Dep/Recast: Update recastnavigation to https://github.com/recastnavigation/recastnavigation/commit/2c85309280dbc9c82029e7ab16dfb01b9235c74e

(cherry picked from commit 7ef22e43057080926685eb45f0fce3f2f3d58c61)

14 files changed, 208 insertions, 65 deletions

diff --git a/dep/recastnavigation/Detour/CMakeLists.txt b/dep/recastnavigation/Detour/CMakeLists.txt
index 8394c64268a..aa0cc772cac 100644
--- a/dep/recastnavigation/Detour/CMakeLists.txt
+++ b/dep/recastnavigation/Detour/CMakeLists.txt
@@ -10,6 +10,7 @@
 
 set(Detour_STAT_SRCS
     Source/DetourAlloc.cpp 
+	Source/DetourAssert.cpp 
     Source/DetourCommon.cpp 
     Source/DetourNavMesh.cpp 
     Source/DetourNavMeshBuilder.cpp 
diff --git a/dep/recastnavigation/Detour/Include/DetourAssert.h b/dep/recastnavigation/Detour/Include/DetourAssert.h
index 3cf652288fa..e05fd66fa57 100644
--- a/dep/recastnavigation/Detour/Include/DetourAssert.h
+++ b/dep/recastnavigation/Detour/Include/DetourAssert.h
@@ -23,11 +23,34 @@
 // 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 dtAssert(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 dtAssertFailSetCustom
+typedef void (dtAssertFailFunc)(const char* expression, const char* file, int line);
+
+/// Sets the base custom assertion failure function to be used by Detour.
+///  @param[in]		assertFailFunc	The function to be invoked in case of failure of #dtAssert
+void dtAssertFailSetCustom(dtAssertFailFunc *assertFailFunc);
+
+/// Gets the base custom assertion failure function to be used by Detour.
+dtAssertFailFunc* dtAssertFailGetCustom();
+
 #	include <assert.h> 
-#	define dtAssert assert
+#	define dtAssert(expression) \
+		{ \
+			dtAssertFailFunc* failFunc = dtAssertFailGetCustom(); \
+			if(failFunc == NULL) { assert(expression); } \
+			else if(!(expression)) { (*failFunc)(#expression, __FILE__, __LINE__); } \
+		}
+
 #endif
 
 #endif // DETOURASSERT_H
diff --git a/dep/recastnavigation/Detour/Include/DetourNavMesh.h b/dep/recastnavigation/Detour/Include/DetourNavMesh.h
index f50f705a2c5..5f00804354f 100644
--- a/dep/recastnavigation/Detour/Include/DetourNavMesh.h
+++ b/dep/recastnavigation/Detour/Include/DetourNavMesh.h
@@ -647,7 +647,7 @@ private:
 							dtPolyRef* polys, const int maxPolys) const;
 	/// Find nearest polygon within a tile.
 	dtPolyRef findNearestPolyInTile(const dtMeshTile* tile, const float* center,
-									const float* extents, float* nearestPt) const;
+									const float* halfExtents, float* nearestPt) const;
 	/// Returns closest point on polygon.
 	void closestPointOnPoly(dtPolyRef ref, const float* pos, float* closest, bool* posOverPoly) const;
 	
diff --git a/dep/recastnavigation/Detour/Include/DetourNavMeshQuery.h b/dep/recastnavigation/Detour/Include/DetourNavMeshQuery.h
index 61541e83dfe..1c23e4857b3 100644
--- a/dep/recastnavigation/Detour/Include/DetourNavMeshQuery.h
+++ b/dep/recastnavigation/Detour/Include/DetourNavMeshQuery.h
@@ -316,33 +316,33 @@ public:
 
 	/// Finds the polygon nearest to the specified center point.
 	///  @param[in]		center		The center of the search box. [(x, y, z)]
-	///  @param[in]		extents		The search distance along each axis. [(x, y, z)]
+	///  @param[in]		halfExtents		The search distance along each axis. [(x, y, z)]
 	///  @param[in]		filter		The polygon filter to apply to the query.
 	///  @param[out]	nearestRef	The reference id of the nearest polygon.
 	///  @param[out]	nearestPt	The nearest point on the polygon. [opt] [(x, y, z)]
 	/// @returns The status flags for the query.
-	dtStatus findNearestPoly(const float* center, const float* extents,
+	dtStatus findNearestPoly(const float* center, const float* halfExtents,
 							 const dtQueryFilter* filter,
 							 dtPolyRef* nearestRef, float* nearestPt) const;
 	
 	/// Finds polygons that overlap the search box.
 	///  @param[in]		center		The center of the search box. [(x, y, z)]
-	///  @param[in]		extents		The search distance along each axis. [(x, y, z)]
+	///  @param[in]		halfExtents		The search distance along each axis. [(x, y, z)]
 	///  @param[in]		filter		The polygon filter to apply to the query.
 	///  @param[out]	polys		The reference ids of the polygons that overlap the query box.
 	///  @param[out]	polyCount	The number of polygons in the search result.
 	///  @param[in]		maxPolys	The maximum number of polygons the search result can hold.
 	/// @returns The status flags for the query.
-	dtStatus queryPolygons(const float* center, const float* extents,
+	dtStatus queryPolygons(const float* center, const float* halfExtents,
 						   const dtQueryFilter* filter,
 						   dtPolyRef* polys, int* polyCount, const int maxPolys) const;
 
 	/// Finds polygons that overlap the search box.
 	///  @param[in]		center		The center of the search box. [(x, y, z)]
-	///  @param[in]		extents		The search distance along each axis. [(x, y, z)]
+	///  @param[in]		halfExtents		The search distance along each axis. [(x, y, z)]
 	///  @param[in]		filter		The polygon filter to apply to the query.
 	///  @param[in]		query		The query. Polygons found will be batched together and passed to this query.
-	dtStatus queryPolygons(const float* center, const float* extents,
+	dtStatus queryPolygons(const float* center, const float* halfExtents,
 						   const dtQueryFilter* filter, dtPolyQuery* query) const;
 
 	/// Finds the non-overlapping navigation polygons in the local neighbourhood around the center position.
diff --git a/dep/recastnavigation/Detour/Source/DetourAssert.cpp b/dep/recastnavigation/Detour/Source/DetourAssert.cpp
new file mode 100644
index 00000000000..5e019e0cfc5
--- /dev/null
+++ b/dep/recastnavigation/Detour/Source/DetourAssert.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 "DetourAssert.h"
+
+#ifndef NDEBUG
+
+static dtAssertFailFunc* sAssertFailFunc = 0;
+
+void dtAssertFailSetCustom(dtAssertFailFunc *assertFailFunc)
+{
+	sAssertFailFunc = assertFailFunc;
+}
+
+dtAssertFailFunc* dtAssertFailGetCustom()
+{
+	return sAssertFailFunc;
+}
+
+#endif
diff --git a/dep/recastnavigation/Detour/Source/DetourCommon.cpp b/dep/recastnavigation/Detour/Source/DetourCommon.cpp
index 26fe65c1781..41d0d7bd387 100644
--- a/dep/recastnavigation/Detour/Source/DetourCommon.cpp
+++ b/dep/recastnavigation/Detour/Source/DetourCommon.cpp
@@ -342,8 +342,8 @@ void dtRandomPointInConvexPoly(const float* pts, const int npts, float* areas,
 	// Find sub triangle weighted by area.
 	const float thr = s*areasum;
 	float acc = 0.0f;
-	float u = 0.0f;
-	int tri = 0;
+	float u = 1.0f;
+	int tri = npts - 1;
 	for (int i = 2; i < npts; i++) {
 		const float dacc = areas[i];
 		if (thr >= acc && thr < (acc+dacc))
diff --git a/dep/recastnavigation/Detour/Source/DetourNavMesh.cpp b/dep/recastnavigation/Detour/Source/DetourNavMesh.cpp
index f70fa04729a..b81a2567b2e 100644
--- a/dep/recastnavigation/Detour/Source/DetourNavMesh.cpp
+++ b/dep/recastnavigation/Detour/Source/DetourNavMesh.cpp
@@ -470,12 +470,12 @@ void dtNavMesh::connectExtOffMeshLinks(dtMeshTile* tile, dtMeshTile* target, int
 		if (targetPoly->firstLink == DT_NULL_LINK)
 			continue;
 		
-		const float ext[3] = { targetCon->rad, target->header->walkableClimb, targetCon->rad };
+		const float halfExtents[3] = { targetCon->rad, target->header->walkableClimb, targetCon->rad };
 		
 		// Find polygon to connect to.
 		const float* p = &targetCon->pos[3];
 		float nearestPt[3];
-		dtPolyRef ref = findNearestPolyInTile(tile, p, ext, nearestPt);
+		dtPolyRef ref = findNearestPolyInTile(tile, p, halfExtents, nearestPt);
 		if (!ref)
 			continue;
 		// findNearestPoly may return too optimistic results, further check to make sure. 
@@ -570,12 +570,12 @@ void dtNavMesh::baseOffMeshLinks(dtMeshTile* tile)
 		dtOffMeshConnection* con = &tile->offMeshCons[i];
 		dtPoly* poly = &tile->polys[con->poly];
 	
-		const float ext[3] = { con->rad, tile->header->walkableClimb, con->rad };
+		const float halfExtents[3] = { con->rad, tile->header->walkableClimb, con->rad };
 		
 		// Find polygon to connect to.
 		const float* p = &con->pos[0]; // First vertex
 		float nearestPt[3];
-		dtPolyRef ref = findNearestPolyInTile(tile, p, ext, nearestPt);
+		dtPolyRef ref = findNearestPolyInTile(tile, p, halfExtents, nearestPt);
 		if (!ref) continue;
 		// findNearestPoly may return too optimistic results, further check to make sure. 
 		if (dtSqr(nearestPt[0]-p[0])+dtSqr(nearestPt[2]-p[2]) > dtSqr(con->rad))
@@ -687,7 +687,7 @@ void dtNavMesh::closestPointOnPoly(dtPolyRef ref, const float* pos, float* close
 				v[k] = &tile->detailVerts[(pd->vertBase+(t[k]-poly->vertCount))*3];
 		}
 		float h;
-		if (dtClosestHeightPointTriangle(pos, v[0], v[1], v[2], h))
+		if (dtClosestHeightPointTriangle(closest, v[0], v[1], v[2], h))
 		{
 			closest[1] = h;
 			break;
@@ -696,12 +696,12 @@ void dtNavMesh::closestPointOnPoly(dtPolyRef ref, const float* pos, float* close
 }
 
 dtPolyRef dtNavMesh::findNearestPolyInTile(const dtMeshTile* tile,
-										   const float* center, const float* extents,
+										   const float* center, const float* halfExtents,
 										   float* nearestPt) const
 {
 	float bmin[3], bmax[3];
-	dtVsub(bmin, center, extents);
-	dtVadd(bmax, center, extents);
+	dtVsub(bmin, center, halfExtents);
+	dtVadd(bmax, center, halfExtents);
 	
 	// Get nearby polygons from proximity grid.
 	dtPolyRef polys[128];
diff --git a/dep/recastnavigation/Detour/Source/DetourNavMeshBuilder.cpp b/dep/recastnavigation/Detour/Source/DetourNavMeshBuilder.cpp
index 965e6cdc5c5..e93a97629b8 100644
--- a/dep/recastnavigation/Detour/Source/DetourNavMeshBuilder.cpp
+++ b/dep/recastnavigation/Detour/Source/DetourNavMeshBuilder.cpp
@@ -168,45 +168,72 @@ static void subdivide(BVItem* items, int nitems, int imin, int imax, int& curNod
 	}
 }
 
-static int createBVTree(const unsigned short* verts, const int /*nverts*/,
-						const unsigned short* polys, const int npolys, const int nvp,
-						const float cs, const float ch,
-						const int /*nnodes*/, dtBVNode* nodes)
+static int createBVTree(dtNavMeshCreateParams* params, dtBVNode* nodes, int /*nnodes*/)
 {
 	// Build tree
-	BVItem* items = (BVItem*)dtAlloc(sizeof(BVItem)*npolys, DT_ALLOC_TEMP);
-	for (int i = 0; i < npolys; i++)
+	float quantFactor = 1 / params->cs;
+	BVItem* items = (BVItem*)dtAlloc(sizeof(BVItem)*params->polyCount, DT_ALLOC_TEMP);
+	for (int i = 0; i < params->polyCount; i++)
 	{
 		BVItem& it = items[i];
 		it.i = i;
-		// Calc polygon bounds.
-		const unsigned short* p = &polys[i*nvp*2];
-		it.bmin[0] = it.bmax[0] = verts[p[0]*3+0];
-		it.bmin[1] = it.bmax[1] = verts[p[0]*3+1];
-		it.bmin[2] = it.bmax[2] = verts[p[0]*3+2];
-		
-		for (int j = 1; j < nvp; ++j)
+		// Calc polygon bounds. Use detail meshes if available.
+		if (params->detailMeshes)
 		{
-			if (p[j] == MESH_NULL_IDX) break;
-			unsigned short x = verts[p[j]*3+0];
-			unsigned short y = verts[p[j]*3+1];
-			unsigned short z = verts[p[j]*3+2];
-			
-			if (x < it.bmin[0]) it.bmin[0] = x;
-			if (y < it.bmin[1]) it.bmin[1] = y;
-			if (z < it.bmin[2]) it.bmin[2] = z;
-			
-			if (x > it.bmax[0]) it.bmax[0] = x;
-			if (y > it.bmax[1]) it.bmax[1] = y;
-			if (z > it.bmax[2]) it.bmax[2] = z;
+			int vb = (int)params->detailMeshes[i*4+0];
+			int ndv = (int)params->detailMeshes[i*4+1];
+			float bmin[3];
+			float bmax[3];
+
+			const float* dv = &params->detailVerts[vb*3];
+			dtVcopy(bmin, dv);
+			dtVcopy(bmax, dv);
+
+			for (int j = 1; j < ndv; j++)
+			{
+				dtVmin(bmin, &dv[j * 3]);
+				dtVmax(bmax, &dv[j * 3]);
+			}
+
+			// BV-tree uses cs for all dimensions
+			it.bmin[0] = (unsigned short)dtClamp((int)((bmin[0] - params->bmin[0])*quantFactor), 0, 0xffff);
+			it.bmin[1] = (unsigned short)dtClamp((int)((bmin[1] - params->bmin[1])*quantFactor), 0, 0xffff);
+			it.bmin[2] = (unsigned short)dtClamp((int)((bmin[2] - params->bmin[2])*quantFactor), 0, 0xffff);
+
+			it.bmax[0] = (unsigned short)dtClamp((int)((bmax[0] - params->bmin[0])*quantFactor), 0, 0xffff);
+			it.bmax[1] = (unsigned short)dtClamp((int)((bmax[1] - params->bmin[1])*quantFactor), 0, 0xffff);
+			it.bmax[2] = (unsigned short)dtClamp((int)((bmax[2] - params->bmin[2])*quantFactor), 0, 0xffff);
+		}
+		else
+		{
+			const unsigned short* p = &params->polys[i*params->nvp * 2];
+			it.bmin[0] = it.bmax[0] = params->verts[p[0] * 3 + 0];
+			it.bmin[1] = it.bmax[1] = params->verts[p[0] * 3 + 1];
+			it.bmin[2] = it.bmax[2] = params->verts[p[0] * 3 + 2];
+
+			for (int j = 1; j < params->nvp; ++j)
+			{
+				if (p[j] == MESH_NULL_IDX) break;
+				unsigned short x = params->verts[p[j] * 3 + 0];
+				unsigned short y = params->verts[p[j] * 3 + 1];
+				unsigned short z = params->verts[p[j] * 3 + 2];
+
+				if (x < it.bmin[0]) it.bmin[0] = x;
+				if (y < it.bmin[1]) it.bmin[1] = y;
+				if (z < it.bmin[2]) it.bmin[2] = z;
+
+				if (x > it.bmax[0]) it.bmax[0] = x;
+				if (y > it.bmax[1]) it.bmax[1] = y;
+				if (z > it.bmax[2]) it.bmax[2] = z;
+			}
+			// Remap y
+			it.bmin[1] = (unsigned short)dtMathFloorf((float)it.bmin[1] * params->ch / params->cs);
+			it.bmax[1] = (unsigned short)dtMathCeilf((float)it.bmax[1] * params->ch / params->cs);
 		}
-		// Remap y
-		it.bmin[1] = (unsigned short)dtMathFloorf((float)it.bmin[1]*ch/cs);
-		it.bmax[1] = (unsigned short)dtMathCeilf((float)it.bmax[1]*ch/cs);
 	}
 	
 	int curNode = 0;
-	subdivide(items, npolys, 0, npolys, curNode, nodes);
+	subdivide(items, params->polyCount, 0, params->polyCount, curNode, nodes);
 	
 	dtFree(items);
 	
@@ -595,11 +622,9 @@ bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData,
 	}
 
 	// Store and create BVtree.
-	// TODO: take detail mesh into account! use byte per bbox extent?
 	if (params->buildBvTree)
 	{
-		createBVTree(params->verts, params->vertCount, params->polys, params->polyCount,
-					 nvp, params->cs, params->ch, params->polyCount*2, navBvtree);
+		createBVTree(params, navBvtree, 2*params->polyCount);
 	}
 	
 	// Store Off-Mesh connections.
diff --git a/dep/recastnavigation/Detour/Source/DetourNavMeshQuery.cpp b/dep/recastnavigation/Detour/Source/DetourNavMeshQuery.cpp
index 2f781fb92a2..4e69fcbcc53 100644
--- a/dep/recastnavigation/Detour/Source/DetourNavMeshQuery.cpp
+++ b/dep/recastnavigation/Detour/Source/DetourNavMeshQuery.cpp
@@ -578,7 +578,7 @@ dtStatus dtNavMeshQuery::closestPointOnPoly(dtPolyRef ref, const float* pos, flo
 				v[k] = &tile->detailVerts[(pd->vertBase+(t[k]-poly->vertCount))*3];
 		}
 		float h;
-		if (dtClosestHeightPointTriangle(pos, v[0], v[1], v[2], h))
+		if (dtClosestHeightPointTriangle(closest, v[0], v[1], v[2], h))
 		{
 			closest[1] = h;
 			break;
@@ -759,7 +759,7 @@ public:
 /// return #DT_SUCCESS, but @p nearestRef will be zero. So if in doubt, check 
 /// @p nearestRef before using @p nearestPt.
 ///
-dtStatus dtNavMeshQuery::findNearestPoly(const float* center, const float* extents,
+dtStatus dtNavMeshQuery::findNearestPoly(const float* center, const float* halfExtents,
 										 const dtQueryFilter* filter,
 										 dtPolyRef* nearestRef, float* nearestPt) const
 {
@@ -770,7 +770,7 @@ dtStatus dtNavMeshQuery::findNearestPoly(const float* center, const float* exten
 	
 	dtFindNearestPolyQuery query(this, center);
 
-	dtStatus status = queryPolygons(center, extents, filter, &query);
+	dtStatus status = queryPolygons(center, halfExtents, filter, &query);
 	if (dtStatusFailed(status))
 		return status;
 
@@ -943,7 +943,7 @@ public:
 /// be filled to capacity. The method of choosing which polygons from the 
 /// full set are included in the partial result set is undefined.
 ///
-dtStatus dtNavMeshQuery::queryPolygons(const float* center, const float* extents,
+dtStatus dtNavMeshQuery::queryPolygons(const float* center, const float* halfExtents,
 									   const dtQueryFilter* filter,
 									   dtPolyRef* polys, int* polyCount, const int maxPolys) const
 {
@@ -952,7 +952,7 @@ dtStatus dtNavMeshQuery::queryPolygons(const float* center, const float* extents
 
 	dtCollectPolysQuery collector(polys, maxPolys);
 
-	dtStatus status = queryPolygons(center, extents, filter, &collector);
+	dtStatus status = queryPolygons(center, halfExtents, filter, &collector);
 	if (dtStatusFailed(status))
 		return status;
 
@@ -963,21 +963,21 @@ dtStatus dtNavMeshQuery::queryPolygons(const float* center, const float* extents
 /// @par 
 ///
 /// The query will be invoked with batches of polygons. Polygons passed
-/// to the query have bounding boxes that overlap with the center and extents
+/// to the query have bounding boxes that overlap with the center and halfExtents
 /// passed to this function. The dtPolyQuery::process function is invoked multiple
 /// times until all overlapping polygons have been processed.
 ///
-dtStatus dtNavMeshQuery::queryPolygons(const float* center, const float* extents,
+dtStatus dtNavMeshQuery::queryPolygons(const float* center, const float* halfExtents,
 									   const dtQueryFilter* filter, dtPolyQuery* query) const
 {
 	dtAssert(m_nav);
 
-	if (!center || !extents || !filter || !query)
+	if (!center || !halfExtents || !filter || !query)
 		return DT_FAILURE | DT_INVALID_PARAM;
 
 	float bmin[3], bmax[3];
-	dtVsub(bmin, center, extents);
-	dtVadd(bmax, center, extents);
+	dtVsub(bmin, center, halfExtents);
+	dtVadd(bmax, center, halfExtents);
 	
 	// Find tiles the query touches.
 	int minx, miny, maxx, maxy;
diff --git a/dep/recastnavigation/Recast/CMakeLists.txt b/dep/recastnavigation/Recast/CMakeLists.txt
index 9c730773735..0346d74001e 100644
--- a/dep/recastnavigation/Recast/CMakeLists.txt
+++ b/dep/recastnavigation/Recast/CMakeLists.txt
@@ -11,6 +11,7 @@
 set(Recast_STAT_SRCS
     Source/Recast.cpp 
     Source/RecastAlloc.cpp 
+	Source/RecastAssert.cpp 
     Source/RecastArea.cpp 
     Source/RecastContour.cpp 
     Source/RecastFilter.cpp 
diff --git a/dep/recastnavigation/Recast/Include/RecastAssert.h b/dep/recastnavigation/Recast/Include/RecastAssert.h
index 2aca0d9a14f..e7cc10e4961 100644
--- a/dep/recastnavigation/Recast/Include/RecastAssert.h
+++ b/dep/recastnavigation/Recast/Include/RecastAssert.h
@@ -23,11 +23,34 @@
 // 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)  
+#	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 assert
+#	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/dep/recastnavigation/Recast/Source/RecastAssert.cpp b/dep/recastnavigation/Recast/Source/RecastAssert.cpp
new file mode 100644
index 00000000000..6297d420239
--- /dev/null
+++ b/dep/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/dep/recastnavigation/Recast/Source/RecastMesh.cpp b/dep/recastnavigation/Recast/Source/RecastMesh.cpp
index 9b6f04e3092..e99eaebb796 100644
--- a/dep/recastnavigation/Recast/Source/RecastMesh.cpp
+++ b/dep/recastnavigation/Recast/Source/RecastMesh.cpp
@@ -379,7 +379,7 @@ static int triangulate(int n, const int* verts, int* indices, int* tris)
 			// We might get here because the contour has overlapping segments, like this:
 			//
 			//  A o-o=====o---o B
-			//   /  |C   D|    \
+			//   /  |C   D|    \.
 			//  o   o     o     o
 			//  :   :     :     :
 			// We'll try to recover by loosing up the inCone test a bit so that a diagonal
diff --git a/dep/recastnavigation/Recast/Source/RecastRegion.cpp b/dep/recastnavigation/Recast/Source/RecastRegion.cpp
index 4a87133f2a8..38a2bd6bfa4 100644
--- a/dep/recastnavigation/Recast/Source/RecastRegion.cpp
+++ b/dep/recastnavigation/Recast/Source/RecastRegion.cpp
@@ -1684,7 +1684,7 @@ bool rcBuildLayerRegions(rcContext* ctx, rcCompactHeightfield& chf,
 	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);
+		ctx->log(RC_LOG_ERROR, "rcBuildLayerRegions: Out of memory 'src' (%d).", chf.spanCount);
 		return false;
 	}
 	memset(srcReg,0,sizeof(unsigned short)*chf.spanCount);
@@ -1693,7 +1693,7 @@ bool rcBuildLayerRegions(rcContext* ctx, rcCompactHeightfield& chf,
 	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);
+		ctx->log(RC_LOG_ERROR, "rcBuildLayerRegions: Out of memory 'sweeps' (%d).", nsweeps);
 		return false;
 	}