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diff --git a/dep/recastnavigation/Detour/DetourObstacleAvoidance.h b/dep/recastnavigation/Detour/DetourObstacleAvoidance.h
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+++ b/dep/recastnavigation/Detour/DetourObstacleAvoidance.h
@@ -0,0 +1,148 @@
+//
+// 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 DETOUROBSTACLEAVOIDANCE_H
+#define DETOUROBSTACLEAVOIDANCE_H
+
+struct dtObstacleCircle
+{
+	float p[3];				// Position of the obstacle
+	float vel[3];			// Velocity of the obstacle
+	float dvel[3];			// Velocity of the obstacle
+	float rad;				// Radius of the obstacle
+	float dp[3], np[3];		// Use for side selection during sampling.
+};
+
+struct dtObstacleSegment
+{
+	float p[3], q[3];		// End points of the obstacle segment
+	bool touch;
+};
+
+static const int RVO_SAMPLE_RAD = 15;
+static const int MAX_RVO_SAMPLES = (RVO_SAMPLE_RAD*2+1)*(RVO_SAMPLE_RAD*2+1) + 100;
+
+class dtObstacleAvoidanceDebugData
+{
+public:
+	dtObstacleAvoidanceDebugData();
+	~dtObstacleAvoidanceDebugData();
+	
+	bool init(const int maxSamples);
+	void reset();
+	void addSample(const float* vel, const float ssize, const float pen,
+				   const float vpen, const float vcpen, const float spen, const float tpen);
+	
+	void normalizeSamples();
+	
+	inline int getSampleCount() const { return m_nsamples; }
+	inline const float* getSampleVelocity(const int i) const { return &m_vel[i*3]; }
+	inline float getSampleSize(const int i) const { return m_ssize[i]; }
+	inline float getSamplePenalty(const int i) const { return m_pen[i]; }
+	inline float getSampleDesiredVelocityPenalty(const int i) const { return m_vpen[i]; }
+	inline float getSampleCurrentVelocityPenalty(const int i) const { return m_vcpen[i]; }
+	inline float getSamplePreferredSidePenalty(const int i) const { return m_spen[i]; }
+	inline float getSampleCollisionTimePenalty(const int i) const { return m_tpen[i]; }
+
+private:
+	int m_nsamples;
+	int m_maxSamples;
+	float* m_vel;
+	float* m_ssize;
+	float* m_pen;
+	float* m_vpen;
+	float* m_vcpen;
+	float* m_spen;
+	float* m_tpen;
+};
+
+dtObstacleAvoidanceDebugData* dtAllocObstacleAvoidanceDebugData();
+void dtFreeObstacleAvoidanceDebugData(dtObstacleAvoidanceDebugData* ptr);
+
+
+class dtObstacleAvoidanceQuery
+{
+public:
+	dtObstacleAvoidanceQuery();
+	~dtObstacleAvoidanceQuery();
+	
+	bool init(const int maxCircles, const int maxSegments);
+	
+	void reset();
+
+	void addCircle(const float* pos, const float rad,
+				   const float* vel, const float* dvel);
+				   
+	void addSegment(const float* p, const float* q);
+
+	inline void setVelocitySelectionBias(float v) { m_velBias = v; }
+	inline void setDesiredVelocityWeight(float w) { m_weightDesVel = w; }
+	inline void setCurrentVelocityWeight(float w) { m_weightCurVel = w; }
+	inline void setPreferredSideWeight(float w) { m_weightSide = w; }
+	inline void setCollisionTimeWeight(float w) { m_weightToi = w; }
+	inline void setTimeHorizon(float t) { m_horizTime = t; }
+
+	void sampleVelocityGrid(const float* pos, const float rad, const float vmax,
+							const float* vel, const float* dvel, float* nvel,
+							const int gsize,
+							dtObstacleAvoidanceDebugData* debug = 0);
+
+	void sampleVelocityAdaptive(const float* pos, const float rad, const float vmax,
+								const float* vel, const float* dvel, float* nvel,
+								const int ndivs, const int nrings, const int depth, 
+								dtObstacleAvoidanceDebugData* debug = 0);
+	
+	inline int getObstacleCircleCount() const { return m_ncircles; }
+	const dtObstacleCircle* getObstacleCircle(const int i) { return &m_circles[i]; }
+
+	inline int getObstacleSegmentCount() const { return m_nsegments; }
+	const dtObstacleSegment* getObstacleSegment(const int i) { return &m_segments[i]; }
+
+private:
+
+	void prepare(const float* pos, const float* dvel);
+
+	float processSample(const float* vcand, const float cs,
+						const float* pos, const float rad,
+						const float vmax, const float* vel, const float* dvel,
+						dtObstacleAvoidanceDebugData* debug);
+
+	dtObstacleCircle* insertCircle(const float dist);
+	dtObstacleSegment* insertSegment(const float dist);
+
+	float m_velBias;
+	float m_weightDesVel;
+	float m_weightCurVel;
+	float m_weightSide;
+	float m_weightToi;
+	float m_horizTime;
+	
+	int m_maxCircles;
+	dtObstacleCircle* m_circles;
+	int m_ncircles;
+
+	int m_maxSegments;
+	dtObstacleSegment* m_segments;
+	int m_nsegments;
+};
+
+dtObstacleAvoidanceQuery* dtAllocObstacleAvoidanceQuery();
+void dtFreeObstacleAvoidanceQuery(dtObstacleAvoidanceQuery* ptr);
+
+
+#endif // DETOUROBSTACLEAVOIDANCE_H
+\ No newline at end of file