& value) {
+	// rcLikely increases performance by ~50% on BM_rcVector_PushPreallocated,
+	// and by ~2-5% on BM_rcVector_Push.
+	if (rcLikely(m_size < m_cap)) {
+		construct(m_data + m_size++, value);
+		return;
 	}
 
-	/// 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; }
+	rcAssert(RC_SIZE_MAX / 2 >= m_size);
+	rcSizeType new_cap = m_size ? 2*m_size : 1;
+	T* data = allocate_and_copy(new_cap);
+	// construct between allocate and destroy+free in case value is
+	// in this vector.
+	construct(data + m_size, value);
+	destroy_range(0, m_size);
+	m_size++;
+	m_cap = new_cap;
+	rcFree(m_data);
+	m_data = data;
+}
+template <typename T, rcAllocHint H>
+void rcVectorBase<T, H>::resize_impl(rcSizeType size, const T* value) {
+	if (size < m_size) {
+		destroy_range(size, m_size);
+		m_size = size;
+	} else if (size > m_size) {
+		T* new_data = allocate_and_copy(size);
+		// We defer deconstructing/freeing old data until after constructing
+		// new elements in case "value" is there.
+		if (value) {
+			construct_range(new_data + m_size, new_data + size, *value);
+		} else {
+			construct_range(new_data + m_size, new_data + size);
+		}
+		destroy_range(0, m_size);
+		rcFree(m_data);
+		m_data = new_data;
+		m_cap = size;
+		m_size = size;
+	}
+}
+template <typename T, rcAllocHint H>
+void rcVectorBase<T, H>::swap(rcVectorBase<T, H>& other) {
+	// TODO: Reorganize headers so we can use rcSwap here.
+	rcSizeType tmp_cap = other.m_cap;
+	rcSizeType tmp_size = other.m_size;
+	T* tmp_data = other.m_data;
 
-	/// 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];
+	other.m_cap = m_cap;
+	other.m_size = m_size;
+	other.m_data = m_data;
+
+	m_cap = tmp_cap;
+	m_size = tmp_size;
+	m_data = tmp_data;
+}
+// static
+template <typename T, rcAllocHint H>
+void rcVectorBase<T, H>::construct_range(T* begin, T* end) {
+	for (T* p = begin; p < end; p++) {
+		construct(p);
+	}
+}
+// static
+template <typename T, rcAllocHint H>
+void rcVectorBase<T, H>::construct_range(T* begin, T* end, const T& value) {
+	for (T* p = begin; p < end; p++) {
+		construct(p, value);
+	}
+}
+// static
+template <typename T, rcAllocHint H>
+void rcVectorBase<T, H>::copy_range(T* dst, const T* begin, const T* end) {
+	for (rcSizeType i = 0 ; i < end - begin; i++) {
+		construct(dst + i, begin[i]);
 	}
+}
+template <typename T, rcAllocHint H>
+void rcVectorBase<T, H>::destroy_range(rcSizeType begin, rcSizeType end) {
+	for (rcSizeType i = begin; i < end; i++) {
+		m_data[i].~T();
+	}
+}
 
-	/// 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]; }
+template <typename T>
+class rcTempVector : public rcVectorBase<T, RC_ALLOC_TEMP> {
+	typedef rcVectorBase<T, RC_ALLOC_TEMP> Base;
+public:
+	rcTempVector() : Base() {}
+	explicit rcTempVector(rcSizeType size) : Base(size) {}
+	rcTempVector(rcSizeType size, const T& value) : Base(size, value) {}
+	rcTempVector(const rcTempVector<T>& other) : Base(other) {}
+	rcTempVector(const T* begin, const T* end) : Base(begin, end) {}
+};
+template <typename T>
+class rcPermVector : public rcVectorBase<T, RC_ALLOC_PERM> {
+	typedef rcVectorBase<T, RC_ALLOC_PERM> Base;
+public:
+	rcPermVector() : Base() {}
+	explicit rcPermVector(rcSizeType size) : Base(size) {}
+	rcPermVector(rcSizeType size, const T& value) : Base(size, value) {}
+	rcPermVector(const rcPermVector<T>& other) : Base(other) {}
+	rcPermVector(const T* begin, const T* end) : Base(begin, end) {}
+};
 
-	/// 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; }
+/// Legacy class. Prefer rcVector<int>.
+class rcIntArray
+{
+	rcTempVector<int> m_impl;
+public:
+	rcIntArray() {}
+	rcIntArray(int n) : m_impl(n, 0) {}
+	void push(int item) { m_impl.push_back(item); }
+	void resize(int size) { m_impl.resize(size); }
+	int pop()
+	{
+		int v = m_impl.back();
+		m_impl.pop_back();
+		return v;
+	}
+	int size() const { return static_cast<int>(m_impl.size()); }
+	int& operator[](int index) { return m_impl[index]; }
+	int operator[](int index) const { return m_impl[index]; }
 };
 
 /// A simple helper class used to delete an array when it goes out of scope.
diff --git a/dep/recastnavigation/Recast/Source/Recast.cpp b/dep/recastnavigation/Recast/Source/Recast.cpp
index 8308d1973ec..1b71710cdc8 100644
--- a/dep/recastnavigation/Recast/Source/Recast.cpp
+++ b/dep/recastnavigation/Recast/Source/Recast.cpp
@@ -23,11 +23,34 @@
 #include <stdlib.h>
 #include <stdio.h>
 #include <stdarg.h>
-#include <new>
 #include "Recast.h"
 #include "RecastAlloc.h"
 #include "RecastAssert.h"
 
+namespace
+{
+/// Allocates and constructs an object of the given type, returning a pointer.
+/// TODO: Support constructor args.
+/// @param[in]		hint	Hint to the allocator.
+template <typename T>
+T* rcNew(rcAllocHint hint) {
+	T* ptr = (T*)rcAlloc(sizeof(T), hint);
+	::new(rcNewTag(), (void*)ptr) T();
+	return ptr;
+}
+
+/// Destroys and frees an object allocated with rcNew.
+/// @param[in]     ptr    The object pointer to delete.
+template <typename T>
+void rcDelete(T* ptr) {
+	if (ptr) {
+		ptr->~T();
+		rcFree((void*)ptr);
+	}
+}
+}  // namespace
+
+
 float rcSqrt(float x)
 {
 	return sqrtf(x);
@@ -73,9 +96,8 @@ void rcContext::log(const rcLogCategory category, const char* format, ...)
 
 rcHeightfield* rcAllocHeightfield()
 {
-	return new (rcAlloc(sizeof(rcHeightfield), RC_ALLOC_PERM)) rcHeightfield;
+	return rcNew<rcHeightfield>(RC_ALLOC_PERM);
 }
-
 rcHeightfield::rcHeightfield()
 	: width()
 	, height()
@@ -104,84 +126,133 @@ rcHeightfield::~rcHeightfield()
 
 void rcFreeHeightField(rcHeightfield* hf)
 {
-	if (!hf) return;
-	hf->~rcHeightfield();
-	rcFree(hf);
+	rcDelete(hf);
 }
 
 rcCompactHeightfield* rcAllocCompactHeightfield()
 {
-	rcCompactHeightfield* chf = (rcCompactHeightfield*)rcAlloc(sizeof(rcCompactHeightfield), RC_ALLOC_PERM);
-	memset(chf, 0, sizeof(rcCompactHeightfield));
-	return chf;
+	return rcNew<rcCompactHeightfield>(RC_ALLOC_PERM);
 }
 
 void rcFreeCompactHeightfield(rcCompactHeightfield* chf)
 {
-	if (!chf) return;
-	rcFree(chf->cells);
-	rcFree(chf->spans);
-	rcFree(chf->dist);
-	rcFree(chf->areas);
-	rcFree(chf);
+	rcDelete(chf);
 }
 
-rcHeightfieldLayerSet* rcAllocHeightfieldLayerSet()
+rcCompactHeightfield::rcCompactHeightfield()
+	: width(),
+	height(),
+	spanCount(),
+	walkableHeight(),
+	walkableClimb(),
+	borderSize(),
+	maxDistance(),
+	maxRegions(),
+	bmin(),
+	bmax(),
+	cs(),
+	ch(),
+	cells(),
+	spans(),
+	dist(),
+	areas()
 {
-	rcHeightfieldLayerSet* lset = (rcHeightfieldLayerSet*)rcAlloc(sizeof(rcHeightfieldLayerSet), RC_ALLOC_PERM);
-	memset(lset, 0, sizeof(rcHeightfieldLayerSet));
-	return lset;
+}
+rcCompactHeightfield::~rcCompactHeightfield()
+{
+	rcFree(cells);
+	rcFree(spans);
+	rcFree(dist);
+	rcFree(areas);
 }
 
+rcHeightfieldLayerSet* rcAllocHeightfieldLayerSet()
+{
+	return rcNew<rcHeightfieldLayerSet>(RC_ALLOC_PERM);
+}
 void rcFreeHeightfieldLayerSet(rcHeightfieldLayerSet* lset)
 {
-	if (!lset) return;
-	for (int i = 0; i < lset->nlayers; ++i)
+	rcDelete(lset);
+}
+
+rcHeightfieldLayerSet::rcHeightfieldLayerSet()
+	: layers(),	nlayers() {}
+rcHeightfieldLayerSet::~rcHeightfieldLayerSet()
+{
+	for (int i = 0; i < nlayers; ++i)
 	{
-		rcFree(lset->layers[i].heights);
-		rcFree(lset->layers[i].areas);
-		rcFree(lset->layers[i].cons);
+		rcFree(layers[i].heights);
+		rcFree(layers[i].areas);
+		rcFree(layers[i].cons);
 	}
-	rcFree(lset->layers);
-	rcFree(lset);
+	rcFree(layers);
 }
 
 
 rcContourSet* rcAllocContourSet()
 {
-	rcContourSet* cset = (rcContourSet*)rcAlloc(sizeof(rcContourSet), RC_ALLOC_PERM);
-	memset(cset, 0, sizeof(rcContourSet));
-	return cset;
+	return rcNew<rcContourSet>(RC_ALLOC_PERM);
 }
-
 void rcFreeContourSet(rcContourSet* cset)
 {
-	if (!cset) return;
-	for (int i = 0; i < cset->nconts; ++i)
+	rcDelete(cset);
+}
+
+rcContourSet::rcContourSet()
+	: conts(),
+	nconts(),
+	bmin(),
+	bmax(),
+	cs(),
+	ch(),
+	width(),
+	height(),
+	borderSize(),
+	maxError() {}
+rcContourSet::~rcContourSet()
+{
+	for (int i = 0; i < nconts; ++i)
 	{
-		rcFree(cset->conts[i].verts);
-		rcFree(cset->conts[i].rverts);
+		rcFree(conts[i].verts);
+		rcFree(conts[i].rverts);
 	}
-	rcFree(cset->conts);
-	rcFree(cset);
+	rcFree(conts);
 }
 
+
 rcPolyMesh* rcAllocPolyMesh()
 {
-	rcPolyMesh* pmesh = (rcPolyMesh*)rcAlloc(sizeof(rcPolyMesh), RC_ALLOC_PERM);
-	memset(pmesh, 0, sizeof(rcPolyMesh));
-	return pmesh;
+	return rcNew<rcPolyMesh>(RC_ALLOC_PERM);
 }
-
 void rcFreePolyMesh(rcPolyMesh* pmesh)
 {
-	if (!pmesh) return;
-	rcFree(pmesh->verts);
-	rcFree(pmesh->polys);
-	rcFree(pmesh->regs);
-	rcFree(pmesh->flags);
-	rcFree(pmesh->areas);
-	rcFree(pmesh);
+	rcDelete(pmesh);
+}
+
+rcPolyMesh::rcPolyMesh()
+	: verts(),
+	polys(),
+	regs(),
+	flags(),
+	areas(),
+	nverts(),
+	npolys(),
+	maxpolys(),
+	nvp(),
+	bmin(),
+	bmax(),
+	cs(),
+	ch(),
+	borderSize(),
+	maxEdgeError() {}
+
+rcPolyMesh::~rcPolyMesh()
+{
+	rcFree(verts);
+	rcFree(polys);
+	rcFree(regs);
+	rcFree(flags);
+	rcFree(areas);
 }
 
 rcPolyMeshDetail* rcAllocPolyMeshDetail()
diff --git a/dep/recastnavigation/Recast/Source/RecastAlloc.cpp b/dep/recastnavigation/Recast/Source/RecastAlloc.cpp
index 453b5fa6a60..bdc366116e9 100644
--- a/dep/recastnavigation/Recast/Source/RecastAlloc.cpp
+++ b/dep/recastnavigation/Recast/Source/RecastAlloc.cpp
@@ -58,29 +58,3 @@ 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/dep/recastnavigation/Recast/Source/RecastMeshDetail.cpp b/dep/recastnavigation/Recast/Source/RecastMeshDetail.cpp
index f953132f74c..68ab726aabb 100644
--- a/dep/recastnavigation/Recast/Source/RecastMeshDetail.cpp
+++ b/dep/recastnavigation/Recast/Source/RecastMeshDetail.cpp
@@ -557,15 +557,16 @@ static float polyMinExtent(const float* verts, const int nverts)
 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)
+static void triangulateHull(const int /*nverts*/, const float* verts, const int nhull, const int* hull, const int nin, 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;
+	float dmin = FLT_MAX;
 	for (int i = 0; i < nhull; i++)
 	{
+		if (hull[i] >= nin) continue; // Ears are triangles with original vertices as middle vertex while others are actually line segments on edges
 		int pi = prev(i, nhull);
 		int ni = next(i, nhull);
 		const float* pv = &verts[hull[pi]*3];
@@ -770,7 +771,7 @@ static bool buildPolyDetail(rcContext* ctx, const float* in, const int nin,
 	// 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);
+		triangulateHull(nverts, verts, nhull, hull, nin, tris);
 		return true;
 	}
 	
@@ -778,7 +779,7 @@ static bool buildPolyDetail(rcContext* ctx, const float* in, const int nin,
 	// 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);
+	triangulateHull(nverts, verts, nhull, hull, nin, tris);
 	
 	if (tris.size() == 0)
 	{
diff --git a/dep/recastnavigation/Recast/Source/RecastRegion.cpp b/dep/recastnavigation/Recast/Source/RecastRegion.cpp
index 38a2bd6bfa4..e1fc0ee7887 100644
--- a/dep/recastnavigation/Recast/Source/RecastRegion.cpp
+++ b/dep/recastnavigation/Recast/Source/RecastRegion.cpp
@@ -25,8 +25,17 @@
 #include "Recast.h"
 #include "RecastAlloc.h"
 #include "RecastAssert.h"
-#include <new>
 
+namespace
+{
+struct LevelStackEntry
+{
+	LevelStackEntry(int x_, int y_, int index_) : x(x_), y(y_), index(index_) {}
+	int x;
+	int y;
+	int index;
+};
+}  // namespace
 
 static void calculateDistanceField(rcCompactHeightfield& chf, unsigned short* src, unsigned short& maxDist)
 {
@@ -245,17 +254,15 @@ 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)
+						rcTempVector<LevelStackEntry>& 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);
+	stack.clear();
+	stack.push_back(LevelStackEntry(x, y, i));
 	srcReg[i] = r;
 	srcDist[i] = 0;
 	
@@ -264,9 +271,11 @@ static bool floodRegion(int x, int y, int i,
 	
 	while (stack.size() > 0)
 	{
-		int ci = stack.pop();
-		int cy = stack.pop();
-		int cx = stack.pop();
+		LevelStackEntry& back = stack.back();
+		int cx = back.x;
+		int cy = back.y;
+		int ci = back.index;
+		stack.pop_back();
 		
 		const rcCompactSpan& cs = chf.spans[ci];
 		
@@ -332,9 +341,7 @@ static bool floodRegion(int x, int y, int i,
 				{
 					srcReg[ai] = r;
 					srcDist[ai] = 0;
-					stack.push(ax);
-					stack.push(ay);
-					stack.push(ai);
+					stack.push_back(LevelStackEntry(ax, ay, ai));
 				}
 			}
 		}
@@ -343,12 +350,20 @@ static bool floodRegion(int x, int y, int i,
 	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)
+// Struct to keep track of entries in the region table that have been changed.
+struct DirtyEntry
+{
+	DirtyEntry(int index_, unsigned short region_, unsigned short distance2_)
+		: index(index_), region(region_), distance2(distance2_) {}
+	int index;
+	unsigned short region;
+	unsigned short distance2;
+};
+static void expandRegions(int maxIter, unsigned short level,
+					      rcCompactHeightfield& chf,
+					      unsigned short* srcReg, unsigned short* srcDist,
+					      rcTempVector<LevelStackEntry>& stack,
+					      bool fillStack)
 {
 	const int w = chf.width;
 	const int h = chf.height;
@@ -356,7 +371,7 @@ static unsigned short* expandRegions(int maxIter, unsigned short level,
 	if (fillStack)
 	{
 		// Find cells revealed by the raised level.
-		stack.resize(0);
+		stack.clear();
 		for (int y = 0; y < h; ++y)
 		{
 			for (int x = 0; x < w; ++x)
@@ -366,9 +381,7 @@ static unsigned short* expandRegions(int maxIter, unsigned short level,
 				{
 					if (chf.dist[i] >= level && srcReg[i] == 0 && chf.areas[i] != RC_NULL_AREA)
 					{
-						stack.push(x);
-						stack.push(y);
-						stack.push(i);
+						stack.push_back(LevelStackEntry(x, y, i));
 					}
 				}
 			}
@@ -377,27 +390,26 @@ static unsigned short* expandRegions(int maxIter, unsigned short level,
 	else // use cells in the input stack
 	{
 		// mark all cells which already have a region
-		for (int j=0; j<stack.size(); j+=3)
+		for (int j=0; j<stack.size(); j++)
 		{
-			int i = stack[j+2];
+			int i = stack[j].index;
 			if (srcReg[i] != 0)
-				stack[j+2] = -1;
+				stack[j].index = -1;
 		}
 	}
 
+	rcTempVector<DirtyEntry> dirtyEntries;
 	int iter = 0;
 	while (stack.size() > 0)
 	{
 		int failed = 0;
+		dirtyEntries.clear();
 		
-		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)
+		for (int j = 0; j < stack.size(); j++)
 		{
-			int x = stack[j+0];
-			int y = stack[j+1];
-			int i = stack[j+2];
+			int x = stack[j].x;
+			int y = stack[j].y;
+			int i = stack[j].index;
 			if (i < 0)
 			{
 				failed++;
@@ -426,9 +438,8 @@ static unsigned short* expandRegions(int maxIter, unsigned short level,
 			}
 			if (r)
 			{
-				stack[j+2] = -1; // mark as used
-				dstReg[i] = r;
-				dstDist[i] = d2;
+				stack[j].index = -1; // mark as used
+				dirtyEntries.push_back(DirtyEntry(i, r, d2));
 			}
 			else
 			{
@@ -436,11 +447,14 @@ static unsigned short* expandRegions(int maxIter, unsigned short level,
 			}
 		}
 		
-		// rcSwap source and dest.
-		rcSwap(srcReg, dstReg);
-		rcSwap(srcDist, dstDist);
+		// Copy entries that differ between src and dst to keep them in sync.
+		for (int i = 0; i < dirtyEntries.size(); i++) {
+			int idx = dirtyEntries[i].index;
+			srcReg[idx] = dirtyEntries[i].region;
+			srcDist[idx] = dirtyEntries[i].distance2;
+		}
 		
-		if (failed*3 == stack.size())
+		if (failed == stack.size())
 			break;
 		
 		if (level > 0)
@@ -450,16 +464,14 @@ static unsigned short* expandRegions(int maxIter, unsigned short level,
 				break;
 		}
 	}
-	
-	return srcReg;
 }
 
 
 
 static void sortCellsByLevel(unsigned short startLevel,
 							  rcCompactHeightfield& chf,
-							  unsigned short* srcReg,
-							  unsigned int nbStacks, rcIntArray* stacks,
+							  const unsigned short* srcReg,
+							  unsigned int nbStacks, rcTempVector<LevelStackEntry>* stacks,
 							  unsigned short loglevelsPerStack) // the levels per stack (2 in our case) as a bit shift
 {
 	const int w = chf.width;
@@ -467,7 +479,7 @@ static void sortCellsByLevel(unsigned short startLevel,
 	startLevel = startLevel >> loglevelsPerStack;
 
 	for (unsigned int j=0; j<nbStacks; ++j)
-		stacks[j].resize(0);
+		stacks[j].clear();
 
 	// put all cells in the level range into the appropriate stacks
 	for (int y = 0; y < h; ++y)
@@ -487,26 +499,23 @@ static void sortCellsByLevel(unsigned short startLevel,
 				if (sId < 0)
 					sId = 0;
 
-				stacks[sId].push(x);
-				stacks[sId].push(y);
-				stacks[sId].push(i);
+				stacks[sId].push_back(LevelStackEntry(x, y, i));
 			}
 		}
 	}
 }
 
 
-static void appendStacks(rcIntArray& srcStack, rcIntArray& dstStack,
-						 unsigned short* srcReg)
+static void appendStacks(const rcTempVector<LevelStackEntry>& srcStack,
+						 rcTempVector<LevelStackEntry>& dstStack,
+						 const unsigned short* srcReg)
 {
-	for (int j=0; j<srcStack.size(); j+=3)
+	for (int j=0; j<srcStack.size(); j++)
 	{
-		int i = srcStack[j+2];
+		int i = srcStack[j].index;
 		if ((i < 0) || (srcReg[i] != 0))
 			continue;
-		dstStack.push(srcStack[j]);
-		dstStack.push(srcStack[j+1]);
-		dstStack.push(srcStack[j+2]);
+		dstStack.push_back(srcStack[j]);
 	}
 }
 
@@ -671,7 +680,7 @@ static bool isRegionConnectedToBorder(const rcRegion& reg)
 	return false;
 }
 
-static bool isSolidEdge(rcCompactHeightfield& chf, unsigned short* srcReg,
+static bool isSolidEdge(rcCompactHeightfield& chf, const unsigned short* srcReg,
 						int x, int y, int i, int dir)
 {
 	const rcCompactSpan& s = chf.spans[i];
@@ -690,7 +699,7 @@ static bool isSolidEdge(rcCompactHeightfield& chf, unsigned short* srcReg,
 
 static void walkContour(int x, int y, int i, int dir,
 						rcCompactHeightfield& chf,
-						unsigned short* srcReg,
+						const unsigned short* srcReg,
 						rcIntArray& cont)
 {
 	int startDir = dir;
@@ -786,16 +795,15 @@ static bool mergeAndFilterRegions(rcContext* ctx, int minRegionArea, int mergeRe
 	const int h = chf.height;
 	
 	const int nreg = maxRegionId+1;
-	rcRegion* regions = (rcRegion*)rcAlloc(sizeof(rcRegion)*nreg, RC_ALLOC_TEMP);
-	if (!regions)
-	{
+	rcTempVector<rcRegion> regions;
+	if (!regions.reserve(nreg)) {
 		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);
+		regions.push_back(rcRegion((unsigned short) i));
 	
 	// Find edge of a region and find connections around the contour.
 	for (int y = 0; y < h; ++y)
@@ -1021,11 +1029,6 @@ static bool mergeAndFilterRegions(rcContext* ctx, int minRegionArea, int mergeRe
 		if (regions[i].overlap)
 			overlaps.push(regions[i].id);
 
-	for (int i = 0; i < nreg; ++i)
-		regions[i].~rcRegion();
-	rcFree(regions);
-	
-	
 	return true;
 }
 
@@ -1041,22 +1044,21 @@ static void addUniqueConnection(rcRegion& reg, int n)
 static bool mergeAndFilterLayerRegions(rcContext* ctx, int minRegionArea,
 									   unsigned short& maxRegionId,
 									   rcCompactHeightfield& chf,
-									   unsigned short* srcReg, rcIntArray& /*overlaps*/)
+									   unsigned short* srcReg)
 {
 	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)
-	{
+	rcTempVector<rcRegion> regions;
+	
+	// Construct regions
+	if (!regions.reserve(nreg)) {
 		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);
+		regions.push_back(rcRegion((unsigned short) i));
 	
 	// Find region neighbours and overlapping regions.
 	rcIntArray lregs(32);
@@ -1234,10 +1236,6 @@ static bool mergeAndFilterLayerRegions(rcContext* ctx, int minRegionArea,
 			srcReg[i] = regions[srcReg[i]].id;
 	}
 	
-	for (int i = 0; i < nreg; ++i)
-		regions[i].~rcRegion();
-	rcFree(regions);
-	
 	return true;
 }
 
@@ -1391,9 +1389,9 @@ bool rcBuildRegionsMonotone(rcContext* ctx, rcCompactHeightfield& chf,
 		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;
 	}
+
+	chf.borderSize = borderSize;
 	
 	rcIntArray prev(256);
 
@@ -1535,7 +1533,7 @@ bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf,
 	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));
+	rcScopedDelete<unsigned short> buf((unsigned short*)rcAlloc(sizeof(unsigned short)*chf.spanCount*2, RC_ALLOC_TEMP));
 	if (!buf)
 	{
 		ctx->log(RC_LOG_ERROR, "rcBuildRegions: Out of memory 'tmp' (%d).", chf.spanCount*4);
@@ -1546,17 +1544,15 @@ bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf,
 
 	const int LOG_NB_STACKS = 3;
 	const int NB_STACKS = 1 << LOG_NB_STACKS;
-	rcIntArray lvlStacks[NB_STACKS];
+	rcTempVector<LevelStackEntry> lvlStacks[NB_STACKS];
 	for (int i=0; i<NB_STACKS; ++i)
-		lvlStacks[i].resize(1024);
+		lvlStacks[i].reserve(256);
 
-	rcIntArray stack(1024);
-	rcIntArray visited(1024);
+	rcTempVector<LevelStackEntry> stack;
+	stack.reserve(256);
 	
 	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);
@@ -1581,9 +1577,9 @@ bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf,
 		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;
 	}
+
+	chf.borderSize = borderSize;
 	
 	int sId = -1;
 	while (level > 0)
@@ -1604,22 +1600,19 @@ bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf,
 			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);
-			}
+			expandRegions(expandIters, level, chf, srcReg, srcDist, lvlStacks[sId], false);
 		}
 		
 		{
 			rcScopedTimer timerFloor(ctx, RC_TIMER_BUILD_REGIONS_FLOOD);
 
 			// Mark new regions with IDs.
-			for (int j = 0; j<lvlStacks[sId].size(); j += 3)
+			for (int j = 0; j<lvlStacks[sId].size(); j++)
 			{
-				int x = lvlStacks[sId][j];
-				int y = lvlStacks[sId][j+1];
-				int i = lvlStacks[sId][j+2];
+				LevelStackEntry current = lvlStacks[sId][j];
+				int x = current.x;
+				int y = current.y;
+				int i = current.index;
 				if (i >= 0 && srcReg[i] == 0)
 				{
 					if (floodRegion(x, y, i, level, regionId, chf, srcReg, srcDist, stack))
@@ -1638,11 +1631,7 @@ bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf,
 	}
 	
 	// 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);
-	}
+	expandRegions(expandIters*8, 0, chf, srcReg, srcDist, stack, true);
 	
 	ctx->stopTimer(RC_TIMER_BUILD_REGIONS_WATERSHED);
 	
@@ -1709,9 +1698,9 @@ bool rcBuildLayerRegions(rcContext* ctx, rcCompactHeightfield& chf,
 		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;
 	}
+
+	chf.borderSize = borderSize;
 	
 	rcIntArray prev(256);
 	
@@ -1809,9 +1798,8 @@ bool rcBuildLayerRegions(rcContext* ctx, rcCompactHeightfield& chf,
 		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))
+		if (!mergeAndFilterLayerRegions(ctx, minRegionArea, chf.maxRegions, chf, srcReg))
 			return false;
 	}
 	
diff --git a/src/common/Collision/Maps/MMapDefines.h b/src/common/Collision/Maps/MMapDefines.h
index 185eee7a935..e12c8cac49e 100644
--- a/src/common/Collision/Maps/MMapDefines.h
+++ b/src/common/Collision/Maps/MMapDefines.h
@@ -22,7 +22,7 @@
 #include "DetourNavMesh.h"
 
 const uint32 MMAP_MAGIC = 0x4d4d4150; // 'MMAP'
-#define MMAP_VERSION 10
+#define MMAP_VERSION 11
 
 struct MmapTileHeader
 {