Merge branch 'master' of https://github.com/azerothcore/azerothcore-wotlk into dir-restructure

16 files changed, 19 insertions, 7208 deletions

diff --git a/deps/recastnavigation/Detour/CMakeLists.txt b/deps/recastnavigation/Detour/CMakeLists.txt
index 233d123434..be271211b3 100644
--- a/deps/recastnavigation/Detour/CMakeLists.txt
+++ b/deps/recastnavigation/Detour/CMakeLists.txt
@@ -1,4 +1,4 @@
-# Copyright (C)
+# Copyright (C) 2008-2016 TrinityCore <http://www.trinitycore.org/>
 #
 # This file is free software; as a special exception the author gives
 # unlimited permission to copy and/or distribute it, with or without
@@ -9,12 +9,12 @@
 # implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
 
 set(Detour_STAT_SRCS
-    DetourAlloc.cpp
-    DetourCommon.cpp
-    DetourNavMesh.cpp
-    DetourNavMeshBuilder.cpp
-    DetourNavMeshQuery.cpp
-    DetourNode.cpp
+    Source/DetourAlloc.cpp 
+    Source/DetourCommon.cpp 
+    Source/DetourNavMesh.cpp 
+    Source/DetourNavMeshBuilder.cpp 
+    Source/DetourNavMeshQuery.cpp 
+    Source/DetourNode.cpp 
 )
 
 if(WIN32)
@@ -25,4 +25,15 @@ endif()
 
 add_library(Detour STATIC ${Detour_STAT_SRCS})
 
-target_link_libraries(Detour ${ZLIB_LIBRARIES})
+target_include_directories(Detour
+  PUBLIC
+    ${CMAKE_CURRENT_SOURCE_DIR}/Include)
+
+target_link_libraries(Detour
+  PUBLIC
+    zlib)
+
+set_target_properties(Detour
+    PROPERTIES
+      FOLDER
+        "dep")
diff --git a/deps/recastnavigation/Detour/DetourAlloc.cpp b/deps/recastnavigation/Detour/DetourAlloc.cpp
deleted file mode 100644
index 5f671df5bd..0000000000
--- a/deps/recastnavigation/Detour/DetourAlloc.cpp
+++ /dev/null
@@ -1,50 +0,0 @@
-//
-// 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 "DetourAlloc.h"
-
-static void *dtAllocDefault(int size, dtAllocHint)
-{
-	return malloc(size);
-}
-
-static void dtFreeDefault(void *ptr)
-{
-	free(ptr);
-}
-
-static dtAllocFunc* sAllocFunc = dtAllocDefault;
-static dtFreeFunc* sFreeFunc = dtFreeDefault;
-
-void dtAllocSetCustom(dtAllocFunc *allocFunc, dtFreeFunc *freeFunc)
-{
-	sAllocFunc = allocFunc ? allocFunc : dtAllocDefault;
-	sFreeFunc = freeFunc ? freeFunc : dtFreeDefault;
-}
-
-void* dtAlloc(int size, dtAllocHint hint)
-{
-	return sAllocFunc(size, hint);
-}
-
-void dtFree(void* ptr)
-{
-	if (ptr)
-		sFreeFunc(ptr);
-}
diff --git a/deps/recastnavigation/Detour/DetourAlloc.h b/deps/recastnavigation/Detour/DetourAlloc.h
deleted file mode 100644
index 8693475419..0000000000
--- a/deps/recastnavigation/Detour/DetourAlloc.h
+++ /dev/null
@@ -1,36 +0,0 @@
-//
-// 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 DETOURALLOCATOR_H
-#define DETOURALLOCATOR_H
-
-enum dtAllocHint
-{
-	DT_ALLOC_PERM,		// Memory persist after a function call.
-	DT_ALLOC_TEMP		// Memory used temporarily within a function.
-};
-
-typedef void* (dtAllocFunc)(int size, dtAllocHint hint);
-typedef void (dtFreeFunc)(void* ptr);
-
-void dtAllocSetCustom(dtAllocFunc *allocFunc, dtFreeFunc *freeFunc);
-
-void* dtAlloc(int size, dtAllocHint hint);
-void dtFree(void* ptr);
-
-#endif
diff --git a/deps/recastnavigation/Detour/DetourAssert.h b/deps/recastnavigation/Detour/DetourAssert.h
deleted file mode 100644
index 3cf652288f..0000000000
--- a/deps/recastnavigation/Detour/DetourAssert.h
+++ /dev/null
@@ -1,33 +0,0 @@
-//
-// 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 DETOURASSERT_H
-#define DETOURASSERT_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 dtAssert(x) do { (void)sizeof(x); } while((void)(__LINE__==-1),false)  
-#else
-#	include <assert.h> 
-#	define dtAssert assert
-#endif
-
-#endif // DETOURASSERT_H
diff --git a/deps/recastnavigation/Detour/DetourCommon.cpp b/deps/recastnavigation/Detour/DetourCommon.cpp
deleted file mode 100644
index c0b973e4a7..0000000000
--- a/deps/recastnavigation/Detour/DetourCommon.cpp
+++ /dev/null
@@ -1,329 +0,0 @@
-//
-// 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 <math.h>
-#include "DetourCommon.h"
-
-//////////////////////////////////////////////////////////////////////////////////////////
-
-float dtSqrt(float x)
-{
-	return sqrtf(x);
-}
-
-void dtClosestPtPointTriangle(float* closest, const float* p,
-							  const float* a, const float* b, const float* c)
-{
-	// Check if P in vertex region outside A
-	float ab[3], ac[3], ap[3];
-	dtVsub(ab, b, a);
-	dtVsub(ac, c, a);
-	dtVsub(ap, p, a);
-	float d1 = dtVdot(ab, ap);
-	float d2 = dtVdot(ac, ap);
-	if (d1 <= 0.0f && d2 <= 0.0f)
-	{
-		// barycentric coordinates (1,0,0)
-		dtVcopy(closest, a);
-		return;
-	}
-	
-	// Check if P in vertex region outside B
-	float bp[3];
-	dtVsub(bp, p, b);
-	float d3 = dtVdot(ab, bp);
-	float d4 = dtVdot(ac, bp);
-	if (d3 >= 0.0f && d4 <= d3)
-	{
-		// barycentric coordinates (0,1,0)
-		dtVcopy(closest, b);
-		return;
-	}
-	
-	// Check if P in edge region of AB, if so return projection of P onto AB
-	float vc = d1*d4 - d3*d2;
-	if (vc <= 0.0f && d1 >= 0.0f && d3 <= 0.0f)
-	{
-		// barycentric coordinates (1-v,v,0)
-		float v = d1 / (d1 - d3);
-		closest[0] = a[0] + v * ab[0];
-		closest[1] = a[1] + v * ab[1];
-		closest[2] = a[2] + v * ab[2];
-		return;
-	}
-	
-	// Check if P in vertex region outside C
-	float cp[3];
-	dtVsub(cp, p, c);
-	float d5 = dtVdot(ab, cp);
-	float d6 = dtVdot(ac, cp);
-	if (d6 >= 0.0f && d5 <= d6)
-	{
-		// barycentric coordinates (0,0,1)
-		dtVcopy(closest, c);
-		return;
-	}
-	
-	// Check if P in edge region of AC, if so return projection of P onto AC
-	float vb = d5*d2 - d1*d6;
-	if (vb <= 0.0f && d2 >= 0.0f && d6 <= 0.0f)
-	{
-		// barycentric coordinates (1-w,0,w)
-		float w = d2 / (d2 - d6);
-		closest[0] = a[0] + w * ac[0];
-		closest[1] = a[1] + w * ac[1];
-		closest[2] = a[2] + w * ac[2];
-		return;
-	}
-	
-	// Check if P in edge region of BC, if so return projection of P onto BC
-	float va = d3*d6 - d5*d4;
-	if (va <= 0.0f && (d4 - d3) >= 0.0f && (d5 - d6) >= 0.0f)
-	{
-		// barycentric coordinates (0,1-w,w)
-		float w = (d4 - d3) / ((d4 - d3) + (d5 - d6));
-		closest[0] = b[0] + w * (c[0] - b[0]);
-		closest[1] = b[1] + w * (c[1] - b[1]);
-		closest[2] = b[2] + w * (c[2] - b[2]);
-		return;
-	}
-	
-	// P inside face region. Compute Q through its barycentric coordinates (u,v,w)
-	float denom = 1.0f / (va + vb + vc);
-	float v = vb * denom;
-	float w = vc * denom;
-	closest[0] = a[0] + ab[0] * v + ac[0] * w;
-	closest[1] = a[1] + ab[1] * v + ac[1] * w;
-	closest[2] = a[2] + ab[2] * v + ac[2] * w;
-}
-
-bool dtIntersectSegmentPoly2D(const float* p0, const float* p1,
-							  const float* verts, int nverts,
-							  float& tmin, float& tmax,
-							  int& segMin, int& segMax)
-{
-	static const float EPS = 0.00000001f;
-	
-	tmin = 0;
-	tmax = 1;
-	segMin = -1;
-	segMax = -1;
-	
-	float dir[3];
-	dtVsub(dir, p1, p0);
-	
-	for (int i = 0, j = nverts-1; i < nverts; j=i++)
-	{
-		float edge[3], diff[3];
-		dtVsub(edge, &verts[i*3], &verts[j*3]);
-		dtVsub(diff, p0, &verts[j*3]);
-		const float n = dtVperp2D(edge, diff);
-		const float d = dtVperp2D(dir, edge);
-		if (fabsf(d) < EPS)
-		{
-			// S is nearly parallel to this edge
-			if (n < 0)
-				return false;
-			else
-				continue;
-		}
-		const float t = n / d;
-		if (d < 0)
-		{
-			// segment S is entering across this edge
-			if (t > tmin)
-			{
-				tmin = t;
-				segMin = j;
-				// S enters after leaving polygon
-				if (tmin > tmax)
-					return false;
-			}
-		}
-		else
-		{
-			// segment S is leaving across this edge
-			if (t < tmax)
-			{
-				tmax = t;
-				segMax = j;
-				// S leaves before entering polygon
-				if (tmax < tmin)
-					return false;
-			}
-		}
-	}
-	
-	return true;
-}
-
-float dtDistancePtSegSqr2D(const float* pt, const float* p, const float* q, float& t)
-{
-	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;
-	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;
-}
-
-void dtCalcPolyCenter(float* tc, const unsigned short* idx, int nidx, const float* verts)
-{
-	tc[0] = 0.0f;
-	tc[1] = 0.0f;
-	tc[2] = 0.0f;
-	for (int j = 0; j < nidx; ++j)
-	{
-		const float* v = &verts[idx[j]*3];
-		tc[0] += v[0];
-		tc[1] += v[1];
-		tc[2] += v[2];
-	}
-	const float s = 1.0f / nidx;
-	tc[0] *= s;
-	tc[1] *= s;
-	tc[2] *= s;
-}
-
-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;
-
-	// 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;
-	
-	// 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;
-		return true;
-	}
-	
-	return false;
-}
-
-bool dtPointInPolygon(const float* pt, const float* verts, const int nverts)
-{
-	// TODO: Replace pnpoly with triArea2D tests?
-	int i, j;
-	bool c = false;
-	for (i = 0, j = nverts-1; i < nverts; j = i++)
-	{
-		const float* vi = &verts[i*3];
-		const float* vj = &verts[j*3];
-		if (((vi[2] > pt[2]) != (vj[2] > pt[2])) &&
-			(pt[0] < (vj[0]-vi[0]) * (pt[2]-vi[2]) / (vj[2]-vi[2]) + vi[0]) )
-			c = !c;
-	}
-	return c;
-}
-
-bool dtDistancePtPolyEdgesSqr(const float* pt, const float* verts, const int nverts,
-							  float* ed, float* et)
-{
-	// TODO: Replace pnpoly with triArea2D tests?
-	int i, j;
-	bool c = false;
-	for (i = 0, j = nverts-1; i < nverts; j = i++)
-	{
-		const float* vi = &verts[i*3];
-		const float* vj = &verts[j*3];
-		if (((vi[2] > pt[2]) != (vj[2] > pt[2])) &&
-			(pt[0] < (vj[0]-vi[0]) * (pt[2]-vi[2]) / (vj[2]-vi[2]) + vi[0]) )
-			c = !c;
-		ed[j] = dtDistancePtSegSqr2D(pt, vj, vi, et[j]);
-	}
-	return c;
-}
-
-static void projectPoly(const float* axis, const float* poly, const int npoly,
-						float& rmin, float& rmax)
-{
-	rmin = rmax = dtVdot2D(axis, &poly[0]);
-	for (int i = 1; i < npoly; ++i)
-	{
-		const float d = dtVdot2D(axis, &poly[i*3]);
-		rmin = dtMin(rmin, d);
-		rmax = dtMax(rmax, d);
-	}
-}
-
-inline bool overlapRange(const float amin, const float amax,
-						 const float bmin, const float bmax,
-						 const float eps)
-{
-	return ((amin+eps) > bmax || (amax-eps) < bmin) ? false : true;
-}
-
-bool dtOverlapPolyPoly2D(const float* polya, const int npolya,
-						 const float* polyb, const int npolyb)
-{
-	const float eps = 1e-4f;
-	
-	for (int i = 0, j = npolya-1; i < npolya; j=i++)
-	{
-		const float* va = &polya[j*3];
-		const float* vb = &polya[i*3];
-		const float n[3] = { vb[2]-va[2], 0, -(vb[0]-va[0]) };
-		float amin,amax,bmin,bmax;
-		projectPoly(n, polya, npolya, amin,amax);
-		projectPoly(n, polyb, npolyb, bmin,bmax);
-		if (!overlapRange(amin,amax, bmin,bmax, eps))
-		{
-			// Found separating axis
-			return false;
-		}
-	}
-	for (int i = 0, j = npolyb-1; i < npolyb; j=i++)
-	{
-		const float* va = &polyb[j*3];
-		const float* vb = &polyb[i*3];
-		const float n[3] = { vb[2]-va[2], 0, -(vb[0]-va[0]) };
-		float amin,amax,bmin,bmax;
-		projectPoly(n, polya, npolya, amin,amax);
-		projectPoly(n, polyb, npolyb, bmin,bmax);
-		if (!overlapRange(amin,amax, bmin,bmax, eps))
-		{
-			// Found separating axis
-			return false;
-		}
-	}
-	return true;
-}
-
diff --git a/deps/recastnavigation/Detour/DetourCommon.h b/deps/recastnavigation/Detour/DetourCommon.h
deleted file mode 100644
index 3cee3f6351..0000000000
--- a/deps/recastnavigation/Detour/DetourCommon.h
+++ /dev/null
@@ -1,248 +0,0 @@
-//
-// 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 DETOURCOMMON_H
-#define DETOURCOMMON_H
-
-template<class T> inline void dtSwap(T& a, T& b) { T t = a; a = b; b = t; }
-template<class T> inline T dtMin(T a, T b) { return a < b ? a : b; }
-template<class T> inline T dtMax(T a, T b) { return a > b ? a : b; }
-template<class T> inline T dtAbs(T a) { return a < 0 ? -a : a; }
-template<class T> inline T dtSqr(T a) { return a*a; }
-template<class T> inline T dtClamp(T v, T mn, T mx) { return v < mn ? mn : (v > mx ? mx : v); }
-
-float dtSqrt(float x);
-
-inline void dtVcross(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]; 
-}
-
-inline float dtVdot(const float* v1, const float* v2)
-{
-	return v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2];
-}
-
-inline void dtVmad(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;
-}
-
-inline void dtVlerp(float* dest, const float* v1, const float* v2, const float t)
-{
-	dest[0] = v1[0]+(v2[0]-v1[0])*t;
-	dest[1] = v1[1]+(v2[1]-v1[1])*t;
-	dest[2] = v1[2]+(v2[2]-v1[2])*t;
-}
-
-inline void dtVadd(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];
-}
-
-inline void dtVsub(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];
-}
-
-inline void dtVscale(float* dest, const float* v, const float t)
-{
-	dest[0] = v[0]*t;
-	dest[1] = v[1]*t;
-	dest[2] = v[2]*t;
-}
-
-inline void dtVmin(float* mn, const float* v)
-{
-	mn[0] = dtMin(mn[0], v[0]);
-	mn[1] = dtMin(mn[1], v[1]);
-	mn[2] = dtMin(mn[2], v[2]);
-}
-
-inline void dtVmax(float* mx, const float* v)
-{
-	mx[0] = dtMax(mx[0], v[0]);
-	mx[1] = dtMax(mx[1], v[1]);
-	mx[2] = dtMax(mx[2], v[2]);
-}
-
-inline void dtVset(float* dest, const float x, const float y, const float z)
-{
-	dest[0] = x; dest[1] = y; dest[2] = z;
-}
-
-inline void dtVcopy(float* dest, const float* a)
-{
-	dest[0] = a[0];
-	dest[1] = a[1];
-	dest[2] = a[2];
-}
-
-inline float dtVlen(const float* v)
-{
-	return dtSqrt(v[0]*v[0] + v[1]*v[1] + v[2]*v[2]);
-}
-
-inline float dtVlenSqr(const float* v)
-{
-	return v[0]*v[0] + v[1]*v[1] + v[2]*v[2];
-}
-
-inline float dtVdist(const float* v1, const float* v2)
-{
-	const float dx = v2[0] - v1[0];
-	const float dy = v2[1] - v1[1];
-	const float dz = v2[2] - v1[2];
-	return dtSqrt(dx*dx + dy*dy + dz*dz);
-}
-
-inline float dtVdistSqr(const float* v1, const float* v2)
-{
-	const float dx = v2[0] - v1[0];
-	const float dy = v2[1] - v1[1];
-	const float dz = v2[2] - v1[2];
-	return dx*dx + dy*dy + dz*dz;
-}
-
-inline float dtVdist2D(const float* v1, const float* v2)
-{
-	const float dx = v2[0] - v1[0];
-	const float dz = v2[2] - v1[2];
-	return dtSqrt(dx*dx + dz*dz);
-}
-
-inline float dtVdist2DSqr(const float* v1, const float* v2)
-{
-	const float dx = v2[0] - v1[0];
-	const float dz = v2[2] - v1[2];
-	return dx*dx + dz*dz;
-}
-
-inline void dtVnormalize(float* v)
-{
-	float d = 1.0f / dtSqrt(dtSqr(v[0]) + dtSqr(v[1]) + dtSqr(v[2]));
-	v[0] *= d;
-	v[1] *= d;
-	v[2] *= d;
-}
-
-inline bool dtVequal(const float* p0, const float* p1)
-{
-	static const float thr = dtSqr(1.0f/16384.0f);
-	const float d = dtVdistSqr(p0, p1);
-	return d < thr;
-}
-
-inline unsigned int dtNextPow2(unsigned int v)
-{
-	v--;
-	v |= v >> 1;
-	v |= v >> 2;
-	v |= v >> 4;
-	v |= v >> 8;
-	v |= v >> 16;
-	v++;
-	return v;
-}
-
-inline unsigned int dtIlog2(unsigned int v)
-{
-	unsigned int r;
-	unsigned int shift;
-	r = (v > 0xffff) << 4; v >>= r;
-	shift = (v > 0xff) << 3; v >>= shift; r |= shift;
-	shift = (v > 0xf) << 2; v >>= shift; r |= shift;
-	shift = (v > 0x3) << 1; v >>= shift; r |= shift;
-	r |= (v >> 1);
-	return r;
-}
-
-inline int dtAlign4(int x) { return (x+3) & ~3; }
-
-inline int dtOppositeTile(int side) { return (side+4) & 0x7; }
-
-inline float dtVdot2D(const float* u, const float* v)
-{
-	return u[0]*v[0] + u[2]*v[2];
-}
-
-inline float dtVperp2D(const float* u, const float* v)
-{
-	return u[2]*v[0] - u[0]*v[2];
-}
-
-inline float dtTriArea2D(const float* a, const float* b, const float* c)
-{
-	const float abx = b[0] - a[0];
-	const float abz = b[2] - a[2];
-	const float acx = c[0] - a[0];
-	const float acz = c[2] - a[2];
-	return acx*abz - abx*acz;
-}
-
-inline bool dtOverlapQuantBounds(const unsigned short amin[3], const unsigned short amax[3],
-								 const unsigned short bmin[3], const unsigned short bmax[3])
-{
-	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 dtOverlapBounds(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;
-}
-
-void dtClosestPtPointTriangle(float* closest, const float* p,
-							  const float* a, const float* b, const float* c);
-
-bool dtClosestHeightPointTriangle(const float* p, const float* a, const float* b, const float* c, float& h);
-
-bool dtIntersectSegmentPoly2D(const float* p0, const float* p1,
-							  const float* verts, int nverts,
-							  float& tmin, float& tmax,
-							  int& segMin, int& segMax);
-
-bool dtPointInPolygon(const float* pt, const float* verts, const int nverts);
-
-bool dtDistancePtPolyEdgesSqr(const float* pt, const float* verts, const int nverts,
-							float* ed, float* et);
-
-float dtDistancePtSegSqr2D(const float* pt, const float* p, const float* q, float& t);
-
-void dtCalcPolyCenter(float* tc, const unsigned short* idx, int nidx, const float* verts);
-
-bool dtOverlapPolyPoly2D(const float* polya, const int npolya,
-						 const float* polyb, const int npolyb);
-
-#endif // DETOURCOMMON_H
diff --git a/deps/recastnavigation/Detour/DetourNavMesh.cpp b/deps/recastnavigation/Detour/DetourNavMesh.cpp
deleted file mode 100644
index 95af28797d..0000000000
--- a/deps/recastnavigation/Detour/DetourNavMesh.cpp
+++ /dev/null
@@ -1,1239 +0,0 @@
-//
-// 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 <math.h>
-#include <float.h>
-#include <string.h>
-#include <stdio.h>
-#include "DetourNavMesh.h"
-#include "DetourNode.h"
-#include "DetourCommon.h"
-#include "DetourAlloc.h"
-#include "DetourAssert.h"
-#include <new>
-
-
-inline bool overlapSlabs(const float* amin, const float* amax,
-						 const float* bmin, const float* bmax,
-						 const float px, const float py)
-{
-	// Check for horizontal overlap.
-	// The segment is shrunken a little so that slabs which touch
-	// at end points are not connected.
-	const float minx = dtMax(amin[0]+px,bmin[0]+px);
-	const float maxx = dtMin(amax[0]-px,bmax[0]-px);
-	if (minx > maxx)
-		return false;
-	
-	// Check vertical overlap.
-	const float ad = (amax[1]-amin[1]) / (amax[0]-amin[0]);
-	const float ak = amin[1] - ad*amin[0];
-	const float bd = (bmax[1]-bmin[1]) / (bmax[0]-bmin[0]);
-	const float bk = bmin[1] - bd*bmin[0];
-	const float aminy = ad*minx + ak;
-	const float amaxy = ad*maxx + ak;
-	const float bminy = bd*minx + bk;
-	const float bmaxy = bd*maxx + bk;
-	const float dmin = bminy - aminy;
-	const float dmax = bmaxy - amaxy;
-		
-	// Crossing segments always overlap.
-	if (dmin*dmax < 0)
-		return true;
-		
-	// Check for overlap at endpoints.
-	const float thr = dtSqr(py*2);
-	if (dmin*dmin <= thr || dmax*dmax <= thr)
-		return true;
-		
-	return false;
-}
-
-static void calcSlabEndPoints(const float* va, const float* vb, float* bmin, float* bmax, const int side)
-{
-	if (side == 0 || side == 4)
-	{
-		if (va[2] < vb[2])
-		{
-			bmin[0] = va[2];
-			bmin[1] = va[1];
-			bmax[0] = vb[2];
-			bmax[1] = vb[1];
-		}
-		else
-		{
-			bmin[0] = vb[2];
-			bmin[1] = vb[1];
-			bmax[0] = va[2];
-			bmax[1] = va[1];
-		}
-	}
-	else if (side == 2 || side == 6)
-	{
-		if (va[0] < vb[0])
-		{
-			bmin[0] = va[0];
-			bmin[1] = va[1];
-			bmax[0] = vb[0];
-			bmax[1] = vb[1];
-		}
-		else
-		{
-			bmin[0] = vb[0];
-			bmin[1] = vb[1];
-			bmax[0] = va[0];
-			bmax[1] = va[1];
-		}
-	}
-}
-
-inline int computeTileHash(int x, int y, const int mask)
-{
-	const unsigned int h1 = 0x8da6b343; // Large multiplicative constants;
-	const unsigned int h2 = 0xd8163841; // here arbitrarily chosen primes
-	unsigned int n = h1 * x + h2 * y;
-	return (int)(n & mask);
-}
-
-inline unsigned int allocLink(dtMeshTile* tile)
-{
-	if (tile->linksFreeList == DT_NULL_LINK)
-		return DT_NULL_LINK;
-	unsigned int link = tile->linksFreeList;
-	tile->linksFreeList = tile->links[link].next;
-	return link;
-}
-
-inline void freeLink(dtMeshTile* tile, unsigned int link)
-{
-	tile->links[link].next = tile->linksFreeList;
-	tile->linksFreeList = link;
-}
-
-
-dtNavMesh* dtAllocNavMesh()
-{
-	void* mem = dtAlloc(sizeof(dtNavMesh), DT_ALLOC_PERM);
-	if (!mem) return 0;
-	return new(mem) dtNavMesh;
-}
-
-void dtFreeNavMesh(dtNavMesh* navmesh)
-{
-	if (!navmesh) return;
-	navmesh->~dtNavMesh();
-	dtFree(navmesh);
-}
-
-//////////////////////////////////////////////////////////////////////////////////////////
-dtNavMesh::dtNavMesh() :
-	m_tileWidth(0),
-	m_tileHeight(0),
-	m_maxTiles(0),
-	m_tileLutSize(0),
-	m_tileLutMask(0),
-	m_posLookup(0),
-	m_nextFree(0),
-	m_tiles(0),
-	m_saltBits(0),
-	m_tileBits(0),
-	m_polyBits(0)
-{
-	memset(&m_params, 0, sizeof(dtNavMeshParams));
-	m_orig[0] = 0;
-	m_orig[1] = 0;
-	m_orig[2] = 0;
-}
-
-dtNavMesh::~dtNavMesh()
-{
-	for (int i = 0; i < m_maxTiles; ++i)
-	{
-		if (m_tiles[i].flags & DT_TILE_FREE_DATA)
-		{
-			dtFree(m_tiles[i].data);
-			m_tiles[i].data = 0;
-			m_tiles[i].dataSize = 0;
-		}
-	}
-	dtFree(m_posLookup);
-	dtFree(m_tiles);
-}
-		
-dtStatus dtNavMesh::init(const dtNavMeshParams* params)
-{
-	memcpy(&m_params, params, sizeof(dtNavMeshParams));
-	dtVcopy(m_orig, params->orig);
-	m_tileWidth = params->tileWidth;
-	m_tileHeight = params->tileHeight;
-	
-	// Init tiles
-	m_maxTiles = params->maxTiles;
-	m_tileLutSize = dtNextPow2(params->maxTiles/4);
-	if (!m_tileLutSize) m_tileLutSize = 1;
-	m_tileLutMask = m_tileLutSize-1;
-	
-	m_tiles = (dtMeshTile*)dtAlloc(sizeof(dtMeshTile)*m_maxTiles, DT_ALLOC_PERM);
-	if (!m_tiles)
-		return DT_FAILURE;
-	m_posLookup = (dtMeshTile**)dtAlloc(sizeof(dtMeshTile*)*m_tileLutSize, DT_ALLOC_PERM);
-	if (!m_posLookup)
-		return DT_FAILURE;
-	memset(m_tiles, 0, sizeof(dtMeshTile)*m_maxTiles);
-	memset(m_posLookup, 0, sizeof(dtMeshTile*)*m_tileLutSize);
-	m_nextFree = 0;
-	for (int i = m_maxTiles-1; i >= 0; --i)
-	{
-		m_tiles[i].salt = 1;
-		m_tiles[i].next = m_nextFree;
-		m_nextFree = &m_tiles[i];
-	}
-	
-	// Init ID generator values.
-	m_tileBits = STATIC_TILE_BITS;    //dtIlog2(dtNextPow2((unsigned int)params->maxTiles));
-	m_polyBits = STATIC_POLY_BITS;    //dtIlog2(dtNextPow2((unsigned int)params->maxPolys));
-	m_saltBits = STATIC_SALT_BITS;    //sizeof(dtPolyRef)*8 - m_tileBits - m_polyBits;
-	//if (m_saltBits < SALT_MIN_BITS)
-		//return DT_FAILURE;
-	
-	return DT_SUCCESS;
-}
-
-dtStatus dtNavMesh::init(unsigned char* data, const int dataSize, const int flags)
-{
-	// Make sure the data is in right format.
-	dtMeshHeader* header = (dtMeshHeader*)data;
-	if (header->magic != DT_NAVMESH_MAGIC)
-		return DT_FAILURE;
-	if (header->version != DT_NAVMESH_VERSION)
-		return DT_FAILURE;
-
-	dtNavMeshParams params;
-	dtVcopy(params.orig, header->bmin);
-	params.tileWidth = header->bmax[0] - header->bmin[0];
-	params.tileHeight = header->bmax[2] - header->bmin[2];
-	params.maxTiles = 1;
-	params.maxPolys = header->polyCount;
-	
-	dtStatus res = init(&params);
-	if (res != DT_SUCCESS)
-		return res;
-
-	return addTile(data, dataSize, flags, 0, 0);
-}
-
-const dtNavMeshParams* dtNavMesh::getParams() const
-{
-	return &m_params;
-}
-
-//////////////////////////////////////////////////////////////////////////////////////////
-int dtNavMesh::findConnectingPolys(const float* va, const float* vb,
-								   const dtMeshTile* tile, int side,
-								   dtPolyRef* con, float* conarea, int maxcon) const
-{
-	if (!tile) return 0;
-	
-	float amin[2], amax[2];
-	calcSlabEndPoints(va,vb, amin,amax, side);
-
-	// Remove links pointing to 'side' and compact the links array. 
-	float bmin[2], bmax[2];
-	unsigned short m = DT_EXT_LINK | (unsigned short)side;
-	int n = 0;
-	
-	dtPolyRef base = getPolyRefBase(tile);
-	
-	for (int i = 0; i < tile->header->polyCount; ++i)
-	{
-		dtPoly* poly = &tile->polys[i];
-		const int nv = poly->vertCount;
-		for (int j = 0; j < nv; ++j)
-		{
-			// Skip edges which do not point to the right side.
-			if (poly->neis[j] != m) continue;
-			// Check if the segments touch.
-			const float* vc = &tile->verts[poly->verts[j]*3];
-			const float* vd = &tile->verts[poly->verts[(j+1) % nv]*3];
-			calcSlabEndPoints(vc,vd, bmin,bmax, side);
-
-			if (!overlapSlabs(amin,amax, bmin,bmax, 0.01f, tile->header->walkableClimb)) continue;
-			
-			// Add return value.
-			if (n < maxcon)
-			{
-				conarea[n*2+0] = dtMax(amin[0], bmin[0]);
-				conarea[n*2+1] = dtMin(amax[0], bmax[0]);
-				con[n] = base | (dtPolyRef)i;
-				n++;
-			}
-			break;
-		}
-	}
-	return n;
-}
-
-void dtNavMesh::unconnectExtLinks(dtMeshTile* tile, int side)
-{
-	if (!tile) return;
-
-	for (int i = 0; i < tile->header->polyCount; ++i)
-	{
-		dtPoly* poly = &tile->polys[i];
-		unsigned int j = poly->firstLink;
-		unsigned int pj = DT_NULL_LINK;
-		while (j != DT_NULL_LINK)
-		{
-			if (tile->links[j].side == side)
-			{
-				// Revove link.
-				unsigned int nj = tile->links[j].next;
-				if (pj == DT_NULL_LINK)
-					poly->firstLink = nj;
-				else
-					tile->links[pj].next = nj;
-				freeLink(tile, j);
-				j = nj;
-			}
-			else
-			{
-				// Advance
-				pj = j;
-				j = tile->links[j].next;
-			}
-		}
-	}
-}
-
-void dtNavMesh::connectExtLinks(dtMeshTile* tile, dtMeshTile* target, int side)
-{
-	if (!tile) return;
-	
-	// Connect border links.
-	for (int i = 0; i < tile->header->polyCount; ++i)
-	{
-		dtPoly* poly = &tile->polys[i];
-
-		// Create new links.
-		unsigned short m = DT_EXT_LINK | (unsigned short)side;
-		const int nv = poly->vertCount;
-		for (int j = 0; j < nv; ++j)
-		{
-			// Skip edges which do not point to the right side.
-			if (poly->neis[j] != m) continue;
-			
-			// Create new links
-			const float* va = &tile->verts[poly->verts[j]*3];
-			const float* vb = &tile->verts[poly->verts[(j+1) % nv]*3];
-			dtPolyRef nei[4];
-			float neia[4*2];
-			int nnei = findConnectingPolys(va,vb, target, dtOppositeTile(side), nei,neia,4);
-			for (int k = 0; k < nnei; ++k)
-			{
-				unsigned int idx = allocLink(tile);
-				if (idx != DT_NULL_LINK)
-				{
-					dtLink* link = &tile->links[idx];
-					link->ref = nei[k];
-					link->edge = (unsigned char)j;
-					link->side = (unsigned char)side;
-					
-					link->next = poly->firstLink;
-					poly->firstLink = idx;
-
-					// Compress portal limits to a byte value.
-					if (side == 0 || side == 4)
-					{
-						float tmin = (neia[k*2+0]-va[2]) / (vb[2]-va[2]);
-						float tmax = (neia[k*2+1]-va[2]) / (vb[2]-va[2]);
-						if (tmin > tmax)
-							dtSwap(tmin,tmax);
-						link->bmin = (unsigned char)(dtClamp(tmin, 0.0f, 1.0f)*255.0f);
-						link->bmax = (unsigned char)(dtClamp(tmax, 0.0f, 1.0f)*255.0f);
-					}
-					else if (side == 2 || side == 6)
-					{
-						float tmin = (neia[k*2+0]-va[0]) / (vb[0]-va[0]);
-						float tmax = (neia[k*2+1]-va[0]) / (vb[0]-va[0]);
-						if (tmin > tmax)
-							dtSwap(tmin,tmax);
-						link->bmin = (unsigned char)(dtClamp(tmin, 0.0f, 1.0f)*255.0f);
-						link->bmax = (unsigned char)(dtClamp(tmax, 0.0f, 1.0f)*255.0f);
-					}
-				}
-			}
-		}
-	}
-}
-
-void dtNavMesh::connectExtOffMeshLinks(dtMeshTile* tile, dtMeshTile* target, int side)
-{
-	if (!tile) return;
-	
-	// Connect off-mesh links.
-	// We are interested on links which land from target tile to this tile.
-	const unsigned char oppositeSide = (unsigned char)dtOppositeTile(side);
-	
-	for (int i = 0; i < target->header->offMeshConCount; ++i)
-	{
-		dtOffMeshConnection* targetCon = &target->offMeshCons[i];
-		if (targetCon->side != oppositeSide)
-			continue;
-		
-		dtPoly* targetPoly = &target->polys[targetCon->poly];
-		
-		const float ext[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);
-		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(targetCon->rad))
-			continue;
-		// Make sure the location is on current mesh.
-		float* v = &target->verts[targetPoly->verts[1]*3];
-		dtVcopy(v, nearestPt);
-				
-		// Link off-mesh connection to target poly.
-		unsigned int idx = allocLink(target);
-		if (idx != DT_NULL_LINK)
-		{
-			dtLink* link = &target->links[idx];
-			link->ref = ref;
-			link->edge = (unsigned char)1;
-			link->side = oppositeSide;
-			link->bmin = link->bmax = 0;
-			// Add to linked list.
-			link->next = targetPoly->firstLink;
-			targetPoly->firstLink = idx;
-		}
-		
-		// Link target poly to off-mesh connection.
-		if (targetCon->flags & DT_OFFMESH_CON_BIDIR)
-		{
-			unsigned int idx = allocLink(tile);
-			if (idx != DT_NULL_LINK)
-			{
-				const unsigned short landPolyIdx = (unsigned short)decodePolyIdPoly(ref);
-				dtPoly* landPoly = &tile->polys[landPolyIdx];
-				dtLink* link = &tile->links[idx];
-				link->ref = getPolyRefBase(target) | (dtPolyRef)(targetCon->poly);
-				link->edge = 0xff;
-				link->side = (unsigned char)side;
-				link->bmin = link->bmax = 0;
-				// Add to linked list.
-				link->next = landPoly->firstLink;
-				landPoly->firstLink = idx;
-			}
-		}
-	}
-
-}
-
-void dtNavMesh::connectIntLinks(dtMeshTile* tile)
-{
-	if (!tile) return;
-
-	dtPolyRef base = getPolyRefBase(tile);
-
-	for (int i = 0; i < tile->header->polyCount; ++i)
-	{
-		dtPoly* poly = &tile->polys[i];
-		poly->firstLink = DT_NULL_LINK;
-
-		if (poly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION)
-			continue;
-			
-		// Build edge links backwards so that the links will be
-		// in the linked list from lowest index to highest.
-		for (int j = poly->vertCount-1; j >= 0; --j)
-		{
-			// Skip hard and non-internal edges.
-			if (poly->neis[j] == 0 || (poly->neis[j] & DT_EXT_LINK)) continue;
-
-			unsigned int idx = allocLink(tile);
-			if (idx != DT_NULL_LINK)
-			{
-				dtLink* link = &tile->links[idx];
-				link->ref = base | (dtPolyRef)(poly->neis[j]-1);
-				link->edge = (unsigned char)j;
-				link->side = 0xff;
-				link->bmin = link->bmax = 0;
-				// Add to linked list.
-				link->next = poly->firstLink;
-				poly->firstLink = idx;
-			}
-		}			
-	}
-}
-
-void dtNavMesh::connectIntOffMeshLinks(dtMeshTile* tile)
-{
-	if (!tile) return;
-	
-	dtPolyRef base = getPolyRefBase(tile);
-	
-	// Find Off-mesh connection end points.
-	for (int i = 0; i < tile->header->offMeshConCount; ++i)
-	{
-		dtOffMeshConnection* con = &tile->offMeshCons[i];
-		dtPoly* poly = &tile->polys[con->poly];
-	
-		const float ext[3] = { con->rad, tile->header->walkableClimb, con->rad };
-		
-		for (int j = 0; j < 2; ++j)
-		{
-			unsigned char side = j == 0 ? 0xff : con->side;
-
-			if (side == 0xff)
-			{
-				// Find polygon to connect to.
-				const float* p = &con->pos[j*3];
-				float nearestPt[3];
-				dtPolyRef ref = findNearestPolyInTile(tile, p, ext, 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))
-					continue;
-				// Make sure the location is on current mesh.
-				float* v = &tile->verts[poly->verts[j]*3];
-				dtVcopy(v, nearestPt);
-
-				// Link off-mesh connection to target poly.
-				unsigned int idx = allocLink(tile);
-				if (idx != DT_NULL_LINK)
-				{
-					dtLink* link = &tile->links[idx];
-					link->ref = ref;
-					link->edge = (unsigned char)j;
-					link->side = 0xff;
-					link->bmin = link->bmax = 0;
-					// Add to linked list.
-					link->next = poly->firstLink;
-					poly->firstLink = idx;
-				}
-
-				// Start end-point is always connect back to off-mesh connection,
-				// Destination end-point only if it is bidirectional link. 
-				if (j == 0 || (j == 1 && (con->flags & DT_OFFMESH_CON_BIDIR)))
-				{
-					// Link target poly to off-mesh connection.
-					unsigned int idx = allocLink(tile);
-					if (idx != DT_NULL_LINK)
-					{
-						const unsigned short landPolyIdx = (unsigned short)decodePolyIdPoly(ref);
-						dtPoly* landPoly = &tile->polys[landPolyIdx];
-						dtLink* link = &tile->links[idx];
-						link->ref = base | (dtPolyRef)(con->poly);
-						link->edge = 0xff;
-						link->side = 0xff;
-						link->bmin = link->bmax = 0;
-						// Add to linked list.
-						link->next = landPoly->firstLink;
-						landPoly->firstLink = idx;
-					}
-				}
-				
-			}
-		}
-	}
-}
-
-dtStatus dtNavMesh::closestPointOnPolyInTile(const dtMeshTile* tile, unsigned int ip,
-											 const float* pos, float* closest) const
-{
-	const dtPoly* poly = &tile->polys[ip];
-	
-	float closestDistSqr = FLT_MAX;
-	const dtPolyDetail* pd = &tile->detailMeshes[ip];
-	
-	for (int j = 0; j < pd->triCount; ++j)
-	{
-		const unsigned char* t = &tile->detailTris[(pd->triBase+j)*4];
-		const float* v[3];
-		for (int k = 0; k < 3; ++k)
-		{
-			if (t[k] < poly->vertCount)
-				v[k] = &tile->verts[poly->verts[t[k]]*3];
-			else
-				v[k] = &tile->detailVerts[(pd->vertBase+(t[k]-poly->vertCount))*3];
-		}
-		float pt[3];
-		dtClosestPtPointTriangle(pt, pos, v[0], v[1], v[2]);
-		float d = dtVdistSqr(pos, pt);
-		if (d < closestDistSqr)
-		{
-			dtVcopy(closest, pt);
-			closestDistSqr = d;
-		}
-	}
-	
-	return DT_SUCCESS;
-}
-
-dtPolyRef dtNavMesh::findNearestPolyInTile(const dtMeshTile* tile,
-										   const float* center, const float* extents,
-										   float* nearestPt) const
-{
-	float bmin[3], bmax[3];
-	dtVsub(bmin, center, extents);
-	dtVadd(bmax, center, extents);
-	
-	// Get nearby polygons from proximity grid.
-	dtPolyRef polys[128];
-	int polyCount = queryPolygonsInTile(tile, bmin, bmax, polys, 128);
-	
-	// Find nearest polygon amongst the nearby polygons.
-	dtPolyRef nearest = 0;
-	float nearestDistanceSqr = FLT_MAX;
-	for (int i = 0; i < polyCount; ++i)
-	{
-		dtPolyRef ref = polys[i];
-		float closestPtPoly[3];
-		if (closestPointOnPolyInTile(tile, decodePolyIdPoly(ref), center, closestPtPoly) != DT_SUCCESS)
-			continue;
-		float d = dtVdistSqr(center, closestPtPoly);
-		if (d < nearestDistanceSqr)
-		{
-			if (nearestPt)
-				dtVcopy(nearestPt, closestPtPoly);
-			nearestDistanceSqr = d;
-			nearest = ref;
-		}
-	}
-	
-	return nearest;
-}
-
-int dtNavMesh::queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, const float* qmax,
-								   dtPolyRef* polys, const int maxPolys) const
-{
-	if (tile->bvTree)
-	{
-		const dtBVNode* node = &tile->bvTree[0];
-		const dtBVNode* end = &tile->bvTree[tile->header->bvNodeCount];
-		const float* tbmin = tile->header->bmin;
-		const float* tbmax = tile->header->bmax;
-		const float qfac = tile->header->bvQuantFactor;
-		
-		// Calculate quantized box
-		unsigned short bmin[3], bmax[3];
-		// dtClamp query box to world box.
-		float minx = dtClamp(qmin[0], tbmin[0], tbmax[0]) - tbmin[0];
-		float miny = dtClamp(qmin[1], tbmin[1], tbmax[1]) - tbmin[1];
-		float minz = dtClamp(qmin[2], tbmin[2], tbmax[2]) - tbmin[2];
-		float maxx = dtClamp(qmax[0], tbmin[0], tbmax[0]) - tbmin[0];
-		float maxy = dtClamp(qmax[1], tbmin[1], tbmax[1]) - tbmin[1];
-		float maxz = dtClamp(qmax[2], tbmin[2], tbmax[2]) - tbmin[2];
-		// Quantize
-		bmin[0] = (unsigned short)(qfac * minx) & 0xfffe;
-		bmin[1] = (unsigned short)(qfac * miny) & 0xfffe;
-		bmin[2] = (unsigned short)(qfac * minz) & 0xfffe;
-		bmax[0] = (unsigned short)(qfac * maxx + 1) | 1;
-		bmax[1] = (unsigned short)(qfac * maxy + 1) | 1;
-		bmax[2] = (unsigned short)(qfac * maxz + 1) | 1;
-		
-		// Traverse tree
-		dtPolyRef base = getPolyRefBase(tile);
-		int n = 0;
-		while (node < end)
-		{
-			const bool overlap = dtOverlapQuantBounds(bmin, bmax, node->bmin, node->bmax);
-			const bool isLeafNode = node->i >= 0;
-			
-			if (isLeafNode && overlap)
-			{
-				if (n < maxPolys)
-					polys[n++] = base | (dtPolyRef)node->i;
-			}
-			
-			if (overlap || isLeafNode)
-				node++;
-			else
-			{
-				const int escapeIndex = -node->i;
-				node += escapeIndex;
-			}
-		}
-		
-		return n;
-	}
-	else
-	{
-		float bmin[3], bmax[3];
-		int n = 0;
-		dtPolyRef base = getPolyRefBase(tile);
-		for (int i = 0; i < tile->header->polyCount; ++i)
-		{
-			dtPoly* p = &tile->polys[i];
-			// Do not return off-mesh connection polygons.
-			if (p->getType() == DT_POLYTYPE_OFFMESH_CONNECTION)
-				continue;
-			// Calc polygon bounds.
-			const float* v = &tile->verts[p->verts[0]*3];
-			dtVcopy(bmin, v);
-			dtVcopy(bmax, v);
-			for (int j = 1; j < p->vertCount; ++j)
-			{
-				v = &tile->verts[p->verts[j]*3];
-				dtVmin(bmin, v);
-				dtVmax(bmax, v);
-			}
-			if (dtOverlapBounds(qmin,qmax, bmin,bmax))
-			{
-				if (n < maxPolys)
-					polys[n++] = base | (dtPolyRef)i;
-			}
-		}
-		return n;
-	}
-}
-
-dtStatus dtNavMesh::addTile(unsigned char* data, int dataSize, int flags,
-							dtTileRef lastRef, dtTileRef* result)
-{
-	// Make sure the data is in right format.
-	dtMeshHeader* header = (dtMeshHeader*)data;
-	if (header->magic != DT_NAVMESH_MAGIC)
-		return DT_FAILURE_DATA_MAGIC;
-	if (header->version != DT_NAVMESH_VERSION)
-		return DT_FAILURE_DATA_VERSION;
-		
-	// Make sure the location is free.
-	if (getTileAt(header->x, header->y))
-		return DT_FAILURE;
-		
-	// Allocate a tile.
-	dtMeshTile* tile = 0;
-	if (!lastRef)
-	{
-		if (m_nextFree)
-		{
-			tile = m_nextFree;
-			m_nextFree = tile->next;
-			tile->next = 0;
-		}
-	}
-	else
-	{
-		// Try to relocate the tile to specific index with same salt.
-		int tileIndex = (int)decodePolyIdTile((dtPolyRef)lastRef);
-		if (tileIndex >= m_maxTiles)
-			return DT_FAILURE_OUT_OF_MEMORY;
-		// Try to find the specific tile id from the free list.
-		dtMeshTile* target = &m_tiles[tileIndex];
-		dtMeshTile* prev = 0;
-		tile = m_nextFree;
-		while (tile && tile != target)
-		{
-			prev = tile;
-			tile = tile->next;
-		}
-		// Could not find the correct location.
-		if (tile != target)
-			return DT_FAILURE_OUT_OF_MEMORY;
-		// Remove from freelist
-		if (!prev)
-			m_nextFree = tile->next;
-		else
-			prev->next = tile->next;
-
-		// Restore salt.
-		tile->salt = decodePolyIdSalt((dtPolyRef)lastRef);
-	}
-
-	// Make sure we could allocate a tile.
-	if (!tile)
-		return DT_FAILURE_OUT_OF_MEMORY;
-	
-	// Insert tile into the position lut.
-	int h = computeTileHash(header->x, header->y, m_tileLutMask);
-	tile->next = m_posLookup[h];
-	m_posLookup[h] = tile;
-	
-	// Patch header pointers.
-	const int headerSize = dtAlign4(sizeof(dtMeshHeader));
-	const int vertsSize = dtAlign4(sizeof(float)*3*header->vertCount);
-	const int polysSize = dtAlign4(sizeof(dtPoly)*header->polyCount);
-	const int linksSize = dtAlign4(sizeof(dtLink)*(header->maxLinkCount));
-	const int detailMeshesSize = dtAlign4(sizeof(dtPolyDetail)*header->detailMeshCount);
-	const int detailVertsSize = dtAlign4(sizeof(float)*3*header->detailVertCount);
-	const int detailTrisSize = dtAlign4(sizeof(unsigned char)*4*header->detailTriCount);
-	const int bvtreeSize = dtAlign4(sizeof(dtBVNode)*header->bvNodeCount);
-	const int offMeshLinksSize = dtAlign4(sizeof(dtOffMeshConnection)*header->offMeshConCount);
-	
-	unsigned char* d = data + headerSize;
-	tile->verts = (float*)d; d += vertsSize;
-	tile->polys = (dtPoly*)d; d += polysSize;
-	tile->links = (dtLink*)d; d += linksSize;
-	tile->detailMeshes = (dtPolyDetail*)d; d += detailMeshesSize;
-	tile->detailVerts = (float*)d; d += detailVertsSize;
-	tile->detailTris = (unsigned char*)d; d += detailTrisSize;
-	tile->bvTree = (dtBVNode*)d; d += bvtreeSize;
-	tile->offMeshCons = (dtOffMeshConnection*)d; d += offMeshLinksSize;
-
-	// Build links freelist
-	tile->linksFreeList = 0;
-	tile->links[header->maxLinkCount-1].next = DT_NULL_LINK;
-	for (int i = 0; i < header->maxLinkCount-1; ++i)
-		tile->links[i].next = i+1;
-
-	// Init tile.
-	tile->header = header;
-	tile->data = data;
-	tile->dataSize = dataSize;
-	tile->flags = flags;
-
-	connectIntLinks(tile);
-	connectIntOffMeshLinks(tile);
-
-	// Create connections connections.
-	for (int i = 0; i < 8; ++i)
-	{
-		dtMeshTile* nei = getNeighbourTileAt(header->x, header->y, i);
-		if (nei)
-		{
-			connectExtLinks(tile, nei, i);
-			connectExtLinks(nei, tile, dtOppositeTile(i));
-			connectExtOffMeshLinks(tile, nei, i);
-			connectExtOffMeshLinks(nei, tile, dtOppositeTile(i));
-		}
-	}
-	
-	if (result)
-		*result = getTileRef(tile);
-	
-	return DT_SUCCESS;
-}
-
-const dtMeshTile* dtNavMesh::getTileAt(int x, int y) const
-{
-	// Find tile based on hash.
-	int h = computeTileHash(x,y,m_tileLutMask);
-	dtMeshTile* tile = m_posLookup[h];
-	while (tile)
-	{
-		if (tile->header && tile->header->x == x && tile->header->y == y)
-			return tile;
-		tile = tile->next;
-	}
-	return 0;
-}
-
-dtMeshTile* dtNavMesh::getNeighbourTileAt(int x, int y, int side) const
-{
-	switch (side)
-	{
-		case 0: x++; break;
-		case 1: x++; y++; break;
-		case 2: y++; break;
-		case 3: x--; y++; break;
-		case 4: x--; break;
-		case 5: x--; y--; break;
-		case 6: y--; break;
-		case 7: x++; y--; break;
-	};
-
-	// Find tile based on hash.
-	int h = computeTileHash(x,y,m_tileLutMask);
-	dtMeshTile* tile = m_posLookup[h];
-	while (tile)
-	{
-		if (tile->header && tile->header->x == x && tile->header->y == y)
-			return tile;
-		tile = tile->next;
-	}
-	return 0;
-}
-
-dtTileRef dtNavMesh::getTileRefAt(int x, int y) const
-{
-	// Find tile based on hash.
-	int h = computeTileHash(x,y,m_tileLutMask);
-	dtMeshTile* tile = m_posLookup[h];
-	while (tile)
-	{
-		if (tile->header && tile->header->x == x && tile->header->y == y)
-			return getTileRef(tile);
-		tile = tile->next;
-	}
-	return 0;
-}
-
-const dtMeshTile* dtNavMesh::getTileByRef(dtTileRef ref) const
-{
-	if (!ref)
-		return 0;
-	unsigned int tileIndex = decodePolyIdTile((dtPolyRef)ref);
-	unsigned int tileSalt = decodePolyIdSalt((dtPolyRef)ref);
-	if ((int)tileIndex >= m_maxTiles)
-		return 0;
-	const dtMeshTile* tile = &m_tiles[tileIndex];
-	if (tile->salt != tileSalt)
-		return 0;
-	return tile;
-}
-
-int dtNavMesh::getMaxTiles() const
-{
-	return m_maxTiles;
-}
-
-dtMeshTile* dtNavMesh::getTile(int i)
-{
-	return &m_tiles[i];
-}
-
-const dtMeshTile* dtNavMesh::getTile(int i) const
-{
-	return &m_tiles[i];
-}
-
-void dtNavMesh::calcTileLoc(const float* pos, int* tx, int* ty) const
-{
-	*tx = (int)floorf((pos[0]-m_orig[0]) / m_tileWidth);
-	*ty = (int)floorf((pos[2]-m_orig[2]) / m_tileHeight);
-}
-
-dtStatus dtNavMesh::getTileAndPolyByRef(const dtPolyRef ref, const dtMeshTile** tile, const dtPoly** poly) const
-{
-	unsigned int salt, it, ip;
-	decodePolyId(ref, salt, it, ip);
-	if (it >= (unsigned int)m_maxTiles) return DT_FAILURE;
-	if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE;
-	if (ip >= (unsigned int)m_tiles[it].header->polyCount) return DT_FAILURE;
-	*tile = &m_tiles[it];
-	*poly = &m_tiles[it].polys[ip];
-	return DT_SUCCESS;
-}
-
-void dtNavMesh::getTileAndPolyByRefUnsafe(const dtPolyRef ref, const dtMeshTile** tile, const dtPoly** poly) const
-{
-	unsigned int salt, it, ip;
-	decodePolyId(ref, salt, it, ip);
-	*tile = &m_tiles[it];
-	*poly = &m_tiles[it].polys[ip];
-}
-
-bool dtNavMesh::isValidPolyRef(dtPolyRef ref) const
-{
-	unsigned int salt, it, ip;
-	decodePolyId(ref, salt, it, ip);
-	if (it >= (unsigned int)m_maxTiles) return false;
-	if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return false;
-	if (ip >= (unsigned int)m_tiles[it].header->polyCount) return false;
-	return true;
-}
-
-dtStatus dtNavMesh::removeTile(dtTileRef ref, unsigned char** data, int* dataSize)
-{
-	if (!ref)
-		return DT_FAILURE;
-	unsigned int tileIndex = decodePolyIdTile((dtPolyRef)ref);
-	unsigned int tileSalt = decodePolyIdSalt((dtPolyRef)ref);
-	if ((int)tileIndex >= m_maxTiles)
-		return DT_FAILURE;
-	dtMeshTile* tile = &m_tiles[tileIndex];
-	if (tile->salt != tileSalt)
-		return DT_FAILURE;
-	
-	// Remove tile from hash lookup.
-	int h = computeTileHash(tile->header->x,tile->header->y,m_tileLutMask);
-	dtMeshTile* prev = 0;
-	dtMeshTile* cur = m_posLookup[h];
-	while (cur)
-	{
-		if (cur == tile)
-		{
-			if (prev)
-				prev->next = cur->next;
-			else
-				m_posLookup[h] = cur->next;
-			break;
-		}
-		prev = cur;
-		cur = cur->next;
-	}
-	
-	// Remove connections to neighbour tiles.
-	for (int i = 0; i < 8; ++i)
-	{
-		dtMeshTile* nei = getNeighbourTileAt(tile->header->x,tile->header->y,i);
-		if (!nei) continue;
-		unconnectExtLinks(nei, dtOppositeTile(i));
-	}
-	
-	
-	// Reset tile.
-	if (tile->flags & DT_TILE_FREE_DATA)
-	{
-		// Owns data
-		dtFree(tile->data);
-		tile->data = 0;
-		tile->dataSize = 0;
-		if (data) *data = 0;
-		if (dataSize) *dataSize = 0;
-	}
-	else
-	{
-		if (data) *data = tile->data;
-		if (dataSize) *dataSize = tile->dataSize;
-	}
-
-	tile->header = 0;
-	tile->flags = 0;
-	tile->linksFreeList = 0;
-	tile->polys = 0;
-	tile->verts = 0;
-	tile->links = 0;
-	tile->detailMeshes = 0;
-	tile->detailVerts = 0;
-	tile->detailTris = 0;
-	tile->bvTree = 0;
-	tile->offMeshCons = 0;
-
-	// Update salt, salt should never be zero.
-	tile->salt = (tile->salt+1) & ((1<<m_saltBits)-1);
-	if (tile->salt == 0)
-		tile->salt++;
-
-	// Add to free list.
-	tile->next = m_nextFree;
-	m_nextFree = tile;
-
-	return DT_SUCCESS;
-}
-
-dtTileRef dtNavMesh::getTileRef(const dtMeshTile* tile) const
-{
-	if (!tile) return 0;
-	const unsigned int it = (unsigned int)(tile - m_tiles);
-	return (dtTileRef)encodePolyId(tile->salt, it, 0);
-}
-
-dtPolyRef dtNavMesh::getPolyRefBase(const dtMeshTile* tile) const
-{
-	if (!tile) return 0;
-	const unsigned int it = (unsigned int)(tile - m_tiles);
-	return encodePolyId(tile->salt, it, 0);
-}
-
-struct dtTileState
-{
-	int magic;								// Magic number, used to identify the data.
-	int version;							// Data version number.
-	dtTileRef ref;							// Tile ref at the time of storing the data.
-};
-
-struct dtPolyState
-{
-	unsigned short flags;						// Flags (see dtPolyFlags).
-	unsigned char area;							// Area ID of the polygon.
-};
-
-int dtNavMesh::getTileStateSize(const dtMeshTile* tile) const
-{
-	if (!tile) return 0;
-	const int headerSize = dtAlign4(sizeof(dtTileState));
-	const int polyStateSize = dtAlign4(sizeof(dtPolyState) * tile->header->polyCount);
-	return headerSize + polyStateSize;
-}
-
-dtStatus dtNavMesh::storeTileState(const dtMeshTile* tile, unsigned char* data, const int maxDataSize) const
-{
-	// Make sure there is enough space to store the state.
-	const int sizeReq = getTileStateSize(tile);
-	if (maxDataSize < sizeReq)
-		return DT_FAILURE;
-		
-	dtTileState* tileState = (dtTileState*)data; data += dtAlign4(sizeof(dtTileState));
-	dtPolyState* polyStates = (dtPolyState*)data; data += dtAlign4(sizeof(dtPolyState) * tile->header->polyCount);
-	
-	// Store tile state.
-	tileState->magic = DT_NAVMESH_STATE_MAGIC;
-	tileState->version = DT_NAVMESH_STATE_VERSION;
-	tileState->ref = getTileRef(tile);
-	
-	// Store per poly state.
-	for (int i = 0; i < tile->header->polyCount; ++i)
-	{
-		const dtPoly* p = &tile->polys[i];
-		dtPolyState* s = &polyStates[i];
-		s->flags = p->flags;
-		s->area = p->getArea();
-	}
-	
-	return DT_SUCCESS;
-}
-
-dtStatus dtNavMesh::restoreTileState(dtMeshTile* tile, const unsigned char* data, const int maxDataSize)
-{
-	// Make sure there is enough space to store the state.
-	const int sizeReq = getTileStateSize(tile);
-	if (maxDataSize < sizeReq)
-		return DT_FAILURE;
-	
-	const dtTileState* tileState = (const dtTileState*)data; data += dtAlign4(sizeof(dtTileState));
-	const dtPolyState* polyStates = (const dtPolyState*)data; data += dtAlign4(sizeof(dtPolyState) * tile->header->polyCount);
-	
-	// Check that the restore is possible.
-	if (tileState->magic != DT_NAVMESH_STATE_MAGIC)
-		return DT_FAILURE_DATA_MAGIC;
-	if (tileState->version != DT_NAVMESH_STATE_VERSION)
-		return DT_FAILURE_DATA_VERSION;
-	if (tileState->ref != getTileRef(tile))
-		return DT_FAILURE;
-	
-	// Restore per poly state.
-	for (int i = 0; i < tile->header->polyCount; ++i)
-	{
-		dtPoly* p = &tile->polys[i];
-		const dtPolyState* s = &polyStates[i];
-		p->flags = s->flags;
-		p->setArea(s->area);
-	}
-	
-	return DT_SUCCESS;
-}
-
-// Returns start and end location of an off-mesh link polygon.
-dtStatus dtNavMesh::getOffMeshConnectionPolyEndPoints(dtPolyRef prevRef, dtPolyRef polyRef, float* startPos, float* endPos) const
-{
-	unsigned int salt, it, ip;
-
-	// Get current polygon
-	decodePolyId(polyRef, salt, it, ip);
-	if (it >= (unsigned int)m_maxTiles) return DT_FAILURE;
-	if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE;
-	const dtMeshTile* tile = &m_tiles[it];
-	if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE;
-	const dtPoly* poly = &tile->polys[ip];
-
-	// Make sure that the current poly is indeed off-mesh link.
-	if (poly->getType() != DT_POLYTYPE_OFFMESH_CONNECTION)
-		return DT_FAILURE;
-
-	// Figure out which way to hand out the vertices.
-	int idx0 = 0, idx1 = 1;
-	
-	// Find link that points to first vertex.
-	for (unsigned int i = poly->firstLink; i != DT_NULL_LINK; i = tile->links[i].next)
-	{
-		if (tile->links[i].edge == 0)
-		{
-			if (tile->links[i].ref != prevRef)
-			{
-				idx0 = 1;
-				idx1 = 0;
-			}
-			break;
-		}
-	}
-	
-	dtVcopy(startPos, &tile->verts[poly->verts[idx0]*3]);
-	dtVcopy(endPos, &tile->verts[poly->verts[idx1]*3]);
-
-	return DT_SUCCESS;
-}
-
-
-const dtOffMeshConnection* dtNavMesh::getOffMeshConnectionByRef(dtPolyRef ref) const
-{
-	unsigned int salt, it, ip;
-	
-	// Get current polygon
-	decodePolyId(ref, salt, it, ip);
-	if (it >= (unsigned int)m_maxTiles) return 0;
-	if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return 0;
-	const dtMeshTile* tile = &m_tiles[it];
-	if (ip >= (unsigned int)tile->header->polyCount) return 0;
-	const dtPoly* poly = &tile->polys[ip];
-	
-	// Make sure that the current poly is indeed off-mesh link.
-	if (poly->getType() != DT_POLYTYPE_OFFMESH_CONNECTION)
-		return 0;
-
-	const unsigned int idx =  ip - tile->header->offMeshBase;
-	dtAssert(idx < (unsigned int)tile->header->offMeshConCount);
-	return &tile->offMeshCons[idx];
-}
-
-
-dtStatus dtNavMesh::setPolyFlags(dtPolyRef ref, unsigned short flags)
-{
-	unsigned int salt, it, ip;
-	decodePolyId(ref, salt, it, ip);
-	if (it >= (unsigned int)m_maxTiles) return DT_FAILURE;
-	if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE;
-	dtMeshTile* tile = &m_tiles[it];
-	if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE;
-	dtPoly* poly = &tile->polys[ip];
-	
-	// Change flags.
-	poly->flags = flags;
-	
-	return DT_SUCCESS;
-}
-
-dtStatus dtNavMesh::getPolyFlags(dtPolyRef ref, unsigned short* resultFlags) const
-{
-	unsigned int salt, it, ip;
-	decodePolyId(ref, salt, it, ip);
-	if (it >= (unsigned int)m_maxTiles) return DT_FAILURE;
-	if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE;
-	const dtMeshTile* tile = &m_tiles[it];
-	if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE;
-	const dtPoly* poly = &tile->polys[ip];
-
-	*resultFlags = poly->flags;
-	
-	return DT_SUCCESS;
-}
-
-dtStatus dtNavMesh::setPolyArea(dtPolyRef ref, unsigned char area)
-{
-	unsigned int salt, it, ip;
-	decodePolyId(ref, salt, it, ip);
-	if (it >= (unsigned int)m_maxTiles) return DT_FAILURE;
-	if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE;
-	dtMeshTile* tile = &m_tiles[it];
-	if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE;
-	dtPoly* poly = &tile->polys[ip];
-	
-	poly->setArea(area);
-	
-	return DT_SUCCESS;
-}
-
-dtStatus dtNavMesh::getPolyArea(dtPolyRef ref, unsigned char* resultArea) const
-{
-	unsigned int salt, it, ip;
-	decodePolyId(ref, salt, it, ip);
-	if (it >= (unsigned int)m_maxTiles) return DT_FAILURE;
-	if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE;
-	const dtMeshTile* tile = &m_tiles[it];
-	if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE;
-	const dtPoly* poly = &tile->polys[ip];
-	
-	*resultArea = poly->getArea();
-	
-	return DT_SUCCESS;
-}
-
diff --git a/deps/recastnavigation/Detour/DetourNavMesh.h b/deps/recastnavigation/Detour/DetourNavMesh.h
deleted file mode 100644
index 6f2db04004..0000000000
--- a/deps/recastnavigation/Detour/DetourNavMesh.h
+++ /dev/null
@@ -1,428 +0,0 @@
-//
-// 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 DETOURNAVMESH_H
-#define DETOURNAVMESH_H
-
-#include "DetourAlloc.h"
-
-#ifdef WIN32
-    typedef unsigned __int64   uint64;
-#else
-#include <stdint.h>
-#ifndef uint64_t
-#ifdef __linux__
-#include <linux/types.h>
-#endif
-#endif
-    typedef uint64_t uint64;
-#endif
-
-// Note: If you want to use 64-bit refs, change the types of both dtPolyRef & dtTileRef.
-// It is also recommended to change dtHashRef() to proper 64-bit hash too.
-
-// Reference to navigation polygon.
-typedef uint64 dtPolyRef;
-
-// Reference to navigation mesh tile.
-typedef uint64 dtTileRef;
-
-// Maximum number of vertices per navigation polygon.
-static const int DT_VERTS_PER_POLYGON = 6;
-
-static const int DT_NAVMESH_MAGIC = 'D'<<24 | 'N'<<16 | 'A'<<8 | 'V'; //'DNAV';
-static const int DT_NAVMESH_VERSION = 6;
-
-static const int DT_NAVMESH_STATE_MAGIC = 'D'<<24 | 'N'<<16 | 'M'<<8 | 'S'; //'DNMS';
-static const int DT_NAVMESH_STATE_VERSION = 1;
-
-static const unsigned short DT_EXT_LINK = 0x8000;
-static const unsigned int DT_NULL_LINK = 0xffffffff;
-static const unsigned int DT_OFFMESH_CON_BIDIR = 1;
-
-static const int DT_MAX_AREAS = 64;
-
-static const int STATIC_SALT_BITS = 12;
-static const int STATIC_TILE_BITS = 21;
-static const int STATIC_POLY_BITS = 31;
-// we cannot have over 31 bits for either tile nor poly
-// without changing polyCount to use 64bits too.
-
-// Flags for addTile
-enum dtTileFlags
-{
-	DT_TILE_FREE_DATA = 0x01,					// Navmesh owns the tile memory and should free it.
-};
-
-// Flags returned by findStraightPath().
-enum dtStraightPathFlags
-{
-	DT_STRAIGHTPATH_START = 0x01,				// The vertex is the start position.
-	DT_STRAIGHTPATH_END = 0x02,					// The vertex is the end position.
-	DT_STRAIGHTPATH_OFFMESH_CONNECTION = 0x04,	// The vertex is start of an off-mesh link.
-};
-
-// Flags describing polygon properties.
-enum dtPolyTypes
-{
-	DT_POLYTYPE_GROUND = 0,						// Regular ground polygons.
-	DT_POLYTYPE_OFFMESH_CONNECTION = 1,			// Off-mesh connections.
-};
-
-enum dtStatus
-{
-	DT_FAILURE = 0,								// Operation failed.
-	DT_FAILURE_DATA_MAGIC,
-	DT_FAILURE_DATA_VERSION,
-	DT_FAILURE_OUT_OF_MEMORY,
-	DT_SUCCESS,									// Operation succeed.
-	DT_IN_PROGRESS,								// Operation still in progress.
-};
-
-
-// Structure describing the navigation polygon data.
-struct dtPoly
-{
-	unsigned int firstLink;						// Index to first link in linked list. 
-	unsigned short verts[DT_VERTS_PER_POLYGON];	// Indices to vertices of the poly.
-	unsigned short neis[DT_VERTS_PER_POLYGON];	// Refs to neighbours of the poly.
-	unsigned short flags;						// Flags (see dtPolyFlags).
-	unsigned char vertCount;					// Number of vertices.
-	unsigned char areaAndtype;					// Bit packed: Area ID of the polygon, and Polygon type, see dtPolyTypes..
-	inline void setArea(unsigned char a) { areaAndtype = (areaAndtype & 0xc0) | (a & 0x3f); }
-	inline void setType(unsigned char t) { areaAndtype = (areaAndtype & 0x3f) | (t << 6); }
-	inline unsigned char getArea() const { return areaAndtype & 0x3f; }
-	inline unsigned char getType() const { return areaAndtype >> 6; }
-};
-
-// Stucture describing polygon detail triangles.
-struct dtPolyDetail
-{
-	unsigned int vertBase;						// Offset to detail vertex array.
-	unsigned int triBase;						// Offset to detail triangle array.
-	unsigned char vertCount;					// Number of vertices in the detail mesh.
-	unsigned char triCount;						// Number of triangles.
-};
-
-// Stucture describing a link to another polygon.
-struct dtLink
-{
-	dtPolyRef ref;							// Neighbour reference.
-	unsigned int next;						// Index to next link.
-	unsigned char edge;						// Index to polygon edge which owns this link. 
-	unsigned char side;						// If boundary link, defines on which side the link is.
-	unsigned char bmin, bmax;				// If boundary link, defines the sub edge area.
-};
-
-struct dtBVNode
-{
-	unsigned short bmin[3], bmax[3];		// BVnode bounds
-	int i;									// Index to item or if negative, escape index.
-};
-
-struct dtOffMeshConnection
-{
-	float pos[6];							// Both end point locations.
-	float rad;								// Link connection radius.
-	unsigned short poly;					// Poly Id
-	unsigned char flags;					// Link flags
-	unsigned char side;						// End point side.
-	unsigned int userId;					// User ID to identify this connection.
-};
-
-struct dtMeshHeader
-{
-	int magic;								// Magic number, used to identify the data.
-	int version;							// Data version number.
-	int x, y;								// Location of the time on the grid.
-	unsigned int userId;					// User ID of the tile.
-	int polyCount;							// Number of polygons in the tile.
-	int vertCount;							// Number of vertices in the tile.
-	int maxLinkCount;						// Number of allocated links.
-	int detailMeshCount;					// Number of detail meshes.
-	int detailVertCount;					// Number of detail vertices.
-	int detailTriCount;						// Number of detail triangles.
-	int bvNodeCount;						// Number of BVtree nodes.
-	int offMeshConCount;					// Number of Off-Mesh links.
-	int offMeshBase;						// Index to first polygon which is Off-Mesh link.
-	float walkableHeight;					// Height of the agent.
-	float walkableRadius;					// Radius of the agent
-	float walkableClimb;					// Max climb height of the agent.
-	float bmin[3], bmax[3];					// Bounding box of the tile.
-	float bvQuantFactor;					// BVtree quantization factor (world to bvnode coords)
-};
-
-struct dtMeshTile
-{
-	unsigned int salt;						// Counter describing modifications to the tile.
-
-	unsigned int linksFreeList;				// Index to next free link.
-	dtMeshHeader* header;					// Pointer to tile header.
-	dtPoly* polys;							// Pointer to the polygons (will be updated when tile is added).
-	float* verts;							// Pointer to the vertices (will be updated when tile added).
-	dtLink* links;							// Pointer to the links (will be updated when tile added).
-	dtPolyDetail* detailMeshes;				// Pointer to detail meshes (will be updated when tile added).
-	float* detailVerts;						// Pointer to detail vertices (will be updated when tile added).
-	unsigned char* detailTris;				// Pointer to detail triangles (will be updated when tile added).
-	dtBVNode* bvTree;						// Pointer to BVtree nodes (will be updated when tile added).
-	dtOffMeshConnection* offMeshCons;		// Pointer to Off-Mesh links. (will be updated when tile added).
-		
-	unsigned char* data;					// Pointer to tile data.
-	int dataSize;							// Size of the tile data.
-	int flags;								// Tile flags, see dtTileFlags.
-	dtMeshTile* next;						// Next free tile or, next tile in spatial grid.
-};
-
-struct dtNavMeshParams
-{
-	float orig[3];					// Origin of the nav mesh tile space.
-	float tileWidth, tileHeight;	// Width and height of each tile.
-	int maxTiles;					// Maximum number of tiles the navmesh can contain.
-	int maxPolys;					// Maximum number of polygons each tile can contain.
-};
-
-
-class dtNavMesh
-{
-public:
-	dtNavMesh();
-	~dtNavMesh();
-
-	// Initializes the nav mesh for tiled use.
-	// Params:
-	//  params - (in) navmesh initialization params, see dtNavMeshParams.
-	// Returns: True if succeed, else false.
-	dtStatus init(const dtNavMeshParams* params);
-
-	// Initializes the nav mesh for single tile use.
-	// Params:
-	//  data - (in) Data of the new tile mesh.
-	//  dataSize - (in) Data size of the new tile mesh.
-	//	flags - (in) Tile flags, see dtTileFlags.
-	// Returns: True if succeed, else false.
-	dtStatus init(unsigned char* data, const int dataSize, const int flags);
-	
-	// Returns pointer to navmesh initialization params.
-	const dtNavMeshParams* getParams() const;
-	
-	// Adds new tile into the navmesh.
-	// The add will fail if the data is in wrong format,
-	// there is not enough tiles left, or if there is a tile already at the location.
-	// Params:
-	//  data - (in) Data of the new tile mesh.
-	//  dataSize - (in) Data size of the new tile mesh.
-	//	flags - (in) Tile flags, see dtTileFlags.
-	//  lastRef - (in,optional) Last tile ref, the tile will be restored so that
-	//            the reference (as well as poly references) will be the same. Default: 0.
-	//  result - (out,optional) tile ref if the tile was succesfully added.
-	dtStatus addTile(unsigned char* data, int dataSize, int flags, dtTileRef lastRef, dtTileRef* result);
-	
-	// Removes specified tile.
-	// Params:
-	//  ref - (in) Reference to the tile to remove.
-	//  data - (out) Data associated with deleted tile.
-	//  dataSize - (out) Size of the data associated with deleted tile. 
-	dtStatus removeTile(dtTileRef ref, unsigned char** data, int* dataSize);
-
-	// Calculates tile location based in input world position.
-	// Params:
-	//  pos - (in) world position of the query.
-	//  tx - (out) tile x location.
-	//  ty - (out) tile y location.
-	void calcTileLoc(const float* pos, int* tx, int* ty) const;
-
-	// Returns pointer to tile at specified location.
-	// Params:
-	//  x,y - (in) Location of the tile to get.
-	// Returns: pointer to tile if tile exists or 0 tile does not exists.
-	const dtMeshTile* getTileAt(int x, int y) const;
-
-	// Returns reference to tile at specified location.
-	// Params:
-	//  x,y - (in) Location of the tile to get.
-	// Returns: reference to tile if tile exists or 0 tile does not exists.
-	dtTileRef getTileRefAt(int x, int y) const;
-	
-	// Returns tile references of a tile based on tile pointer.
-	dtTileRef getTileRef(const dtMeshTile* tile) const;
-
-	// Returns tile based on references.
-	const dtMeshTile* getTileByRef(dtTileRef ref) const;
-	
-	// Returns max number of tiles.
-	int getMaxTiles() const;
-	
-	// Returns pointer to tile in the tile array.
-	// Params:
-	//  i - (in) Index to the tile to retrieve, max index is getMaxTiles()-1.
-	// Returns: Pointer to specified tile.
-	const dtMeshTile* getTile(int i) const;
-
-	// Returns pointer to tile and polygon pointed by the polygon reference.
-	// Params:
-	//  ref - (in) reference to a polygon.
-	//  tile - (out) pointer to the tile containing the polygon.
-	//  poly - (out) pointer to the polygon.
-	dtStatus getTileAndPolyByRef(const dtPolyRef ref, const dtMeshTile** tile, const dtPoly** poly) const;
-	
-	// Returns pointer to tile and polygon pointed by the polygon reference.
-	// Note: this function does not check if 'ref' s valid, and is thus faster. Use only with valid refs!
-	// Params:
-	//  ref - (in) reference to a polygon.
-	//  tile - (out) pointer to the tile containing the polygon.
-	//  poly - (out) pointer to the polygon.
-	void getTileAndPolyByRefUnsafe(const dtPolyRef ref, const dtMeshTile** tile, const dtPoly** poly) const;
-
-	// Returns true if polygon reference points to valid data.
-	bool isValidPolyRef(dtPolyRef ref) const;
-	
-	// Returns base poly id for specified tile, polygon refs can be deducted from this.
-	dtPolyRef getPolyRefBase(const dtMeshTile* tile) const;
-	
-	// Returns start and end location of an off-mesh link polygon.
-	// Params:
-	//	prevRef - (in) ref to the polygon before the link (used to select direction).
-	//	polyRef - (in) ref to the off-mesh link polygon.
-	//	startPos[3] - (out) start point of the link.
-	//	endPos[3] - (out) end point of the link.
-	// Returns: true if link is found.
-	dtStatus getOffMeshConnectionPolyEndPoints(dtPolyRef prevRef, dtPolyRef polyRef, float* startPos, float* endPos) const;
-
-	// Returns pointer to off-mesh connection based on polyref, or null if ref not valid.
-	const dtOffMeshConnection* getOffMeshConnectionByRef(dtPolyRef ref) const;
-	
-	// Sets polygon flags.
-	dtStatus setPolyFlags(dtPolyRef ref, unsigned short flags);
-
-	// Return polygon flags.
-	dtStatus getPolyFlags(dtPolyRef ref, unsigned short* resultFlags) const;
-
-	// Set polygon type.
-	dtStatus setPolyArea(dtPolyRef ref, unsigned char area);
-
-	// Return polygon area type.
-	dtStatus getPolyArea(dtPolyRef ref, unsigned char* resultArea) const;
-
-
-	// Returns number of bytes required to store tile state.
-	int getTileStateSize(const dtMeshTile* tile) const;
-	
-	// Stores tile state to buffer.
-	dtStatus storeTileState(const dtMeshTile* tile, unsigned char* data, const int maxDataSize) const;
-	
-	// Restores tile state.
-	dtStatus restoreTileState(dtMeshTile* tile, const unsigned char* data, const int maxDataSize);
-	
-
-	// Encodes a tile id.
-	inline dtPolyRef encodePolyId(unsigned int salt, unsigned int it, unsigned int ip) const
-	{
-		return ((dtPolyRef)salt << (m_polyBits+m_tileBits)) | ((dtPolyRef)it << m_polyBits) | (dtPolyRef)ip;
-	}
-	
-	// Decodes a tile id.
-	inline void decodePolyId(dtPolyRef ref, unsigned int& salt, unsigned int& it, unsigned int& ip) const
-	{
-		const dtPolyRef saltMask = ((dtPolyRef)1<<m_saltBits)-1;
-		const dtPolyRef tileMask = ((dtPolyRef)1<<m_tileBits)-1;
-		const dtPolyRef polyMask = ((dtPolyRef)1<<m_polyBits)-1;
-		salt = (unsigned int)((ref >> (m_polyBits+m_tileBits)) & saltMask);
-		it = (unsigned int)((ref >> m_polyBits) & tileMask);
-		ip = (unsigned int)(ref & polyMask);
-	}
-
-	// Decodes a tile salt.
-	inline unsigned int decodePolyIdSalt(dtPolyRef ref) const
-	{
-		const dtPolyRef saltMask = ((dtPolyRef)1<<m_saltBits)-1;
-		return (unsigned int)((ref >> (m_polyBits+m_tileBits)) & saltMask);
-	}
-	
-	// Decodes a tile id.
-	inline unsigned int decodePolyIdTile(dtPolyRef ref) const
-	{
-		const dtPolyRef tileMask = ((dtPolyRef)1<<m_tileBits)-1;
-		return (unsigned int)((ref >> m_polyBits) & tileMask);
-	}
-	
-	// Decodes a poly id.
-	inline unsigned int decodePolyIdPoly(dtPolyRef ref) const
-	{
-		const dtPolyRef polyMask = ((dtPolyRef)1<<m_polyBits)-1;
-		return (unsigned int)(ref & polyMask);
-	}
-	
-private:
-
-	// Returns pointer to tile in the tile array.
-	dtMeshTile* getTile(int i);
-
-	// Returns neighbour tile based on side. 
-	dtMeshTile* getNeighbourTileAt(int x, int y, int side) const;
-	// Returns all polygons in neighbour tile based on portal defined by the segment.
-	int findConnectingPolys(const float* va, const float* vb,
-							const dtMeshTile* tile, int side,
-							dtPolyRef* con, float* conarea, int maxcon) const;
-	
-	// Builds internal polygons links for a tile.
-	void connectIntLinks(dtMeshTile* tile);
-	// Builds internal polygons links for a tile.
-	void connectIntOffMeshLinks(dtMeshTile* tile);
-
-	// Builds external polygon links for a tile.
-	void connectExtLinks(dtMeshTile* tile, dtMeshTile* target, int side);
-	// Builds external polygon links for a tile.
-	void connectExtOffMeshLinks(dtMeshTile* tile, dtMeshTile* target, int side);
-	
-	// Removes external links at specified side.
-	void unconnectExtLinks(dtMeshTile* tile, int side);
-	
-
-	// TODO: These methods are duplicates from dtNavMeshQuery, but are needed for off-mesh connection finding.
-	
-	// Queries polygons within a tile.
-	int queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, const float* qmax,
-							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;
-	// Returns closest point on polygon.
-	dtStatus closestPointOnPolyInTile(const dtMeshTile* tile, unsigned int ip,
-									  const float* pos, float* closest) const;
-	
-	dtNavMeshParams m_params;			// Current initialization params. TODO: do not store this info twice.
-	float m_orig[3];					// Origin of the tile (0,0)
-	float m_tileWidth, m_tileHeight;	// Dimensions of each tile.
-	int m_maxTiles;						// Max number of tiles.
-	int m_tileLutSize;					// Tile hash lookup size (must be pot).
-	int m_tileLutMask;					// Tile hash lookup mask.
-
-	dtMeshTile** m_posLookup;			// Tile hash lookup.
-	dtMeshTile* m_nextFree;				// Freelist of tiles.
-	dtMeshTile* m_tiles;				// List of tiles.
-		
-	unsigned int m_saltBits;			// Number of salt bits in the tile ID.
-	unsigned int m_tileBits;			// Number of tile bits in the tile ID.
-	unsigned int m_polyBits;			// Number of poly bits in the tile ID.
-};
-
-// Helper function to allocate navmesh class using Detour allocator.
-dtNavMesh* dtAllocNavMesh();
-void dtFreeNavMesh(dtNavMesh* navmesh);
-
-#endif // DETOURNAVMESH_H
diff --git a/deps/recastnavigation/Detour/DetourNavMeshBuilder.cpp b/deps/recastnavigation/Detour/DetourNavMeshBuilder.cpp
deleted file mode 100644
index 68f3d730da..0000000000
--- a/deps/recastnavigation/Detour/DetourNavMeshBuilder.cpp
+++ /dev/null
@@ -1,770 +0,0 @@
-//
-// 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 <math.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include "DetourNavMesh.h"
-#include "DetourCommon.h"
-#include "DetourNavMeshBuilder.h"
-#include "DetourAlloc.h"
-#include "DetourAssert.h"
-
-static unsigned short MESH_NULL_IDX = 0xffff;
-
-
-struct BVItem
-{
-	unsigned short bmin[3];
-	unsigned short bmax[3];
-	int i;
-};
-
-static int compareItemX(const void* va, const void* vb)
-{
-	const BVItem* a = (const BVItem*)va;
-	const BVItem* b = (const BVItem*)vb;
-	if (a->bmin[0] < b->bmin[0])
-		return -1;
-	if (a->bmin[0] > b->bmin[0])
-		return 1;
-	return 0;
-}
-
-static int compareItemY(const void* va, const void* vb)
-{
-	const BVItem* a = (const BVItem*)va;
-	const BVItem* b = (const BVItem*)vb;
-	if (a->bmin[1] < b->bmin[1])
-		return -1;
-	if (a->bmin[1] > b->bmin[1])
-		return 1;
-	return 0;
-}
-
-static int compareItemZ(const void* va, const void* vb)
-{
-	const BVItem* a = (const BVItem*)va;
-	const BVItem* b = (const BVItem*)vb;
-	if (a->bmin[2] < b->bmin[2])
-		return -1;
-	if (a->bmin[2] > b->bmin[2])
-		return 1;
-	return 0;
-}
-
-static void calcExtends(BVItem* items, const int /*nitems*/, const int imin, const int imax,
-						unsigned short* bmin, unsigned short* bmax)
-{
-	bmin[0] = items[imin].bmin[0];
-	bmin[1] = items[imin].bmin[1];
-	bmin[2] = items[imin].bmin[2];
-	
-	bmax[0] = items[imin].bmax[0];
-	bmax[1] = items[imin].bmax[1];
-	bmax[2] = items[imin].bmax[2];
-	
-	for (int i = imin+1; i < imax; ++i)
-	{
-		const BVItem& it = items[i];
-		if (it.bmin[0] < bmin[0]) bmin[0] = it.bmin[0];
-		if (it.bmin[1] < bmin[1]) bmin[1] = it.bmin[1];
-		if (it.bmin[2] < bmin[2]) bmin[2] = it.bmin[2];
-		
-		if (it.bmax[0] > bmax[0]) bmax[0] = it.bmax[0];
-		if (it.bmax[1] > bmax[1]) bmax[1] = it.bmax[1];
-		if (it.bmax[2] > bmax[2]) bmax[2] = it.bmax[2];
-	}
-}
-
-inline int longestAxis(unsigned short x, unsigned short y, unsigned short z)
-{
-	int	axis = 0;
-	unsigned short maxVal = x;
-	if (y > maxVal)
-	{
-		axis = 1;
-		maxVal = y;
-	}
-	if (z > maxVal)
-	{
-		axis = 2;
-		maxVal = z;
-	}
-	return axis;
-}
-
-static void subdivide(BVItem* items, int nitems, int imin, int imax, int& curNode, dtBVNode* nodes)
-{
-	int inum = imax - imin;
-	int icur = curNode;
-	
-	dtBVNode& node = nodes[curNode++];
-	
-	if (inum == 1)
-	{
-		// Leaf
-		node.bmin[0] = items[imin].bmin[0];
-		node.bmin[1] = items[imin].bmin[1];
-		node.bmin[2] = items[imin].bmin[2];
-		
-		node.bmax[0] = items[imin].bmax[0];
-		node.bmax[1] = items[imin].bmax[1];
-		node.bmax[2] = items[imin].bmax[2];
-		
-		node.i = items[imin].i;
-	}
-	else
-	{
-		// Split
-		calcExtends(items, nitems, imin, imax, node.bmin, node.bmax);
-		
-		int	axis = longestAxis(node.bmax[0] - node.bmin[0],
-							   node.bmax[1] - node.bmin[1],
-							   node.bmax[2] - node.bmin[2]);
-		
-		if (axis == 0)
-		{
-			// Sort along x-axis
-			qsort(items+imin, inum, sizeof(BVItem), compareItemX);
-		}
-		else if (axis == 1)
-		{
-			// Sort along y-axis
-			qsort(items+imin, inum, sizeof(BVItem), compareItemY);
-		}
-		else
-		{
-			// Sort along z-axis
-			qsort(items+imin, inum, sizeof(BVItem), compareItemZ);
-		}
-		
-		int isplit = imin+inum/2;
-		
-		// Left
-		subdivide(items, nitems, imin, isplit, curNode, nodes);
-		// Right
-		subdivide(items, nitems, isplit, imax, curNode, nodes);
-		
-		int iescape = curNode - icur;
-		// Negative index means escape.
-		node.i = -iescape;
-	}
-}
-
-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)
-{
-	// Build tree
-	BVItem* items = (BVItem*)dtAlloc(sizeof(BVItem)*npolys, DT_ALLOC_TEMP);
-	for (int i = 0; i < npolys; 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)
-		{
-			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;
-		}
-		// Remap y
-		it.bmin[1] = (unsigned short)floorf((float)it.bmin[1]*ch/cs);
-		it.bmax[1] = (unsigned short)ceilf((float)it.bmax[1]*ch/cs);
-	}
-	
-	int curNode = 0;
-	subdivide(items, npolys, 0, npolys, curNode, nodes);
-	
-	dtFree(items);
-	
-	return curNode;
-}
-
-static unsigned char classifyOffMeshPoint(const float* pt, const float* bmin, const float* bmax)
-{
-	static const unsigned char XP = 1<<0;
-	static const unsigned char ZP = 1<<1;
-	static const unsigned char XM = 1<<2;
-	static const unsigned char ZM = 1<<3;	
-
-	unsigned char outcode = 0; 
-	outcode |= (pt[0] >= bmax[0]) ? XP : 0;
-	outcode |= (pt[2] >= bmax[2]) ? ZP : 0;
-	outcode |= (pt[0] < bmin[0])  ? XM : 0;
-	outcode |= (pt[2] < bmin[2])  ? ZM : 0;
-
-	switch (outcode)
-	{
-	case XP: return 0;
-	case XP|ZP: return 1;
-	case ZP: return 2;
-	case XM|ZP: return 3;
-	case XM: return 4;
-	case XM|ZM: return 5;
-	case ZM: return 6;
-	case XP|ZM: return 7;
-	};
-	return 0xff;	
-}
-
-// TODO: Better error handling.
-
-bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData, int* outDataSize)
-{
-	if (params->nvp > DT_VERTS_PER_POLYGON)
-		return false;
-	if (params->vertCount >= 0xffff)
-		return false;
-	if (!params->vertCount || !params->verts)
-		return false;
-	if (!params->polyCount || !params->polys)
-		return false;
-	//if (!params->detailMeshes || !params->detailVerts || !params->detailTris)
-	//	return false;
-
-	const int nvp = params->nvp;
-	
-	// Classify off-mesh connection points. We store only the connections
-	// whose start point is inside the tile.
-	unsigned char* offMeshConClass = 0;
-	int storedOffMeshConCount = 0;
-	int offMeshConLinkCount = 0;
-	
-	if (params->offMeshConCount > 0)
-	{
-		offMeshConClass = (unsigned char*)dtAlloc(sizeof(unsigned char)*params->offMeshConCount*2, DT_ALLOC_TEMP);
-		if (!offMeshConClass)
-			return false;
-
-		for (int i = 0; i < params->offMeshConCount; ++i)
-		{
-			offMeshConClass[i*2+0] = classifyOffMeshPoint(&params->offMeshConVerts[(i*2+0)*3], params->bmin, params->bmax);
-			offMeshConClass[i*2+1] = classifyOffMeshPoint(&params->offMeshConVerts[(i*2+1)*3], params->bmin, params->bmax);
-
-			// Cound how many links should be allocated for off-mesh connections.
-			if (offMeshConClass[i*2+0] == 0xff)
-				offMeshConLinkCount++;
-			if (offMeshConClass[i*2+1] == 0xff)
-				offMeshConLinkCount++;
-
-			if (offMeshConClass[i*2+0] == 0xff)
-				storedOffMeshConCount++;
-		}
-	}
-	
-	// Off-mesh connectionss are stored as polygons, adjust values.
-	const int totPolyCount = params->polyCount + storedOffMeshConCount;
-	const int totVertCount = params->vertCount + storedOffMeshConCount*2;
-	
-	// Find portal edges which are at tile borders.
-	int edgeCount = 0;
-	int portalCount = 0;
-	for (int i = 0; i < params->polyCount; ++i)
-	{
-		const unsigned short* p = &params->polys[i*2*nvp];
-		for (int j = 0; j < nvp; ++j)
-		{
-			if (p[j] == MESH_NULL_IDX) break;
-			int nj = j+1;
-			if (nj >= nvp || p[nj] == MESH_NULL_IDX) nj = 0;
-			const unsigned short* va = &params->verts[p[j]*3];
-			const unsigned short* vb = &params->verts[p[nj]*3];
-			
-			edgeCount++;
-			
-			if (params->tileSize > 0)
-			{
-				if (va[0] == params->tileSize && vb[0] == params->tileSize)
-					portalCount++; // x+
-				else if (va[2] == params->tileSize && vb[2] == params->tileSize)
-					portalCount++; // z+
-				else if (va[0] == 0 && vb[0] == 0)
-					portalCount++; // x-
-				else if (va[2] == 0 && vb[2] == 0)
-					portalCount++; // z-
-			}
-		}
-	}
-
-	const int maxLinkCount = edgeCount + portalCount*2 + offMeshConLinkCount*2;
-	
-	// Find unique detail vertices.
-	int uniqueDetailVertCount = 0;
-	int detailTriCount = 0;
-	if (params->detailMeshes)
-	{
-		// Has detail mesh, count unique detail vertex count and use input detail tri count.
-		detailTriCount = params->detailTriCount;
-		for (int i = 0; i < params->polyCount; ++i)
-		{
-			const unsigned short* p = &params->polys[i*nvp*2];
-			int ndv = params->detailMeshes[i*4+1];
-			int nv = 0;
-			for (int j = 0; j < nvp; ++j)
-			{
-				if (p[j] == MESH_NULL_IDX) break;
-				nv++;
-			}
-			ndv -= nv;
-			uniqueDetailVertCount += ndv;
-		}
-	}
-	else
-	{
-		// No input detail mesh, build detail mesh from nav polys.
-		uniqueDetailVertCount = 0; // No extra detail verts.
-		detailTriCount = 0;
-		for (int i = 0; i < params->polyCount; ++i)
-		{
-			const unsigned short* p = &params->polys[i*nvp*2];
-			int nv = 0;
-			for (int j = 0; j < nvp; ++j)
-			{
-				if (p[j] == MESH_NULL_IDX) break;
-				nv++;
-			}
-			detailTriCount += nv-2;
-		}
-	}
-	
-	// Calculate data size
-	const int headerSize = dtAlign4(sizeof(dtMeshHeader));
-	const int vertsSize = dtAlign4(sizeof(float)*3*totVertCount);
-	const int polysSize = dtAlign4(sizeof(dtPoly)*totPolyCount);
-	const int linksSize = dtAlign4(sizeof(dtLink)*maxLinkCount);
-	const int detailMeshesSize = dtAlign4(sizeof(dtPolyDetail)*params->polyCount);
-	const int detailVertsSize = dtAlign4(sizeof(float)*3*uniqueDetailVertCount);
-	const int detailTrisSize = dtAlign4(sizeof(unsigned char)*4*detailTriCount);
-	const int bvTreeSize = dtAlign4(sizeof(dtBVNode)*params->polyCount*2);
-	const int offMeshConsSize = dtAlign4(sizeof(dtOffMeshConnection)*storedOffMeshConCount);
-	
-	const int dataSize = headerSize + vertsSize + polysSize + linksSize +
-						 detailMeshesSize + detailVertsSize + detailTrisSize +
-						 bvTreeSize + offMeshConsSize;
-						 
-	unsigned char* data = (unsigned char*)dtAlloc(sizeof(unsigned char)*dataSize, DT_ALLOC_PERM);
-	if (!data)
-	{
-		dtFree(offMeshConClass);
-		return false;
-	}
-	memset(data, 0, dataSize);
-	
-	unsigned char* d = data;
-	dtMeshHeader* header = (dtMeshHeader*)d; d += headerSize;
-	float* navVerts = (float*)d; d += vertsSize;
-	dtPoly* navPolys = (dtPoly*)d; d += polysSize;
-	d += linksSize;
-	dtPolyDetail* navDMeshes = (dtPolyDetail*)d; d += detailMeshesSize;
-	float* navDVerts = (float*)d; d += detailVertsSize;
-	unsigned char* navDTris = (unsigned char*)d; d += detailTrisSize;
-	dtBVNode* navBvtree = (dtBVNode*)d; d += bvTreeSize;
-	dtOffMeshConnection* offMeshCons = (dtOffMeshConnection*)d; d += offMeshConsSize;
-	
-	
-	// Store header
-	header->magic = DT_NAVMESH_MAGIC;
-	header->version = DT_NAVMESH_VERSION;
-	header->x = params->tileX;
-	header->y = params->tileY;
-	header->userId = params->userId;
-	header->polyCount = totPolyCount;
-	header->vertCount = totVertCount;
-	header->maxLinkCount = maxLinkCount;
-	dtVcopy(header->bmin, params->bmin);
-	dtVcopy(header->bmax, params->bmax);
-	header->detailMeshCount = params->polyCount;
-	header->detailVertCount = uniqueDetailVertCount;
-	header->detailTriCount = detailTriCount;
-	header->bvQuantFactor = 1.0f / params->cs;
-	header->offMeshBase = params->polyCount;
-	header->walkableHeight = params->walkableHeight;
-	header->walkableRadius = params->walkableRadius;
-	header->walkableClimb = params->walkableClimb;
-	header->offMeshConCount = storedOffMeshConCount;
-	header->bvNodeCount = params->polyCount*2;
-	
-	const int offMeshVertsBase = params->vertCount;
-	const int offMeshPolyBase = params->polyCount;
-	
-	// Store vertices
-	// Mesh vertices
-	for (int i = 0; i < params->vertCount; ++i)
-	{
-		const unsigned short* iv = &params->verts[i*3];
-		float* v = &navVerts[i*3];
-		v[0] = params->bmin[0] + iv[0] * params->cs;
-		v[1] = params->bmin[1] + iv[1] * params->ch;
-		v[2] = params->bmin[2] + iv[2] * params->cs;
-	}
-	// Off-mesh link vertices.
-	int n = 0;
-	for (int i = 0; i < params->offMeshConCount; ++i)
-	{
-		// Only store connections which start from this tile.
-		if (offMeshConClass[i*2+0] == 0xff)
-		{
-			const float* linkv = &params->offMeshConVerts[i*2*3];
-			float* v = &navVerts[(offMeshVertsBase + n*2)*3];
-			dtVcopy(&v[0], &linkv[0]);
-			dtVcopy(&v[3], &linkv[3]);
-			n++;
-		}
-	}
-	
-	// Store polygons
-	// Mesh polys
-	const unsigned short* src = params->polys;
-	for (int i = 0; i < params->polyCount; ++i)
-	{
-		dtPoly* p = &navPolys[i];
-		p->vertCount = 0;
-		p->flags = params->polyFlags[i];
-		p->setArea(params->polyAreas[i]);
-		p->setType(DT_POLYTYPE_GROUND);
-		for (int j = 0; j < nvp; ++j)
-		{
-			if (src[j] == MESH_NULL_IDX) break;
-			p->verts[j] = src[j];
-			p->neis[j] = (src[nvp+j]+1) & 0xffff;
-			p->vertCount++;
-		}
-		src += nvp*2;
-	}
-	// Off-mesh connection vertices.
-	n = 0;
-	for (int i = 0; i < params->offMeshConCount; ++i)
-	{
-		// Only store connections which start from this tile.
-		if (offMeshConClass[i*2+0] == 0xff)
-		{
-			dtPoly* p = &navPolys[offMeshPolyBase+n];
-			p->vertCount = 2;
-			p->verts[0] = (unsigned short)(offMeshVertsBase + n*2+0);
-			p->verts[1] = (unsigned short)(offMeshVertsBase + n*2+1);
-			p->flags = params->offMeshConFlags[i];
-			p->setArea(params->offMeshConAreas[i]);
-			p->setType(DT_POLYTYPE_OFFMESH_CONNECTION);
-			n++;
-		}
-	}
-	
-	// Store portal edges.
-	if (params->tileSize > 0)
-	{
-		for (int i = 0; i < params->polyCount; ++i)
-		{
-			dtPoly* poly = &navPolys[i];
-			for (int j = 0; j < poly->vertCount; ++j)
-			{
-				int nj = j+1;
-				if (nj >= poly->vertCount) nj = 0;
-
-				const unsigned short* va = &params->verts[poly->verts[j]*3];
-				const unsigned short* vb = &params->verts[poly->verts[nj]*3];
-							
-				if (va[0] == params->tileSize && vb[0] == params->tileSize) // x+
-					poly->neis[j] = DT_EXT_LINK | 0;
-				else if (va[2] == params->tileSize && vb[2]  == params->tileSize) // z+
-					poly->neis[j] = DT_EXT_LINK | 2;
-				else if (va[0] == 0 && vb[0] == 0) // x-
-					poly->neis[j] = DT_EXT_LINK | 4;
-				else if (va[2] == 0 && vb[2] == 0) // z-
-					poly->neis[j] = DT_EXT_LINK | 6;
-			}
-		}
-	}
-
-	// Store detail meshes and vertices.
-	// The nav polygon vertices are stored as the first vertices on each mesh.
-	// We compress the mesh data by skipping them and using the navmesh coordinates.
-	if (params->detailMeshes)
-	{
-		unsigned short vbase = 0;
-		for (int i = 0; i < params->polyCount; ++i)
-		{
-			dtPolyDetail& dtl = navDMeshes[i];
-			const int vb = (int)params->detailMeshes[i*4+0];
-			const int ndv = (int)params->detailMeshes[i*4+1];
-			const int nv = navPolys[i].vertCount;
-			dtl.vertBase = (unsigned int)vbase;
-			dtl.vertCount = (unsigned char)(ndv-nv);
-			dtl.triBase = (unsigned int)params->detailMeshes[i*4+2];
-			dtl.triCount = (unsigned char)params->detailMeshes[i*4+3];
-			// Copy vertices except the first 'nv' verts which are equal to nav poly verts.
-			if (ndv-nv)
-			{
-				memcpy(&navDVerts[vbase*3], &params->detailVerts[(vb+nv)*3], sizeof(float)*3*(ndv-nv));
-				vbase += (unsigned short)(ndv-nv);
-			}
-		}
-		// Store triangles.
-		memcpy(navDTris, params->detailTris, sizeof(unsigned char)*4*params->detailTriCount);
-	}
-	else
-	{
-		// Create dummy detail mesh by triangulating polys.
-		int tbase = 0;
-		for (int i = 0; i < params->polyCount; ++i)
-		{
-			dtPolyDetail& dtl = navDMeshes[i];
-			const int nv = navPolys[i].vertCount;
-			dtl.vertBase = 0;
-			dtl.vertCount = 0;
-			dtl.triBase = (unsigned int)tbase;
-			dtl.triCount = (unsigned char)(nv-2);
-			// Triangulate polygon (local indices).
-			for (int j = 2; j < nv; ++j)
-			{
-				unsigned char* t = &navDTris[tbase*4];
-				t[0] = 0;
-				t[1] = (unsigned char)(j-1);
-				t[2] = (unsigned char)j;
-				// Bit for each edge that belongs to poly boundary.
-				t[3] = (1<<2);
-				if (j == 2) t[3] |= (1<<0);
-				if (j == nv-1) t[3] |= (1<<4);
-				tbase++;
-			}
-		}
-	}
-
-	// Store and create BVtree.
-	// TODO: take detail mesh into account! use byte per bbox extent?
-	createBVTree(params->verts, params->vertCount, params->polys, params->polyCount,
-				 nvp, params->cs, params->ch, params->polyCount*2, navBvtree);
-	
-	// Store Off-Mesh connections.
-	n = 0;
-	for (int i = 0; i < params->offMeshConCount; ++i)
-	{
-		// Only store connections which start from this tile.
-		if (offMeshConClass[i*2+0] == 0xff)
-		{
-			dtOffMeshConnection* con = &offMeshCons[n];
-			con->poly = (unsigned short)(offMeshPolyBase + n);
-			// Copy connection end-points.
-			const float* endPts = &params->offMeshConVerts[i*2*3];
-			dtVcopy(&con->pos[0], &endPts[0]);
-			dtVcopy(&con->pos[3], &endPts[3]);
-			con->rad = params->offMeshConRad[i];
-			con->flags = params->offMeshConDir[i] ? DT_OFFMESH_CON_BIDIR : 0;
-			con->side = offMeshConClass[i*2+1];
-			if (params->offMeshConUserID)
-				con->userId = params->offMeshConUserID[i];
-			n++;
-		}
-	}
-		
-	dtFree(offMeshConClass);
-	
-	*outData = data;
-	*outDataSize = dataSize;
-	
-	return true;
-}
-
-inline void swapByte(unsigned char* a, unsigned char* b)
-{
-	unsigned char tmp = *a;
-	*a = *b;
-	*b = tmp;
-}
-
-inline void swapEndian(unsigned short* v)
-{
-	unsigned char* x = (unsigned char*)v;
-	swapByte(x+0, x+1);
-}
-
-inline void swapEndian(short* v)
-{
-	unsigned char* x = (unsigned char*)v;
-	swapByte(x+0, x+1);
-}
-
-inline void swapEndian(unsigned int* v)
-{
-	unsigned char* x = (unsigned char*)v;
-	swapByte(x+0, x+3); swapByte(x+1, x+2);
-}
-
-inline void swapEndian(int* v)
-{
-	unsigned char* x = (unsigned char*)v;
-	swapByte(x+0, x+3); swapByte(x+1, x+2);
-}
-
-inline void swapEndian(float* v)
-{
-	unsigned char* x = (unsigned char*)v;
-	swapByte(x+0, x+3); swapByte(x+1, x+2);
-}
-
-bool dtNavMeshHeaderSwapEndian(unsigned char* data, const int /*dataSize*/)
-{
-	dtMeshHeader* header = (dtMeshHeader*)data;
-	
-	int swappedMagic = DT_NAVMESH_MAGIC;
-	int swappedVersion = DT_NAVMESH_VERSION;
-	swapEndian(&swappedMagic);
-	swapEndian(&swappedVersion);
-	
-	if ((header->magic != DT_NAVMESH_MAGIC || header->version != DT_NAVMESH_VERSION) &&
-		(header->magic != swappedMagic || header->version != swappedVersion))
-	{
-		return false;
-	}
-		
-	swapEndian(&header->magic);
-	swapEndian(&header->version);
-	swapEndian(&header->x);
-	swapEndian(&header->y);
-	swapEndian(&header->userId);
-	swapEndian(&header->polyCount);
-	swapEndian(&header->vertCount);
-	swapEndian(&header->maxLinkCount);
-	swapEndian(&header->detailMeshCount);
-	swapEndian(&header->detailVertCount);
-	swapEndian(&header->detailTriCount);
-	swapEndian(&header->bvNodeCount);
-	swapEndian(&header->offMeshConCount);
-	swapEndian(&header->offMeshBase);
-	swapEndian(&header->walkableHeight);
-	swapEndian(&header->walkableRadius);
-	swapEndian(&header->walkableClimb);
-	swapEndian(&header->bmin[0]);
-	swapEndian(&header->bmin[1]);
-	swapEndian(&header->bmin[2]);
-	swapEndian(&header->bmax[0]);
-	swapEndian(&header->bmax[1]);
-	swapEndian(&header->bmax[2]);
-	swapEndian(&header->bvQuantFactor);
-
-	// Freelist index and pointers are updated when tile is added, no need to swap.
-
-	return true;
-}
-
-bool dtNavMeshDataSwapEndian(unsigned char* data, const int /*dataSize*/)
-{
-	// Make sure the data is in right format.
-	dtMeshHeader* header = (dtMeshHeader*)data;
-	if (header->magic != DT_NAVMESH_MAGIC)
-		return false;
-	if (header->version != DT_NAVMESH_VERSION)
-		return false;
-	
-	// Patch header pointers.
-	const int headerSize = dtAlign4(sizeof(dtMeshHeader));
-	const int vertsSize = dtAlign4(sizeof(float)*3*header->vertCount);
-	const int polysSize = dtAlign4(sizeof(dtPoly)*header->polyCount);
-	const int linksSize = dtAlign4(sizeof(dtLink)*(header->maxLinkCount));
-	const int detailMeshesSize = dtAlign4(sizeof(dtPolyDetail)*header->detailMeshCount);
-	const int detailVertsSize = dtAlign4(sizeof(float)*3*header->detailVertCount);
-	const int detailTrisSize = dtAlign4(sizeof(unsigned char)*4*header->detailTriCount);
-	const int bvtreeSize = dtAlign4(sizeof(dtBVNode)*header->bvNodeCount);
-	const int offMeshLinksSize = dtAlign4(sizeof(dtOffMeshConnection)*header->offMeshConCount);
-	
-	unsigned char* d = data + headerSize;
-	float* verts = (float*)d; d += vertsSize;
-	dtPoly* polys = (dtPoly*)d; d += polysSize;
-	/*dtLink* links = (dtLink*)d;*/ d += linksSize;
-	dtPolyDetail* detailMeshes = (dtPolyDetail*)d; d += detailMeshesSize;
-	float* detailVerts = (float*)d; d += detailVertsSize;
-	/*unsigned char* detailTris = (unsigned char*)d;*/ d += detailTrisSize;
-	dtBVNode* bvTree = (dtBVNode*)d; d += bvtreeSize;
-	dtOffMeshConnection* offMeshCons = (dtOffMeshConnection*)d; d += offMeshLinksSize;
-	
-	// Vertices
-	for (int i = 0; i < header->vertCount*3; ++i)
-	{
-		swapEndian(&verts[i]);
-	}
-
-	// Polys
-	for (int i = 0; i < header->polyCount; ++i)
-	{
-		dtPoly* p = &polys[i];
-		// poly->firstLink is update when tile is added, no need to swap.
-		for (int j = 0; j < DT_VERTS_PER_POLYGON; ++j)
-		{
-			swapEndian(&p->verts[j]);
-			swapEndian(&p->neis[j]);
-		}
-		swapEndian(&p->flags);
-	}
-
-	// Links are rebuild when tile is added, no need to swap.
-
-	// Detail meshes
-	for (int i = 0; i < header->detailMeshCount; ++i)
-	{
-		dtPolyDetail* pd = &detailMeshes[i];
-		swapEndian(&pd->vertBase);
-		swapEndian(&pd->triBase);
-	}
-	
-	// Detail verts
-	for (int i = 0; i < header->detailVertCount*3; ++i)
-	{
-		swapEndian(&detailVerts[i]);
-	}
-
-	// BV-tree
-	for (int i = 0; i < header->bvNodeCount; ++i)
-	{
-		dtBVNode* node = &bvTree[i];
-		for (int j = 0; j < 3; ++j)
-		{
-			swapEndian(&node->bmin[j]);
-			swapEndian(&node->bmax[j]);
-		}
-		swapEndian(&node->i);
-	}
-
-	// Off-mesh Connections.
-	for (int i = 0; i < header->offMeshConCount; ++i)
-	{
-		dtOffMeshConnection* con = &offMeshCons[i];
-		for (int j = 0; j < 6; ++j)
-			swapEndian(&con->pos[j]);
-		swapEndian(&con->rad);
-		swapEndian(&con->poly);
-	}
-	
-	return true;
-}
diff --git a/deps/recastnavigation/Detour/DetourNavMeshBuilder.h b/deps/recastnavigation/Detour/DetourNavMeshBuilder.h
deleted file mode 100644
index aa802d71cb..0000000000
--- a/deps/recastnavigation/Detour/DetourNavMeshBuilder.h
+++ /dev/null
@@ -1,79 +0,0 @@
-//
-// 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 DETOURNAVMESHBUILDER_H
-#define DETOURNAVMESHBUILDER_H
-
-#include "DetourAlloc.h"
-
-
-// The units of the parameters are specified in parenthesis as follows:
-// (vx) voxels, (wu) world units
-struct dtNavMeshCreateParams
-{
-	// Navmesh vertices.
-	const unsigned short* verts;			// Array of vertices, each vertex has 3 components. (vx).
-	int vertCount;							// Vertex count
-	// Navmesh polygons
-	const unsigned short* polys;			// Array of polygons, uses same format as rcPolyMesh. 
-	const unsigned short* polyFlags;		// Array of flags per polygon.
-	const unsigned char* polyAreas;			// Array of area ids per polygon.
-	int polyCount;							// Number of polygons
-	int nvp;								// Number of verts per polygon.
-	// Navmesh Detail
-	const unsigned int* detailMeshes;		// Detail meshes, uses same format as rcPolyMeshDetail.
-	const float* detailVerts;				// Detail mesh vertices, uses same format as rcPolyMeshDetail (wu).
-	int detailVertsCount;					// Total number of detail vertices
-	const unsigned char* detailTris;		// Array of detail tris per detail mesh.
-	int detailTriCount;						// Total number of detail triangles.
-	// Off-Mesh Connections.
-	const float* offMeshConVerts;			// Off-mesh connection vertices (wu).
-	const float* offMeshConRad;				// Off-mesh connection radii (wu).
-	const unsigned short* offMeshConFlags;	// Off-mesh connection flags.
-	const unsigned char* offMeshConAreas;	// Off-mesh connection area ids.
-	const unsigned char* offMeshConDir;		// Off-mesh connection direction flags (1 = bidir, 0 = oneway).
-	const unsigned int* offMeshConUserID;	// Off-mesh connection user id (optional).
-	int offMeshConCount;					// Number of off-mesh connections
-	// Tile location
-	unsigned int userId;					// User ID bound to the tile.
-	int tileX, tileY;						// Tile location (tile coords).
-	float bmin[3], bmax[3];					// Tile bounds (wu).
-	// Settings
-	float walkableHeight;					// Agent height (wu).
-	float walkableRadius;					// Agent radius (wu).
-	float walkableClimb;					// Agent max climb (wu).
-	float cs;								// Cell size (xz) (wu).
-	float ch;								// Cell height (y) (wu).
-	int tileSize;							// Tile size (width & height) (vx).
-    int tileLayer;
-    bool buildBvTree;   
-};
-
-// Build navmesh data from given input data.
-bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData, int* outDataSize);
-
-// Swaps endianess of navmesh header.
-bool dtNavMeshHeaderSwapEndian(unsigned char* data, const int dataSize);
-
-// Swaps endianess of the navmesh data. This function assumes that the header is in correct
-// endianess already. Call dtNavMeshHeaderSwapEndian() first on the data if the data is
-// assumed to be in wrong endianess to start with. If converting from native endianess to foreign,
-// call dtNavMeshHeaderSwapEndian() after the data has been swapped.
-bool dtNavMeshDataSwapEndian(unsigned char* data, const int dataSize);
-
-#endif // DETOURNAVMESHBUILDER_H
diff --git a/deps/recastnavigation/Detour/DetourNavMeshQuery.cpp b/deps/recastnavigation/Detour/DetourNavMeshQuery.cpp
deleted file mode 100644
index 33ee87fb95..0000000000
--- a/deps/recastnavigation/Detour/DetourNavMeshQuery.cpp
+++ /dev/null
@@ -1,2578 +0,0 @@
-//
-// 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 <math.h>
-#include <float.h>
-#include <string.h>
-#include "DetourNavMeshQuery.h"
-#include "DetourNavMesh.h"
-#include "DetourNode.h"
-#include "DetourCommon.h"
-#include "DetourAlloc.h"
-#include "DetourAssert.h"
-#include <new>
-
-
-dtQueryFilter::dtQueryFilter() :
-	m_includeFlags(0xffff),
-	m_excludeFlags(0)
-{
-	for (int i = 0; i < DT_MAX_AREAS; ++i)
-		m_areaCost[i] = 1.0f;
-}
-
-#ifdef DT_VIRTUAL_QUERYFILTER
-bool dtQueryFilter::passFilter(const dtPolyRef /*ref*/,
-							   const dtMeshTile* /*tile*/,
-							   const dtPoly* poly) const
-{
-	return (poly->flags & m_includeFlags) != 0 && (poly->flags & m_excludeFlags) == 0;
-}
-
-float dtQueryFilter::getCost(const float* pa, const float* pb,
-							 const dtPolyRef /*prevRef*/, const dtMeshTile* /*prevTile*/, const dtPoly* /*prevPoly*/,
-							 const dtPolyRef /*curRef*/, const dtMeshTile* /*curTile*/, const dtPoly* curPoly,
-							 const dtPolyRef /*nextRef*/, const dtMeshTile* /*nextTile*/, const dtPoly* /*nextPoly*/) const
-{
-	return dtVdist(pa, pb) * m_areaCost[curPoly->getArea()];
-}
-#else
-inline bool dtQueryFilter::passFilter(const dtPolyRef /*ref*/,
-									  const dtMeshTile* /*tile*/,
-									  const dtPoly* poly) const
-{
-	return (poly->flags & m_includeFlags) != 0 && (poly->flags & m_excludeFlags) == 0;
-}
-
-inline float dtQueryFilter::getCost(const float* pa, const float* pb,
-									const dtPolyRef /*prevRef*/, const dtMeshTile* /*prevTile*/, const dtPoly* /*prevPoly*/,
-									const dtPolyRef /*curRef*/, const dtMeshTile* /*curTile*/, const dtPoly* curPoly,
-									const dtPolyRef /*nextRef*/, const dtMeshTile* /*nextTile*/, const dtPoly* /*nextPoly*/) const
-{
-	return dtVdist(pa, pb) * m_areaCost[curPoly->getArea()];
-}
-#endif	
-	
-static const float H_SCALE = 2.0f; // Search heuristic scale.
-
-
-dtNavMeshQuery* dtAllocNavMeshQuery()
-{
-	void* mem = dtAlloc(sizeof(dtNavMeshQuery), DT_ALLOC_PERM);
-	if (!mem) return 0;
-	return new(mem) dtNavMeshQuery;
-}
-
-void dtFreeNavMeshQuery(dtNavMeshQuery* navmesh)
-{
-	if (!navmesh) return;
-	navmesh->~dtNavMeshQuery();
-	dtFree(navmesh);
-}
-
-//////////////////////////////////////////////////////////////////////////////////////////
-dtNavMeshQuery::dtNavMeshQuery() :
-	m_nav(0),
-	m_tinyNodePool(0),
-	m_nodePool(0),
-	m_openList(0)
-{
-	memset(&m_query, 0, sizeof(dtQueryData));
-}
-
-dtNavMeshQuery::~dtNavMeshQuery()
-{
-	if (m_tinyNodePool)
-		m_tinyNodePool->~dtNodePool();
-	if (m_nodePool)
-		m_nodePool->~dtNodePool();
-	if (m_openList)
-		m_openList->~dtNodeQueue();
-	dtFree(m_tinyNodePool);
-	dtFree(m_nodePool);
-	dtFree(m_openList);
-}
-
-dtStatus dtNavMeshQuery::init(const dtNavMesh* nav, const int maxNodes)
-{
-	m_nav = nav;
-	
-	if (!m_nodePool || m_nodePool->getMaxNodes() < maxNodes)
-	{
-		if (m_nodePool)
-		{
-			m_nodePool->~dtNodePool();
-			dtFree(m_nodePool);
-			m_nodePool = 0;
-		}
-		m_nodePool = new (dtAlloc(sizeof(dtNodePool), DT_ALLOC_PERM)) dtNodePool(maxNodes, dtNextPow2(maxNodes/4));
-		if (!m_nodePool)
-			return DT_FAILURE_OUT_OF_MEMORY;
-	}
-	else
-	{
-		m_nodePool->clear();
-	}
-	
-	if (!m_tinyNodePool)
-	{
-		m_tinyNodePool = new (dtAlloc(sizeof(dtNodePool), DT_ALLOC_PERM)) dtNodePool(64, 32);
-		if (!m_tinyNodePool)
-			return DT_FAILURE_OUT_OF_MEMORY;
-	}
-	else
-	{
-		m_tinyNodePool->clear();
-	}
-	
-	// TODO: check the open list size too.
-	if (!m_openList || m_openList->getCapacity() < maxNodes)
-	{
-		if (m_openList)
-		{
-			m_openList->~dtNodeQueue();
-			dtFree(m_openList);
-			m_openList = 0;
-		}
-		m_openList = new (dtAlloc(sizeof(dtNodeQueue), DT_ALLOC_PERM)) dtNodeQueue(maxNodes);
-		if (!m_openList)
-			return DT_FAILURE_OUT_OF_MEMORY;
-	}
-	else
-	{
-		m_openList->clear();
-	}
-	
-	return DT_SUCCESS;
-}
-
-//////////////////////////////////////////////////////////////////////////////////////////
-dtStatus dtNavMeshQuery::closestPointOnPoly(dtPolyRef ref, const float* pos, float* closest) const
-{
-	dtAssert(m_nav);
-	const dtMeshTile* tile = 0;
-	const dtPoly* poly = 0;
-	if (m_nav->getTileAndPolyByRef(ref, &tile, &poly) != DT_SUCCESS)
-		return DT_FAILURE;
-	if (!tile) return DT_FAILURE;
-
-    if (poly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION)
-        return DT_FAILURE;
-
-	if (closestPointOnPolyInTile(tile, poly, pos, closest) != DT_SUCCESS)
-		return DT_FAILURE;
-	return DT_SUCCESS;
-}
-
-dtStatus dtNavMeshQuery::closestPointOnPolyInTile(const dtMeshTile* tile, const dtPoly* poly,
-												  const float* pos, float* closest) const
-{
-	const unsigned int ip = (unsigned int)(poly - tile->polys);
-	const dtPolyDetail* pd = &tile->detailMeshes[ip];
-
-	// TODO: The commented out version finds 'cylinder distance' instead of 'sphere distance' to the navmesh.
-	// Test and enable.
-/*
-	// Clamp point to be inside the polygon.
-	float verts[DT_VERTS_PER_POLYGON*3];	
-	float edged[DT_VERTS_PER_POLYGON];
-	float edget[DT_VERTS_PER_POLYGON];
-	const int nv = poly->vertCount;
-	for (int i = 0; i < nv; ++i)
-		dtVcopy(&verts[i*3], &tile->verts[poly->verts[i]*3]);
-	
-	dtVcopy(closest, pos);
-	if (!dtDistancePtPolyEdgesSqr(pos, verts, nv, edged, edget))
-	{
-		// Point is outside the polygon, dtClamp to nearest edge.
-		float dmin = FLT_MAX;
-		int imin = -1;
-		for (int i = 0; i < nv; ++i)
-		{
-			if (edged[i] < dmin)
-			{
-				dmin = edged[i];
-				imin = i;
-			}
-		}
-		const float* va = &verts[imin*3];
-		const float* vb = &verts[((imin+1)%nv)*3];
-		dtVlerp(closest, va, vb, edget[imin]);
-	}
-
-	// Find height at the location.
-	for (int j = 0; j < pd->triCount; ++j)
-	{
-		const unsigned char* t = &tile->detailTris[(pd->triBase+j)*4];
-		const float* v[3];
-		for (int k = 0; k < 3; ++k)
-		{
-			if (t[k] < poly->vertCount)
-				v[k] = &tile->verts[poly->verts[t[k]]*3];
-			else
-				v[k] = &tile->detailVerts[(pd->vertBase+(t[k]-poly->vertCount))*3];
-		}
-		float h;
-		if (dtClosestHeightPointTriangle(pos, v[0], v[1], v[2], h))
-		{
-			closest[1] = h;
-			break;
-		}
-	}
-*/
-	float closestDistSqr = FLT_MAX;
-	for (int j = 0; j < pd->triCount; ++j)
-	{
-		const unsigned char* t = &tile->detailTris[(pd->triBase+j)*4];
-		const float* v[3];
-		for (int k = 0; k < 3; ++k)
-		{
-			if (t[k] < poly->vertCount)
-				v[k] = &tile->verts[poly->verts[t[k]]*3];
-			else
-				v[k] = &tile->detailVerts[(pd->vertBase+(t[k]-poly->vertCount))*3];
-		}
-
-		float pt[3];
-		dtClosestPtPointTriangle(pt, pos, v[0], v[1], v[2]);
-		float d = dtVdistSqr(pos, pt);
-		
-		if (d < closestDistSqr)
-		{
-			dtVcopy(closest, pt);
-			closestDistSqr = d;
-		}
-	}
-	
-	return DT_SUCCESS;
-}
-
-dtStatus dtNavMeshQuery::closestPointOnPolyBoundary(dtPolyRef ref, const float* pos, float* closest) const
-{
-	dtAssert(m_nav);
-	
-	const dtMeshTile* tile = 0;
-	const dtPoly* poly = 0;
-	if (m_nav->getTileAndPolyByRef(ref, &tile, &poly) != DT_SUCCESS)
-		return DT_FAILURE;
-	
-	// Collect vertices.
-	float verts[DT_VERTS_PER_POLYGON*3];	
-	float edged[DT_VERTS_PER_POLYGON];
-	float edget[DT_VERTS_PER_POLYGON];
-	int nv = 0;
-	for (int i = 0; i < (int)poly->vertCount; ++i)
-	{
-		dtVcopy(&verts[nv*3], &tile->verts[poly->verts[i]*3]);
-		nv++;
-	}		
-	
-	bool inside = dtDistancePtPolyEdgesSqr(pos, verts, nv, edged, edget);
-	if (inside)
-	{
-		// Point is inside the polygon, return the point.
-		dtVcopy(closest, pos);
-	}
-	else
-	{
-		// Point is outside the polygon, dtClamp to nearest edge.
-		float dmin = FLT_MAX;
-		int imin = -1;
-		for (int i = 0; i < nv; ++i)
-		{
-			if (edged[i] < dmin)
-			{
-				dmin = edged[i];
-				imin = i;
-			}
-		}
-		const float* va = &verts[imin*3];
-		const float* vb = &verts[((imin+1)%nv)*3];
-		dtVlerp(closest, va, vb, edget[imin]);
-	}
-	
-	return DT_SUCCESS;
-}
-
-
-dtStatus dtNavMeshQuery::getPolyHeight(dtPolyRef ref, const float* pos, float* height) const
-{
-	dtAssert(m_nav);
-
-	const dtMeshTile* tile = 0;
-	const dtPoly* poly = 0;
-	if (m_nav->getTileAndPolyByRef(ref, &tile, &poly) != DT_SUCCESS)
-		return DT_FAILURE;
-	
-	if (poly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION)
-	{
-		const float* v0 = &tile->verts[poly->verts[0]*3];
-		const float* v1 = &tile->verts[poly->verts[1]*3];
-		const float d0 = dtVdist(pos, v0);
-		const float d1 = dtVdist(pos, v1);
-		const float u = d0 / (d0+d1);
-		if (height)
-			*height = v0[1] + (v1[1] - v0[1]) * u;
-		return DT_SUCCESS;
-	}
-	else
-	{
-		const unsigned int ip = (unsigned int)(poly - tile->polys);
-		const dtPolyDetail* pd = &tile->detailMeshes[ip];
-		for (int j = 0; j < pd->triCount; ++j)
-		{
-			const unsigned char* t = &tile->detailTris[(pd->triBase+j)*4];
-			const float* v[3];
-			for (int k = 0; k < 3; ++k)
-			{
-				if (t[k] < poly->vertCount)
-					v[k] = &tile->verts[poly->verts[t[k]]*3];
-				else
-					v[k] = &tile->detailVerts[(pd->vertBase+(t[k]-poly->vertCount))*3];
-			}
-			float h;
-			if (dtClosestHeightPointTriangle(pos, v[0], v[1], v[2], h))
-			{
-				if (height)
-					*height = h;
-				return DT_SUCCESS;
-			}
-		}
-	}
-	
-	return DT_FAILURE;
-}
-
-dtStatus dtNavMeshQuery::findNearestPoly(const float* center, const float* extents,
-										 const dtQueryFilter* filter,
-										 dtPolyRef* nearestRef, float* nearestPt) const
-{
-	dtAssert(m_nav);
-
-	*nearestRef = 0;
-	
-	// Get nearby polygons from proximity grid.
-	dtPolyRef polys[128];
-	int polyCount = 0;
-	if (queryPolygons(center, extents, filter, polys, &polyCount, 128) != DT_SUCCESS)
-		return DT_FAILURE;
-	
-	// Find nearest polygon amongst the nearby polygons.
-	dtPolyRef nearest = 0;
-	float nearestDistanceSqr = FLT_MAX;
-	for (int i = 0; i < polyCount; ++i)
-	{
-		dtPolyRef ref = polys[i];
-		float closestPtPoly[3];
-		if (closestPointOnPoly(ref, center, closestPtPoly) != DT_SUCCESS)
-			continue;
-		float d = dtVdistSqr(center, closestPtPoly);
-		if (d < nearestDistanceSqr)
-		{
-			if (nearestPt)
-				dtVcopy(nearestPt, closestPtPoly);
-			nearestDistanceSqr = d;
-			nearest = ref;
-		}
-	}
-	
-	if (nearestRef)
-		*nearestRef = nearest;
-	
-	return DT_SUCCESS;
-}
-
-dtPolyRef dtNavMeshQuery::findNearestPolyInTile(const dtMeshTile* tile, const float* center, const float* extents,
-												const dtQueryFilter* filter, float* nearestPt) const
-{
-	dtAssert(m_nav);
-	
-	float bmin[3], bmax[3];
-	dtVsub(bmin, center, extents);
-	dtVadd(bmax, center, extents);
-	
-	// Get nearby polygons from proximity grid.
-	dtPolyRef polys[128];
-	int polyCount = queryPolygonsInTile(tile, bmin, bmax, filter, polys, 128);
-	
-	// Find nearest polygon amongst the nearby polygons.
-	dtPolyRef nearest = 0;
-	float nearestDistanceSqr = FLT_MAX;
-	for (int i = 0; i < polyCount; ++i)
-	{
-		dtPolyRef ref = polys[i];
-		const dtPoly* poly = &tile->polys[m_nav->decodePolyIdPoly(ref)];
-		float closestPtPoly[3];
-		if (closestPointOnPolyInTile(tile, poly, center, closestPtPoly) != DT_SUCCESS)
-			continue;
-			
-		float d = dtVdistSqr(center, closestPtPoly);
-		if (d < nearestDistanceSqr)
-		{
-			if (nearestPt)
-				dtVcopy(nearestPt, closestPtPoly);
-			nearestDistanceSqr = d;
-			nearest = ref;
-		}
-	}
-	
-	return nearest;
-}
-
-int dtNavMeshQuery::queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, const float* qmax,
-										const dtQueryFilter* filter,
-										dtPolyRef* polys, const int maxPolys) const
-{
-	dtAssert(m_nav);
-
-	if (tile->bvTree)
-	{
-		const dtBVNode* node = &tile->bvTree[0];
-		const dtBVNode* end = &tile->bvTree[tile->header->bvNodeCount];
-		const float* tbmin = tile->header->bmin;
-		const float* tbmax = tile->header->bmax;
-		const float qfac = tile->header->bvQuantFactor;
-		
-		// Calculate quantized box
-		unsigned short bmin[3], bmax[3];
-		// dtClamp query box to world box.
-		float minx = dtClamp(qmin[0], tbmin[0], tbmax[0]) - tbmin[0];
-		float miny = dtClamp(qmin[1], tbmin[1], tbmax[1]) - tbmin[1];
-		float minz = dtClamp(qmin[2], tbmin[2], tbmax[2]) - tbmin[2];
-		float maxx = dtClamp(qmax[0], tbmin[0], tbmax[0]) - tbmin[0];
-		float maxy = dtClamp(qmax[1], tbmin[1], tbmax[1]) - tbmin[1];
-		float maxz = dtClamp(qmax[2], tbmin[2], tbmax[2]) - tbmin[2];
-		// Quantize
-		bmin[0] = (unsigned short)(qfac * minx) & 0xfffe;
-		bmin[1] = (unsigned short)(qfac * miny) & 0xfffe;
-		bmin[2] = (unsigned short)(qfac * minz) & 0xfffe;
-		bmax[0] = (unsigned short)(qfac * maxx + 1) | 1;
-		bmax[1] = (unsigned short)(qfac * maxy + 1) | 1;
-		bmax[2] = (unsigned short)(qfac * maxz + 1) | 1;
-		
-		// Traverse tree
-		const dtPolyRef base = m_nav->getPolyRefBase(tile);
-		int n = 0;
-		while (node < end)
-		{
-			const bool overlap = dtOverlapQuantBounds(bmin, bmax, node->bmin, node->bmax);
-			const bool isLeafNode = node->i >= 0;
-			
-			if (isLeafNode && overlap)
-			{
-				dtPolyRef ref = base | (dtPolyRef)node->i;
-				if (filter->passFilter(ref, tile, &tile->polys[node->i]))
-				{
-					if (n < maxPolys)
-						polys[n++] = ref;
-				}
-			}
-			
-			if (overlap || isLeafNode)
-				node++;
-			else
-			{
-				const int escapeIndex = -node->i;
-				node += escapeIndex;
-			}
-		}
-		
-		return n;
-	}
-	else
-	{
-		float bmin[3], bmax[3];
-		int n = 0;
-		const dtPolyRef base = m_nav->getPolyRefBase(tile);
-		for (int i = 0; i < tile->header->polyCount; ++i)
-		{
-			// Calc polygon bounds.
-			dtPoly* p = &tile->polys[i];
-			// Do not return off-mesh connection polygons.
-			if (p->getType() == DT_POLYTYPE_OFFMESH_CONNECTION)
-				continue;
-
-			const float* v = &tile->verts[p->verts[0]*3];
-			dtVcopy(bmin, v);
-			dtVcopy(bmax, v);
-			for (int j = 1; j < p->vertCount; ++j)
-			{
-				v = &tile->verts[p->verts[j]*3];
-				dtVmin(bmin, v);
-				dtVmax(bmax, v);
-			}
-			if (dtOverlapBounds(qmin,qmax, bmin,bmax))
-			{
-				const dtPolyRef ref = base | (dtPolyRef)i;
-				if (filter->passFilter(ref, tile, p))
-				{
-					if (n < maxPolys)
-						polys[n++] = ref;
-				}
-			}
-		}
-		return n;
-	}
-}
-
-dtStatus dtNavMeshQuery::queryPolygons(const float* center, const float* extents,
-									   const dtQueryFilter* filter,
-									   dtPolyRef* polys, int* polyCount, const int maxPolys) const
-{
-	dtAssert(m_nav);
-	
-	float bmin[3], bmax[3];
-	dtVsub(bmin, center, extents);
-	dtVadd(bmax, center, extents);
-	
-	// Find tiles the query touches.
-	int minx, miny, maxx, maxy;
-	m_nav->calcTileLoc(bmin, &minx, &miny);
-	m_nav->calcTileLoc(bmax, &maxx, &maxy);
-
-	int n = 0;
-
-	/// pussywizard: additional checks as in PathGenerator::HaveTile
-	if (minx < 0) minx = 0; if (miny < 0) miny = 0; // min can be negative because we subtract extents (few lines above)
-	if (maxx < 0 || maxy < 0 || maxx-minx >= 64 /*MAX_NUMBER_OF_GRIDS*/ || maxy-miny >= 64) // max should never be negative
-	{
-		*polyCount = n;
-		return DT_SUCCESS;
-	}
-
-	for (int y = miny; y <= maxy; ++y)
-	{
-		for (int x = minx; x <= maxx; ++x)
-		{
-			const dtMeshTile* tile = m_nav->getTileAt(x,y);
-			if (!tile) continue;
-			n += queryPolygonsInTile(tile, bmin, bmax, filter, polys+n, maxPolys-n);
-			if (n >= maxPolys)
-			{
-				*polyCount = n;
-				return DT_SUCCESS;
-			}
-		}
-	}
-	*polyCount = n;
-	
-	return DT_SUCCESS;
-}
-
-dtStatus dtNavMeshQuery::findPath(dtPolyRef startRef, dtPolyRef endRef,
-								  const float* startPos, const float* endPos,
-								  const dtQueryFilter* filter,
-								  dtPolyRef* path, int* pathCount, const int maxPath) const
-{
-	dtAssert(m_nav);
-	dtAssert(m_nodePool);
-	dtAssert(m_openList);
-	
-	*pathCount = 0;
-	
-	if (!startRef || !endRef)
-		return DT_FAILURE;
-	
-	if (!maxPath)
-		return DT_FAILURE;
-	
-	// Validate input
-	if (!m_nav->isValidPolyRef(startRef) || !m_nav->isValidPolyRef(endRef))
-		return DT_FAILURE;
-	
-	if (startRef == endRef)
-	{
-		path[0] = startRef;
-		*pathCount = 1;
-		return DT_SUCCESS;
-	}
-	
-	m_nodePool->clear();
-	m_openList->clear();
-	
-	dtNode* startNode = m_nodePool->getNode(startRef);
-	dtVcopy(startNode->pos, startPos);
-	startNode->pidx = 0;
-	startNode->cost = 0;
-	startNode->total = dtVdist(startPos, endPos) * H_SCALE;
-	startNode->id = startRef;
-	startNode->flags = DT_NODE_OPEN;
-	m_openList->push(startNode);
-	
-	dtNode* lastBestNode = startNode;
-	float lastBestNodeCost = startNode->total;
-	
-	while (!m_openList->empty())
-	{
-		// Remove node from open list and put it in closed list.
-		dtNode* bestNode = m_openList->pop();
-		bestNode->flags &= ~DT_NODE_OPEN;
-		bestNode->flags |= DT_NODE_CLOSED;
-		
-		// Reached the goal, stop searching.
-		if (bestNode->id == endRef)
-		{
-			lastBestNode = bestNode;
-			break;
-		}
-		
-		// Get current poly and tile.
-		// The API input has been cheked already, skip checking internal data.
-		const dtPolyRef bestRef = bestNode->id;
-		const dtMeshTile* bestTile = 0;
-		const dtPoly* bestPoly = 0;
-		m_nav->getTileAndPolyByRefUnsafe(bestRef, &bestTile, &bestPoly);
-		
-		// Get parent poly and tile.
-		dtPolyRef parentRef = 0;
-		const dtMeshTile* parentTile = 0;
-		const dtPoly* parentPoly = 0;
-		if (bestNode->pidx)
-			parentRef = m_nodePool->getNodeAtIdx(bestNode->pidx)->id;
-		if (parentRef)
-			m_nav->getTileAndPolyByRefUnsafe(parentRef, &parentTile, &parentPoly);
-		
-		for (unsigned int i = bestPoly->firstLink; i != DT_NULL_LINK; i = bestTile->links[i].next)
-		{
-			dtPolyRef neighbourRef = bestTile->links[i].ref;
-			
-			// Skip invalid ids and do not expand back to where we came from.
-			if (!neighbourRef || neighbourRef == parentRef)
-				continue;
-			
-			// Get neighbour poly and tile.
-			// The API input has been cheked already, skip checking internal data.
-			const dtMeshTile* neighbourTile = 0;
-			const dtPoly* neighbourPoly = 0;
-			m_nav->getTileAndPolyByRefUnsafe(neighbourRef, &neighbourTile, &neighbourPoly);			
-			
-			if (!filter->passFilter(neighbourRef, neighbourTile, neighbourPoly))
-				continue;
-
-			dtNode* neighbourNode = m_nodePool->getNode(neighbourRef);
-			if (!neighbourNode)
-				continue;
-			
-			// If the node is visited the first time, calculate node position.
-			if (neighbourNode->flags == 0)
-			{
-				getEdgeMidPoint(bestRef, bestPoly, bestTile,
-								neighbourRef, neighbourPoly, neighbourTile,
-								neighbourNode->pos);
-			}
-
-			// Calculate cost and heuristic.
-			float cost = 0;
-			float heuristic = 0;
-			
-			// Special case for last node.
-			if (neighbourRef == endRef)
-			{
-				// Cost
-				const float curCost = filter->getCost(bestNode->pos, neighbourNode->pos,
-													  parentRef, parentTile, parentPoly,
-													  bestRef, bestTile, bestPoly,
-													  neighbourRef, neighbourTile, neighbourPoly);
-				const float endCost = filter->getCost(neighbourNode->pos, endPos,
-													  bestRef, bestTile, bestPoly,
-													  neighbourRef, neighbourTile, neighbourPoly,
-													  0, 0, 0);
-				
-				cost = bestNode->cost + curCost + endCost;
-				heuristic = 0;
-			}
-			else
-			{
-				// Cost
-				const float curCost = filter->getCost(bestNode->pos, neighbourNode->pos,
-													  parentRef, parentTile, parentPoly,
-													  bestRef, bestTile, bestPoly,
-													  neighbourRef, neighbourTile, neighbourPoly);
-				cost = bestNode->cost + curCost;
-				heuristic = dtVdist(neighbourNode->pos, endPos)*H_SCALE;
-			}
-
-			const float total = cost + heuristic;
-			
-			// The node is already in open list and the new result is worse, skip.
-			if ((neighbourNode->flags & DT_NODE_OPEN) && total >= neighbourNode->total)
-				continue;
-			// The node is already visited and process, and the new result is worse, skip.
-			if ((neighbourNode->flags & DT_NODE_CLOSED) && total >= neighbourNode->total)
-				continue;
-			
-			// Add or update the node.
-			neighbourNode->pidx = m_nodePool->getNodeIdx(bestNode);
-			neighbourNode->id = neighbourRef;
-			neighbourNode->flags &= ~DT_NODE_CLOSED;
-			neighbourNode->cost = cost;
-			neighbourNode->total = total;
-			
-			if (neighbourNode->flags & DT_NODE_OPEN)
-			{
-				// Already in open, update node location.
-				m_openList->modify(neighbourNode);
-			}
-			else
-			{
-				// Put the node in open list.
-				neighbourNode->flags |= DT_NODE_OPEN;
-				m_openList->push(neighbourNode);
-			}
-			
-			// Update nearest node to target so far.
-			if (heuristic < lastBestNodeCost)
-			{
-				lastBestNodeCost = heuristic;
-				lastBestNode = neighbourNode;
-			}
-		}
-	}
-	
-	// Reverse the path.
-	dtNode* prev = 0;
-	dtNode* node = lastBestNode;
-	do
-	{
-		dtNode* next = m_nodePool->getNodeAtIdx(node->pidx);
-		node->pidx = m_nodePool->getNodeIdx(prev);
-		prev = node;
-		node = next;
-	}
-	while (node);
-	
-	// Store path
-	node = prev;
-	int n = 0;
-	do
-	{
-		path[n++] = node->id;
-		node = m_nodePool->getNodeAtIdx(node->pidx);
-	}
-	while (node && n < maxPath);
-	
-	*pathCount = n;
-	
-	return DT_SUCCESS;
-}
-
-dtStatus dtNavMeshQuery::initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef,
-											const float* startPos, const float* endPos,
-											const dtQueryFilter* filter)
-{
-	dtAssert(m_nav);
-	dtAssert(m_nodePool);
-	dtAssert(m_openList);
-
-	// Init path state.
-	memset(&m_query, 0, sizeof(dtQueryData));
-	m_query.status = DT_FAILURE;
-	m_query.startRef = startRef;
-	m_query.endRef = endRef;
-	dtVcopy(m_query.startPos, startPos);
-	dtVcopy(m_query.endPos, endPos);
-	m_query.filter = filter;
-	
-	if (!startRef || !endRef)
-		return DT_FAILURE;
-	
-	// Validate input
-	if (!m_nav->isValidPolyRef(startRef) || !m_nav->isValidPolyRef(endRef))
-		return DT_FAILURE;
-
-	if (startRef == endRef)
-	{
-		m_query.status = DT_SUCCESS;
-		return DT_SUCCESS;
-	}
-	
-	m_nodePool->clear();
-	m_openList->clear();
-	
-	dtNode* startNode = m_nodePool->getNode(startRef);
-	dtVcopy(startNode->pos, startPos);
-	startNode->pidx = 0;
-	startNode->cost = 0;
-	startNode->total = dtVdist(startPos, endPos) * H_SCALE;
-	startNode->id = startRef;
-	startNode->flags = DT_NODE_OPEN;
-	m_openList->push(startNode);
-	
-	m_query.status = DT_IN_PROGRESS;
-	m_query.lastBestNode = startNode;
-	m_query.lastBestNodeCost = startNode->total;
-	
-	return m_query.status;
-}
-	
-dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter)
-{
-	if (m_query.status!= DT_IN_PROGRESS)
-		return m_query.status;
-
-	// Make sure the request is still valid.
-	if (!m_nav->isValidPolyRef(m_query.startRef) || !m_nav->isValidPolyRef(m_query.endRef))
-	{
-		m_query.status = DT_FAILURE;
-		return DT_FAILURE;
-	}
-		
-	int iter = 0;
-	while (iter < maxIter && !m_openList->empty())
-	{
-		iter++;
-		
-		// Remove node from open list and put it in closed list.
-		dtNode* bestNode = m_openList->pop();
-		bestNode->flags &= ~DT_NODE_OPEN;
-		bestNode->flags |= DT_NODE_CLOSED;
-		
-		// Reached the goal, stop searching.
-		if (bestNode->id == m_query.endRef)
-		{
-			m_query.lastBestNode = bestNode;
-			m_query.status = DT_SUCCESS;
-			return m_query.status;
-		}
-		
-		// Get current poly and tile.
-		// The API input has been cheked already, skip checking internal data.
-		const dtPolyRef bestRef = bestNode->id;
-		const dtMeshTile* bestTile = 0;
-		const dtPoly* bestPoly = 0;
-		if (m_nav->getTileAndPolyByRef(bestRef, &bestTile, &bestPoly) != DT_SUCCESS)
-		{
-			// The polygon has disappeared during the sliced query, fail.
-			m_query.status = DT_FAILURE;
-			return m_query.status;
-		}
-		
-		// Get parent poly and tile.
-		dtPolyRef parentRef = 0;
-		const dtMeshTile* parentTile = 0;
-		const dtPoly* parentPoly = 0;
-		if (bestNode->pidx)
-			parentRef = m_nodePool->getNodeAtIdx(bestNode->pidx)->id;
-		if (parentRef)
-		{
-			if (m_nav->getTileAndPolyByRef(parentRef, &parentTile, &parentPoly) != DT_SUCCESS)
-			{
-				// The polygon has disappeared during the sliced query, fail.
-				m_query.status = DT_FAILURE;
-				return m_query.status;
-			}
-		}
-		
-		for (unsigned int i = bestPoly->firstLink; i != DT_NULL_LINK; i = bestTile->links[i].next)
-		{
-			dtPolyRef neighbourRef = bestTile->links[i].ref;
-			
-			// Skip invalid ids and do not expand back to where we came from.
-			if (!neighbourRef || neighbourRef == parentRef)
-				continue;
-			
-			// Get neighbour poly and tile.
-			// The API input has been cheked already, skip checking internal data.
-			const dtMeshTile* neighbourTile = 0;
-			const dtPoly* neighbourPoly = 0;
-			m_nav->getTileAndPolyByRefUnsafe(neighbourRef, &neighbourTile, &neighbourPoly);			
-			
-			if (!m_query.filter->passFilter(neighbourRef, neighbourTile, neighbourPoly))
-				continue;
-			
-			dtNode* neighbourNode = m_nodePool->getNode(neighbourRef);
-			if (!neighbourNode)
-				continue;
-			
-			// If the node is visited the first time, calculate node position.
-			if (neighbourNode->flags == 0)
-			{
-				getEdgeMidPoint(bestRef, bestPoly, bestTile,
-								neighbourRef, neighbourPoly, neighbourTile,
-								neighbourNode->pos);
-			}
-			
-			// Calculate cost and heuristic.
-			float cost = 0;
-			float heuristic = 0;
-			
-			// Special case for last node.
-			if (neighbourRef == m_query.endRef)
-			{
-				// Cost
-				const float curCost = m_query.filter->getCost(bestNode->pos, neighbourNode->pos,
-															  parentRef, parentTile, parentPoly,
-															  bestRef, bestTile, bestPoly,
-															  neighbourRef, neighbourTile, neighbourPoly);
-				const float endCost = m_query.filter->getCost(neighbourNode->pos, m_query.endPos,
-															  bestRef, bestTile, bestPoly,
-															  neighbourRef, neighbourTile, neighbourPoly,
-															  0, 0, 0);
-				
-				cost = bestNode->cost + curCost + endCost;
-				heuristic = 0;
-			}
-			else
-			{
-				// Cost
-				const float curCost = m_query.filter->getCost(bestNode->pos, neighbourNode->pos,
-															  parentRef, parentTile, parentPoly,
-															  bestRef, bestTile, bestPoly,
-															  neighbourRef, neighbourTile, neighbourPoly);
-				cost = bestNode->cost + curCost;
-				heuristic = dtVdist(neighbourNode->pos, m_query.endPos)*H_SCALE;
-			}
-			
-			const float total = cost + heuristic;
-			
-			// The node is already in open list and the new result is worse, skip.
-			if ((neighbourNode->flags & DT_NODE_OPEN) && total >= neighbourNode->total)
-				continue;
-			// The node is already visited and process, and the new result is worse, skip.
-			if ((neighbourNode->flags & DT_NODE_CLOSED) && total >= neighbourNode->total)
-				continue;
-			
-			// Add or update the node.
-			neighbourNode->pidx = m_nodePool->getNodeIdx(bestNode);
-			neighbourNode->id = neighbourRef;
-			neighbourNode->flags &= ~DT_NODE_CLOSED;
-			neighbourNode->cost = cost;
-			neighbourNode->total = total;
-			
-			if (neighbourNode->flags & DT_NODE_OPEN)
-			{
-				// Already in open, update node location.
-				m_openList->modify(neighbourNode);
-			}
-			else
-			{
-				// Put the node in open list.
-				neighbourNode->flags |= DT_NODE_OPEN;
-				m_openList->push(neighbourNode);
-			}
-			
-			// Update nearest node to target so far.
-			if (heuristic < m_query.lastBestNodeCost)
-			{
-				m_query.lastBestNodeCost = heuristic;
-				m_query.lastBestNode = neighbourNode;
-			}
-		}
-	}
-	
-	// Exhausted all nodes, but could not find path.
-	if (m_openList->empty())
-		m_query.status = DT_SUCCESS;
-
-	return m_query.status;
-}
-
-dtStatus dtNavMeshQuery::finalizeSlicedFindPath(dtPolyRef* path, int* pathCount, const int maxPath)
-{
-	*pathCount = 0;
-	
-	if (m_query.status != DT_SUCCESS)
-	{
-		// Reset query.
-		memset(&m_query, 0, sizeof(dtQueryData));
-		return DT_FAILURE;
-	}
-
-	int n = 0;
-
-	if (m_query.startRef == m_query.endRef)
-	{
-		// Special case: the search starts and ends at same poly.
-		path[n++] = m_query.startRef;
-	}
-	else
-	{
-		// Reverse the path.
-		dtAssert(m_query.lastBestNode);
-		dtNode* prev = 0;
-		dtNode* node = m_query.lastBestNode;
-		do
-		{
-			dtNode* next = m_nodePool->getNodeAtIdx(node->pidx);
-			node->pidx = m_nodePool->getNodeIdx(prev);
-			prev = node;
-			node = next;
-		}
-		while (node);
-		
-		// Store path
-		node = prev;
-		do
-		{
-			path[n++] = node->id;
-			node = m_nodePool->getNodeAtIdx(node->pidx);
-		}
-		while (node && n < maxPath);
-	}
-	
-	// Reset query.
-	memset(&m_query, 0, sizeof(dtQueryData));
-	
-	*pathCount = n;
-	
-	return DT_SUCCESS;
-}
-
-dtStatus dtNavMeshQuery::finalizeSlicedFindPathPartial(const dtPolyRef* existing, const int existingSize,
-													   dtPolyRef* path, int* pathCount, const int maxPath)
-{
-	*pathCount = 0;
-	
-	if (existingSize == 0)
-	{
-		return DT_FAILURE;
-	}
-	
-	if (m_query.status != DT_SUCCESS && m_query.status != DT_IN_PROGRESS)
-	{
-		// Reset query.
-		memset(&m_query, 0, sizeof(dtQueryData));
-		return DT_FAILURE;
-	}
-	
-	int n = 0;
-	
-	if (m_query.startRef == m_query.endRef)
-	{
-		// Special case: the search starts and ends at same poly.
-		path[n++] = m_query.startRef;
-	}
-	else
-	{
-		// Find furthest existing node that was visited.
-		dtNode* prev = 0;
-		dtNode* node = 0;
-		for (int i = existingSize-1; i >= 0; --i)
-		{
-			node = m_nodePool->findNode(existing[i]);
-			if (node)
-				break;
-		}
-		
-		if (!node)
-		{
-			return DT_FAILURE;
-		}
-		
-		// Reverse the path.
-		do
-		{
-			dtNode* next = m_nodePool->getNodeAtIdx(node->pidx);
-			node->pidx = m_nodePool->getNodeIdx(prev);
-			prev = node;
-			node = next;
-		}
-		while (node);
-		
-		// Store path
-		node = prev;
-		do
-		{
-			path[n++] = node->id;
-			node = m_nodePool->getNodeAtIdx(node->pidx);
-		}
-		while (node && n < maxPath);
-	}
-	
-	// Reset query.
-	memset(&m_query, 0, sizeof(dtQueryData));
-	
-	*pathCount = n;
-	
-	return DT_SUCCESS;
-}
-
-
-dtStatus dtNavMeshQuery::findStraightPath(const float* startPos, const float* endPos,
-										  const dtPolyRef* path, const int pathSize,
-										  float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs,
-										  int* straightPathCount, const int maxStraightPath) const
-{
-	dtAssert(m_nav);
-	
-	*straightPathCount = 0;
-	
-	if (!maxStraightPath)
-		return DT_FAILURE;
-	
-	if (!path[0])
-		return DT_FAILURE;
-	
-	int n = 0;
-	
-	// TODO: Should this be callers responsibility?
-	float closestStartPos[3];
-	if (closestPointOnPolyBoundary(path[0], startPos, closestStartPos) != DT_SUCCESS)
-		return DT_FAILURE;
-	
-	// Add start point.
-	dtVcopy(&straightPath[n*3], closestStartPos);
-	if (straightPathFlags)
-		straightPathFlags[n] = DT_STRAIGHTPATH_START;
-	if (straightPathRefs)
-		straightPathRefs[n] = path[0];
-	n++;
-	if (n >= maxStraightPath)
-	{
-		*straightPathCount = n;
-		return DT_SUCCESS;
-	}
-	
-	float closestEndPos[3];
-	if (closestPointOnPolyBoundary(path[pathSize-1], endPos, closestEndPos) != DT_SUCCESS)
-		return DT_FAILURE;
-	
-	if (pathSize > 1)
-	{
-		float portalApex[3], portalLeft[3], portalRight[3];
-		dtVcopy(portalApex, closestStartPos);
-		dtVcopy(portalLeft, portalApex);
-		dtVcopy(portalRight, portalApex);
-		int apexIndex = 0;
-		int leftIndex = 0;
-		int rightIndex = 0;
-		
-		unsigned char leftPolyType = 0;
-		unsigned char rightPolyType = 0;
-		
-		dtPolyRef leftPolyRef = path[0];
-		dtPolyRef rightPolyRef = path[0];
-		
-		for (int i = 0; i < pathSize; ++i)
-		{
-			float left[3], right[3];
-			unsigned char fromType, toType;
-			
-			if (i+1 < pathSize)
-			{
-				// Next portal.
-				if (getPortalPoints(path[i], path[i+1], left, right, fromType, toType) != DT_SUCCESS)
-				{
-					if (closestPointOnPolyBoundary(path[i], endPos, closestEndPos) != DT_SUCCESS)
-						return DT_FAILURE;
-					
-					dtVcopy(&straightPath[n*3], closestEndPos);
-					if (straightPathFlags)
-						straightPathFlags[n] = 0;
-					if (straightPathRefs)
-						straightPathRefs[n] = path[i];
-					n++;
-					
-					return DT_SUCCESS;
-				}
-				
-				// If starting really close the portal, advance.
-				if (i == 0)
-				{
-					float t;
-					if (dtDistancePtSegSqr2D(portalApex, left, right, t) < dtSqr(0.001f))
-						continue;
-				}
-			}
-			else
-			{
-				// End of the path.
-				dtVcopy(left, closestEndPos);
-				dtVcopy(right, closestEndPos);
-				
-				fromType = toType = DT_POLYTYPE_GROUND;
-			}
-			
-			// Right vertex.
-			if (dtTriArea2D(portalApex, portalRight, right) <= 0.0f)
-			{
-				if (dtVequal(portalApex, portalRight) || dtTriArea2D(portalApex, portalLeft, right) > 0.0f)
-				{
-					dtVcopy(portalRight, right);
-					rightPolyRef = (i+1 < pathSize) ? path[i+1] : 0;
-					rightPolyType = toType;
-					rightIndex = i;
-				}
-				else
-				{
-					dtVcopy(portalApex, portalLeft);
-					apexIndex = leftIndex;
-					
-					unsigned char flags = 0;
-					if (!leftPolyRef)
-						flags = DT_STRAIGHTPATH_END;
-					else if (leftPolyType == DT_POLYTYPE_OFFMESH_CONNECTION)
-						flags = DT_STRAIGHTPATH_OFFMESH_CONNECTION;
-					dtPolyRef ref = leftPolyRef;
-					
-					if (!dtVequal(&straightPath[(n-1)*3], portalApex))
-					{
-						// Append new vertex.
-						dtVcopy(&straightPath[n*3], portalApex);
-						if (straightPathFlags)
-							straightPathFlags[n] = flags;
-						if (straightPathRefs)
-							straightPathRefs[n] = ref;
-						n++;
-						// If reached end of path or there is no space to append more vertices, return.
-						if (flags == DT_STRAIGHTPATH_END || n >= maxStraightPath)
-						{
-							*straightPathCount = n;
-							return DT_SUCCESS;
-						}
-					}
-					else
-					{
-						// The vertices are equal, update flags and poly.
-						if (straightPathFlags)
-							straightPathFlags[n-1] = flags;
-						if (straightPathRefs)
-							straightPathRefs[n-1] = ref;
-					}
-					
-					dtVcopy(portalLeft, portalApex);
-					dtVcopy(portalRight, portalApex);
-					leftIndex = apexIndex;
-					rightIndex = apexIndex;
-					
-					// Restart
-					i = apexIndex;
-					
-					continue;
-				}
-			}
-			
-			// Left vertex.
-			if (dtTriArea2D(portalApex, portalLeft, left) >= 0.0f)
-			{
-				if (dtVequal(portalApex, portalLeft) || dtTriArea2D(portalApex, portalRight, left) < 0.0f)
-				{
-					dtVcopy(portalLeft, left);
-					leftPolyRef = (i+1 < pathSize) ? path[i+1] : 0;
-					leftPolyType = toType;
-					leftIndex = i;
-				}
-				else
-				{
-					dtVcopy(portalApex, portalRight);
-					apexIndex = rightIndex;
-					
-					unsigned char flags = 0;
-					if (!rightPolyRef)
-						flags = DT_STRAIGHTPATH_END;
-					else if (rightPolyType == DT_POLYTYPE_OFFMESH_CONNECTION)
-						flags = DT_STRAIGHTPATH_OFFMESH_CONNECTION;
-					dtPolyRef ref = rightPolyRef;
-					
-					if (!dtVequal(&straightPath[(n-1)*3], portalApex))
-					{
-						// Append new vertex.
-						dtVcopy(&straightPath[n*3], portalApex);
-						if (straightPathFlags)
-							straightPathFlags[n] = flags;
-						if (straightPathRefs)
-							straightPathRefs[n] = ref;
-						n++;
-						// If reached end of path or there is no space to append more vertices, return.
-						if (flags == DT_STRAIGHTPATH_END || n >= maxStraightPath)
-						{
-							*straightPathCount = n;
-							return DT_SUCCESS;
-						}
-					}
-					else
-					{
-						// The vertices are equal, update flags and poly.
-						if (straightPathFlags)
-							straightPathFlags[n-1] = flags;
-						if (straightPathRefs)
-							straightPathRefs[n-1] = ref;
-					}
-					
-					dtVcopy(portalLeft, portalApex);
-					dtVcopy(portalRight, portalApex);
-					leftIndex = apexIndex;
-					rightIndex = apexIndex;
-					
-					// Restart
-					i = apexIndex;
-					
-					continue;
-				}
-			}
-		}
-	}
-	
-	// If the point already exists, remove it and add reappend the actual end location.  
-	if (n > 0 && dtVequal(&straightPath[(n-1)*3], closestEndPos))
-		n--;
-	
-	// Add end point.
-	if (n < maxStraightPath)
-	{
-		dtVcopy(&straightPath[n*3], closestEndPos);
-		if (straightPathFlags)
-			straightPathFlags[n] = DT_STRAIGHTPATH_END;
-		if (straightPathRefs)
-			straightPathRefs[n] = 0;
-		n++;
-	}
-	
-	*straightPathCount = n;
-	return DT_SUCCESS;
-}
-
-dtStatus dtNavMeshQuery::moveAlongSurface(dtPolyRef startRef, const float* startPos, const float* endPos,
-										  const dtQueryFilter* filter,
-										  float* resultPos, dtPolyRef* visited, int* visitedCount, const int maxVisitedSize) const
-{
-	dtAssert(m_nav);
-	dtAssert(m_tinyNodePool);
-
-	*visitedCount = 0;
-	
-	// Validate input
-	if (!startRef) return DT_FAILURE;
-	if (!m_nav->isValidPolyRef(startRef)) return DT_FAILURE;
-	
-	static const int MAX_STACK = 48;
-	dtNode* stack[MAX_STACK];
-	int nstack = 0;
-	
-	m_tinyNodePool->clear();
-	
-	dtNode* startNode = m_tinyNodePool->getNode(startRef);
-	startNode->pidx = 0;
-	startNode->cost = 0;
-	startNode->total = 0;
-	startNode->id = startRef;
-	startNode->flags = DT_NODE_CLOSED;
-	stack[nstack++] = startNode;
-	
-	float bestPos[3];
-	float bestDist = FLT_MAX;
-	dtNode* bestNode = 0;
-	dtVcopy(bestPos, startPos);
-	
-	// Search constraints
-	float searchPos[3], searchRadSqr;
-	dtVlerp(searchPos, startPos, endPos, 0.5f);
-	searchRadSqr = dtSqr(dtVdist(startPos, endPos)/2.0f + 0.001f);
-	
-	float verts[DT_VERTS_PER_POLYGON*3];
-	
-	while (nstack)
-	{
-		// Pop front.
-		dtNode* curNode = stack[0];
-		for (int i = 0; i < nstack-1; ++i)
-			stack[i] = stack[i+1];
-		nstack--;
-		
-		// Get poly and tile.
-		// The API input has been cheked already, skip checking internal data.
-		const dtPolyRef curRef = curNode->id;
-		const dtMeshTile* curTile = 0;
-		const dtPoly* curPoly = 0;
-		m_nav->getTileAndPolyByRefUnsafe(curRef, &curTile, &curPoly);			
-		
-		// Collect vertices.
-		const int nverts = curPoly->vertCount;
-		for (int i = 0; i < nverts; ++i)
-			dtVcopy(&verts[i*3], &curTile->verts[curPoly->verts[i]*3]);
-		
-		// If target is inside the poly, stop search.
-		if (dtPointInPolygon(endPos, verts, nverts))
-		{
-			bestNode = curNode;
-			dtVcopy(bestPos, endPos);
-			break;
-		}
-		
-		// Find wall edges and find nearest point inside the walls.
-		for (int i = 0, j = (int)curPoly->vertCount-1; i < (int)curPoly->vertCount; j = i++)
-		{
-			// Find links to neighbours.
-			static const int MAX_NEIS = 8;
-			int nneis = 0;
-			dtPolyRef neis[MAX_NEIS];
-			
-			if (curPoly->neis[j] & DT_EXT_LINK)
-			{
-				// Tile border.
-				for (unsigned int k = curPoly->firstLink; k != DT_NULL_LINK; k = curTile->links[k].next)
-				{
-					const dtLink* link = &curTile->links[k];
-					if (link->edge == j)
-					{
-						if (link->ref != 0)
-						{
-							const dtMeshTile* neiTile = 0;
-							const dtPoly* neiPoly = 0;
-							m_nav->getTileAndPolyByRefUnsafe(link->ref, &neiTile, &neiPoly);
-							if (filter->passFilter(link->ref, neiTile, neiPoly))
-							{
-								if (nneis < MAX_NEIS)
-									neis[nneis++] = link->ref;
-							}
-						}
-					}
-				}
-			}
-			else if (curPoly->neis[j])
-			{
-				const unsigned int idx = (unsigned int)(curPoly->neis[j]-1);
-				const dtPolyRef ref = m_nav->getPolyRefBase(curTile) | idx;
-				if (filter->passFilter(ref, curTile, &curTile->polys[idx]))
-				{
-					// Internal edge, encode id.
-					neis[nneis++] = ref;
-				}
-			}
-			
-			if (!nneis)
-			{
-				// Wall edge, calc distance.
-				const float* vj = &verts[j*3];
-				const float* vi = &verts[i*3];
-				float tseg;
-				const float distSqr = dtDistancePtSegSqr2D(endPos, vj, vi, tseg);
-				if (distSqr < bestDist)
-				{
-                    // Update nearest distance.
-					dtVlerp(bestPos, vj,vi, tseg);
-					bestDist = distSqr;
-					bestNode = curNode;
-				}
-			}
-			else
-			{
-				for (int k = 0; k < nneis; ++k)
-				{
-					// Skip if no node can be allocated.
-					dtNode* neighbourNode = m_tinyNodePool->getNode(neis[k]);
-					if (!neighbourNode)
-						continue;
-					// Skip if already visited.
-					if (neighbourNode->flags & DT_NODE_CLOSED)
-						continue;
-					
-					// Skip the link if it is too far from search constraint.
-					// TODO: Maybe should use getPortalPoints(), but this one is way faster.
-					const float* vj = &verts[j*3];
-					const float* vi = &verts[i*3];
-					float tseg;
-					float distSqr = dtDistancePtSegSqr2D(searchPos, vj, vi, tseg);
-					if (distSqr > searchRadSqr)
-						continue;
-					
-					// Mark as the node as visited and push to queue.
-					if (nstack < MAX_STACK)
-					{
-						neighbourNode->pidx = m_tinyNodePool->getNodeIdx(curNode);
-						neighbourNode->flags |= DT_NODE_CLOSED;
-						stack[nstack++] = neighbourNode;
-					}
-				}
-			}
-		}
-	}
-	
-	int n = 0;
-	if (bestNode)
-	{
-		// Reverse the path.
-		dtNode* prev = 0;
-		dtNode* node = bestNode;
-		do
-		{
-			dtNode* next = m_tinyNodePool->getNodeAtIdx(node->pidx);
-			node->pidx = m_tinyNodePool->getNodeIdx(prev);
-			prev = node;
-			node = next;
-		}
-		while (node);
-		
-		// Store result
-		node = prev;
-		do
-		{
-			visited[n++] = node->id;
-			node = m_tinyNodePool->getNodeAtIdx(node->pidx);
-		}
-		while (node && n < maxVisitedSize);
-	}
-	
-	dtVcopy(resultPos, bestPos);
-	
-	*visitedCount = n;
-	
-	return DT_SUCCESS;
-}
-
-
-dtStatus dtNavMeshQuery::getPortalPoints(dtPolyRef from, dtPolyRef to, float* left, float* right,
-										 unsigned char& fromType, unsigned char& toType) const
-{
-	dtAssert(m_nav);
-	
-	const dtMeshTile* fromTile = 0;
-	const dtPoly* fromPoly = 0;
-	if (m_nav->getTileAndPolyByRef(from, &fromTile, &fromPoly) != DT_SUCCESS)
-		return DT_FAILURE;
-	fromType = fromPoly->getType();
-
-	const dtMeshTile* toTile = 0;
-	const dtPoly* toPoly = 0;
-	if (m_nav->getTileAndPolyByRef(to, &toTile, &toPoly) != DT_SUCCESS)
-		return DT_FAILURE;
-	toType = toPoly->getType();
-		
-	return getPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, left, right);
-}
-
-// Returns portal points between two polygons.
-dtStatus dtNavMeshQuery::getPortalPoints(dtPolyRef from, const dtPoly* fromPoly, const dtMeshTile* fromTile,
-										 dtPolyRef to, const dtPoly* toPoly, const dtMeshTile* toTile,
-										 float* left, float* right) const
-{
-	// Find the link that points to the 'to' polygon.
-	const dtLink* link = 0;
-	for (unsigned int i = fromPoly->firstLink; i != DT_NULL_LINK; i = fromTile->links[i].next)
-	{
-		if (fromTile->links[i].ref == to)
-		{
-			link = &fromTile->links[i];
-			break;
-		}
-	}
-	if (!link)
-		return DT_FAILURE;
-	
-	// Handle off-mesh connections.
-	if (fromPoly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION)
-	{
-		// Find link that points to first vertex.
-		for (unsigned int i = fromPoly->firstLink; i != DT_NULL_LINK; i = fromTile->links[i].next)
-		{
-			if (fromTile->links[i].ref == to)
-			{
-				const int v = fromTile->links[i].edge;
-				dtVcopy(left, &fromTile->verts[fromPoly->verts[v]*3]);
-				dtVcopy(right, &fromTile->verts[fromPoly->verts[v]*3]);
-				return DT_SUCCESS;
-			}
-		}
-		return DT_FAILURE;
-	}
-	
-	if (toPoly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION)
-	{
-		for (unsigned int i = toPoly->firstLink; i != DT_NULL_LINK; i = toTile->links[i].next)
-		{
-			if (toTile->links[i].ref == from)
-			{
-				const int v = toTile->links[i].edge;
-				dtVcopy(left, &toTile->verts[toPoly->verts[v]*3]);
-				dtVcopy(right, &toTile->verts[toPoly->verts[v]*3]);
-				return DT_SUCCESS;
-			}
-		}
-		return DT_FAILURE;
-	}
-	
-	// Find portal vertices.
-	const int v0 = fromPoly->verts[link->edge];
-	const int v1 = fromPoly->verts[(link->edge+1) % (int)fromPoly->vertCount];
-	dtVcopy(left, &fromTile->verts[v0*3]);
-	dtVcopy(right, &fromTile->verts[v1*3]);
-	
-	// If the link is at tile boundary, dtClamp the vertices to
-	// the link width.
-	if (link->side != 0xff)
-	{
-		// Unpack portal limits.
-		if (link->bmin != 0 || link->bmax != 255)
-		{
-			const float s = 1.0f/255.0f;
-			const float tmin = link->bmin*s;
-			const float tmax = link->bmax*s;
-			dtVlerp(left, &fromTile->verts[v0*3], &fromTile->verts[v1*3], tmin);
-			dtVlerp(right, &fromTile->verts[v0*3], &fromTile->verts[v1*3], tmax);
-		}
-	}
-	
-	return DT_SUCCESS;
-}
-
-// Returns edge mid point between two polygons.
-dtStatus dtNavMeshQuery::getEdgeMidPoint(dtPolyRef from, dtPolyRef to, float* mid) const
-{
-	float left[3], right[3];
-	unsigned char fromType, toType;
-	if (!getPortalPoints(from, to, left,right, fromType, toType)) return DT_FAILURE;
-	mid[0] = (left[0]+right[0])*0.5f;
-	mid[1] = (left[1]+right[1])*0.5f;
-	mid[2] = (left[2]+right[2])*0.5f;
-	return DT_SUCCESS;
-}
-
-dtStatus dtNavMeshQuery::getEdgeMidPoint(dtPolyRef from, const dtPoly* fromPoly, const dtMeshTile* fromTile,
-										 dtPolyRef to, const dtPoly* toPoly, const dtMeshTile* toTile,
-										 float* mid) const
-{
-	float left[3], right[3];
-	if (getPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, left, right) != DT_SUCCESS)
-		return DT_FAILURE;
-	mid[0] = (left[0]+right[0])*0.5f;
-	mid[1] = (left[1]+right[1])*0.5f;
-	mid[2] = (left[2]+right[2])*0.5f;
-	return DT_SUCCESS;
-}
-
-dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, const float* endPos,
-								 const dtQueryFilter* filter,
-								 float* t, float* hitNormal, dtPolyRef* path, int* pathCount, const int maxPath) const
-{
-	dtAssert(m_nav);
-	
-	*t = 0;
-	if (pathCount)
-		*pathCount = 0;
-	
-	// Validate input
-	if (!startRef || !m_nav->isValidPolyRef(startRef))
-		return DT_FAILURE;
-	
-	dtPolyRef curRef = startRef;
-	float verts[DT_VERTS_PER_POLYGON*3];	
-	int n = 0;
-	
-	hitNormal[0] = 0;
-	hitNormal[1] = 0;
-	hitNormal[2] = 0;
-	
-	while (curRef)
-	{
-		// Cast ray against current polygon.
-		
-		// The API input has been cheked already, skip checking internal data.
-		const dtMeshTile* tile = 0;
-		const dtPoly* poly = 0;
-		m_nav->getTileAndPolyByRefUnsafe(curRef, &tile, &poly);
-		
-		// Collect vertices.
-		int nv = 0;
-		for (int i = 0; i < (int)poly->vertCount; ++i)
-		{
-			dtVcopy(&verts[nv*3], &tile->verts[poly->verts[i]*3]);
-			nv++;
-		}		
-		
-		float tmin, tmax;
-		int segMin, segMax;
-		if (!dtIntersectSegmentPoly2D(startPos, endPos, verts, nv, tmin, tmax, segMin, segMax))
-		{
-			// Could not hit the polygon, keep the old t and report hit.
-			if (pathCount)
-				*pathCount = n;
-			return DT_SUCCESS;
-		}
-		// Keep track of furthest t so far.
-		if (tmax > *t)
-			*t = tmax;
-		
-		// Store visited polygons.
-		if (n < maxPath)
-			path[n++] = curRef;
-		
-		// Ray end is completely inside the polygon.
-		if (segMax == -1)
-		{
-			*t = FLT_MAX;
-			if (pathCount)
-				*pathCount = n;
-			return DT_SUCCESS;
-		}
-		
-		// Follow neighbours.
-		dtPolyRef nextRef = 0;
-		
-		for (unsigned int i = poly->firstLink; i != DT_NULL_LINK; i = tile->links[i].next)
-		{
-			const dtLink* link = &tile->links[i];
-			
-			// Find link which contains this edge.
-			if ((int)link->edge != segMax)
-				continue;
-			
-			// Get pointer to the next polygon.
-			const dtMeshTile* nextTile = 0;
-			const dtPoly* nextPoly = 0;
-			m_nav->getTileAndPolyByRefUnsafe(link->ref, &nextTile, &nextPoly);
-			
-			// Skip off-mesh connections.
-			if (nextPoly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION)
-				continue;
-			
-			// Skip links based on filter.
-			if (!filter->passFilter(link->ref, nextTile, nextPoly))
-				continue;
-			
-			// If the link is internal, just return the ref.
-			if (link->side == 0xff)
-			{
-				nextRef = link->ref;
-				break;
-			}
-			
-			// If the link is at tile boundary,
-			
-			// Check if the link spans the whole edge, and accept.
-			if (link->bmin == 0 && link->bmax == 255)
-			{
-				nextRef = link->ref;
-				break;
-			}
-			
-			// Check for partial edge links.
-			const int v0 = poly->verts[link->edge];
-			const int v1 = poly->verts[(link->edge+1) % poly->vertCount];
-			const float* left = &tile->verts[v0*3];
-			const float* right = &tile->verts[v1*3];
-			
-			// Check that the intersection lies inside the link portal.
-			if (link->side == 0 || link->side == 4)
-			{
-				// Calculate link size.
-				const float s = 1.0f/255.0f;
-				float lmin = left[2] + (right[2] - left[2])*(link->bmin*s);
-				float lmax = left[2] + (right[2] - left[2])*(link->bmax*s);
-				if (lmin > lmax) dtSwap(lmin, lmax);
-				
-				// Find Z intersection.
-				float z = startPos[2] + (endPos[2]-startPos[2])*tmax;
-				if (z >= lmin && z <= lmax)
-				{
-					nextRef = link->ref;
-					break;
-				}
-			}
-			else if (link->side == 2 || link->side == 6)
-			{
-				// Calculate link size.
-				const float s = 1.0f/255.0f;
-				float lmin = left[0] + (right[0] - left[0])*(link->bmin*s);
-				float lmax = left[0] + (right[0] - left[0])*(link->bmax*s);
-				if (lmin > lmax) dtSwap(lmin, lmax);
-				
-				// Find X intersection.
-				float x = startPos[0] + (endPos[0]-startPos[0])*tmax;
-				if (x >= lmin && x <= lmax)
-				{
-					nextRef = link->ref;
-					break;
-				}
-			}
-		}
-		
-		if (!nextRef)
-		{
-			// No neighbour, we hit a wall.
-			
-			// Calculate hit normal.
-			const int a = segMax;
-			const int b = segMax+1 < nv ? segMax+1 : 0;
-			const float* va = &verts[a*3];
-			const float* vb = &verts[b*3];
-			const float dx = vb[0] - va[0];
-			const float dz = vb[2] - va[2];
-			hitNormal[0] = dz;
-			hitNormal[1] = 0;
-			hitNormal[2] = -dx;
-			dtVnormalize(hitNormal);
-			
-			if (pathCount)
-				*pathCount = n;
-			return DT_SUCCESS;
-		}
-		
-		// No hit, advance to neighbour polygon.
-		curRef = nextRef;
-	}
-	
-	if (pathCount)
-		*pathCount = n;
-	
-	return DT_SUCCESS;
-}
-
-dtStatus dtNavMeshQuery::findPolysAroundCircle(dtPolyRef startRef, const float* centerPos, const float radius,
-											   const dtQueryFilter* filter,
-											   dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost,
-											   int* resultCount, const int maxResult) const
-{
-	dtAssert(m_nav);
-	dtAssert(m_nodePool);
-	dtAssert(m_openList);
-
-	*resultCount = 0;
-	
-	// Validate input
-	if (!startRef) return DT_FAILURE;
-	if (!m_nav->isValidPolyRef(startRef)) return DT_FAILURE;
-	
-	m_nodePool->clear();
-	m_openList->clear();
-	
-	dtNode* startNode = m_nodePool->getNode(startRef);
-	dtVcopy(startNode->pos, centerPos);
-	startNode->pidx = 0;
-	startNode->cost = 0;
-	startNode->total = 0;
-	startNode->id = startRef;
-	startNode->flags = DT_NODE_OPEN;
-	m_openList->push(startNode);
-	
-	int n = 0;
-	if (n < maxResult)
-	{
-		if (resultRef)
-			resultRef[n] = startNode->id;
-		if (resultParent)
-			resultParent[n] = 0;
-		if (resultCost)
-			resultCost[n] = 0;
-		++n;
-	}
-	
-	const float radiusSqr = dtSqr(radius);
-	
-	while (!m_openList->empty())
-	{
-		dtNode* bestNode = m_openList->pop();
-		bestNode->flags &= ~DT_NODE_OPEN;
-		bestNode->flags |= DT_NODE_CLOSED;
-		
-		// Get poly and tile.
-		// The API input has been cheked already, skip checking internal data.
-		const dtPolyRef bestRef = bestNode->id;
-		const dtMeshTile* bestTile = 0;
-		const dtPoly* bestPoly = 0;
-		m_nav->getTileAndPolyByRefUnsafe(bestRef, &bestTile, &bestPoly);
-		
-		// Get parent poly and tile.
-		dtPolyRef parentRef = 0;
-		const dtMeshTile* parentTile = 0;
-		const dtPoly* parentPoly = 0;
-		if (bestNode->pidx)
-			parentRef = m_nodePool->getNodeAtIdx(bestNode->pidx)->id;
-		if (parentRef)
-			m_nav->getTileAndPolyByRefUnsafe(parentRef, &parentTile, &parentPoly);
-		
-		for (unsigned int i = bestPoly->firstLink; i != DT_NULL_LINK; i = bestTile->links[i].next)
-		{
-			const dtLink* link = &bestTile->links[i];
-			dtPolyRef neighbourRef = link->ref;
-			// Skip invalid neighbours and do not follow back to parent.
-			if (!neighbourRef || neighbourRef == parentRef)
-				continue;
-			
-			// Expand to neighbour
-			const dtMeshTile* neighbourTile = 0;
-			const dtPoly* neighbourPoly = 0;
-			m_nav->getTileAndPolyByRefUnsafe(neighbourRef, &neighbourTile, &neighbourPoly);
-		
-			// Do not advance if the polygon is excluded by the filter.
-			if (!filter->passFilter(neighbourRef, neighbourTile, neighbourPoly))
-				continue;
-			
-			// Find edge and calc distance to the edge.
-			float va[3], vb[3];
-			if (!getPortalPoints(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly, neighbourTile, va, vb))
-				continue;
-			
-			// If the circle is not touching the next polygon, skip it.
-			float tseg;
-			float distSqr = dtDistancePtSegSqr2D(centerPos, va, vb, tseg);
-			if (distSqr > radiusSqr)
-				continue;
-			
-			dtNode* neighbourNode = m_nodePool->getNode(neighbourRef);
-			if (!neighbourNode)
-				continue;
-				
-			if (neighbourNode->flags & DT_NODE_CLOSED)
-				continue;
-			
-			// Cost
-			if (neighbourNode->flags == 0)
-				dtVlerp(neighbourNode->pos, va, vb, 0.5f);
-			
-			const float total = bestNode->total + dtVdist(bestNode->pos, neighbourNode->pos);
-			
-			// The node is already in open list and the new result is worse, skip.
-			if ((neighbourNode->flags & DT_NODE_OPEN) && total >= neighbourNode->total)
-				continue;
-			
-			neighbourNode->id = neighbourRef;
-			neighbourNode->flags &= ~DT_NODE_CLOSED;
-			neighbourNode->pidx = m_nodePool->getNodeIdx(bestNode);
-			neighbourNode->total = total;
-			
-			if (neighbourNode->flags & DT_NODE_OPEN)
-			{
-				m_openList->modify(neighbourNode);
-			}
-			else
-			{
-				if (n < maxResult)
-				{
-					if (resultRef)
-						resultRef[n] = neighbourNode->id;
-					if (resultParent)
-						resultParent[n] = m_nodePool->getNodeAtIdx(neighbourNode->pidx)->id;
-					if (resultCost)
-						resultCost[n] = neighbourNode->total;
-					++n;
-				}
-				neighbourNode->flags = DT_NODE_OPEN;
-				m_openList->push(neighbourNode);
-			}
-		}
-	}
-	
-	*resultCount = n;
-	
-	return DT_SUCCESS;
-}
-
-dtStatus dtNavMeshQuery::findPolysAroundShape(dtPolyRef startRef, const float* verts, const int nverts,
-											  const dtQueryFilter* filter,
-											  dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost,
-											  int* resultCount, const int maxResult) const
-{
-	dtAssert(m_nav);
-	dtAssert(m_nodePool);
-	dtAssert(m_openList);
-	
-	*resultCount = 0;
-	
-	// Validate input
-	if (!startRef) return DT_FAILURE;
-	if (!m_nav->isValidPolyRef(startRef)) return DT_FAILURE;
-	
-	m_nodePool->clear();
-	m_openList->clear();
-	
-	float centerPos[3] = {0,0,0};
-	for (int i = 0; i < nverts; ++i)
-		dtVadd(centerPos,centerPos,&verts[i*3]);
-	dtVscale(centerPos,centerPos,1.0f/nverts);
-
-	dtNode* startNode = m_nodePool->getNode(startRef);
-	dtVcopy(startNode->pos, centerPos);
-	startNode->pidx = 0;
-	startNode->cost = 0;
-	startNode->total = 0;
-	startNode->id = startRef;
-	startNode->flags = DT_NODE_OPEN;
-	m_openList->push(startNode);
-	
-	int n = 0;
-	if (n < maxResult)
-	{
-		if (resultRef)
-			resultRef[n] = startNode->id;
-		if (resultParent)
-			resultParent[n] = 0;
-		if (resultCost)
-			resultCost[n] = 0;
-		++n;
-	}
-	
-	while (!m_openList->empty())
-	{
-		dtNode* bestNode = m_openList->pop();
-		bestNode->flags &= ~DT_NODE_OPEN;
-		bestNode->flags |= DT_NODE_CLOSED;
-		
-		// Get poly and tile.
-		// The API input has been cheked already, skip checking internal data.
-		const dtPolyRef bestRef = bestNode->id;
-		const dtMeshTile* bestTile = 0;
-		const dtPoly* bestPoly = 0;
-		m_nav->getTileAndPolyByRefUnsafe(bestRef, &bestTile, &bestPoly);
-		
-		// Get parent poly and tile.
-		dtPolyRef parentRef = 0;
-		const dtMeshTile* parentTile = 0;
-		const dtPoly* parentPoly = 0;
-		if (bestNode->pidx)
-			parentRef = m_nodePool->getNodeAtIdx(bestNode->pidx)->id;
-		if (parentRef)
-			m_nav->getTileAndPolyByRefUnsafe(parentRef, &parentTile, &parentPoly);
-		
-		for (unsigned int i = bestPoly->firstLink; i != DT_NULL_LINK; i = bestTile->links[i].next)
-		{
-			const dtLink* link = &bestTile->links[i];
-			dtPolyRef neighbourRef = link->ref;
-			// Skip invalid neighbours and do not follow back to parent.
-			if (!neighbourRef || neighbourRef == parentRef)
-				continue;
-			
-			// Expand to neighbour
-			const dtMeshTile* neighbourTile = 0;
-			const dtPoly* neighbourPoly = 0;
-			m_nav->getTileAndPolyByRefUnsafe(neighbourRef, &neighbourTile, &neighbourPoly);
-			
-			// Do not advance if the polygon is excluded by the filter.
-			if (!filter->passFilter(neighbourRef, neighbourTile, neighbourPoly))
-				continue;
-			
-			// Find edge and calc distance to the edge.
-			float va[3], vb[3];
-			if (!getPortalPoints(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly, neighbourTile, va, vb))
-				continue;
-			
-			// If the poly is not touching the edge to the next polygon, skip the connection it.
-			float tmin, tmax;
-			int segMin, segMax;
-			if (!dtIntersectSegmentPoly2D(va, vb, verts, nverts, tmin, tmax, segMin, segMax))
-				continue;
-			if (tmin > 1.0f || tmax < 0.0f)
-				continue;
-			
-			dtNode* neighbourNode = m_nodePool->getNode(neighbourRef);
-			if (!neighbourNode)
-				continue;
-			
-			if (neighbourNode->flags & DT_NODE_CLOSED)
-				continue;
-			
-			// Cost
-			if (neighbourNode->flags == 0)
-				dtVlerp(neighbourNode->pos, va, vb, 0.5f);
-			
-			const float total = bestNode->total + dtVdist(bestNode->pos, neighbourNode->pos);
-			
-			// The node is already in open list and the new result is worse, skip.
-			if ((neighbourNode->flags & DT_NODE_OPEN) && total >= neighbourNode->total)
-				continue;
-			
-			neighbourNode->id = neighbourRef;
-			neighbourNode->flags &= ~DT_NODE_CLOSED;
-			neighbourNode->pidx = m_nodePool->getNodeIdx(bestNode);
-			neighbourNode->total = total;
-			
-			if (neighbourNode->flags & DT_NODE_OPEN)
-			{
-				m_openList->modify(neighbourNode);
-			}
-			else
-			{
-				if (n < maxResult)
-				{
-					if (resultRef)
-						resultRef[n] = neighbourNode->id;
-					if (resultParent)
-						resultParent[n] = m_nodePool->getNodeAtIdx(neighbourNode->pidx)->id;
-					if (resultCost)
-						resultCost[n] = neighbourNode->total;
-					++n;
-				}
-				neighbourNode->flags = DT_NODE_OPEN;
-				m_openList->push(neighbourNode);
-			}
-		}
-	}
-	
-	*resultCount = n;
-	
-	return DT_SUCCESS;
-}
-
-dtStatus dtNavMeshQuery::findLocalNeighbourhood(dtPolyRef startRef, const float* centerPos, const float radius,
-												const dtQueryFilter* filter,
-												dtPolyRef* resultRef, dtPolyRef* resultParent,
-												int* resultCount, const int maxResult) const
-{
-	dtAssert(m_nav);
-	dtAssert(m_tinyNodePool);
-	
-	*resultCount = 0;
-
-	// Validate input
-	if (!startRef) return DT_FAILURE;
-	if (!m_nav->isValidPolyRef(startRef)) return DT_FAILURE;
-	
-	static const int MAX_STACK = 48;
-	dtNode* stack[MAX_STACK];
-	int nstack = 0;
-	
-	m_tinyNodePool->clear();
-	
-	dtNode* startNode = m_tinyNodePool->getNode(startRef);
-	startNode->pidx = 0;
-	startNode->id = startRef;
-	startNode->flags = DT_NODE_CLOSED;
-	stack[nstack++] = startNode;
-	
-	const float radiusSqr = dtSqr(radius);
-	
-	float pa[DT_VERTS_PER_POLYGON*3];
-	float pb[DT_VERTS_PER_POLYGON*3];
-	
-	int n = 0;
-	if (n < maxResult)
-	{
-		resultRef[n] = startNode->id;
-		if (resultParent)
-			resultParent[n] = 0;
-		++n;
-	}
-	
-	while (nstack)
-	{
-		// Pop front.
-		dtNode* curNode = stack[0];
-		for (int i = 0; i < nstack-1; ++i)
-			stack[i] = stack[i+1];
-		nstack--;
-		
-		// Get poly and tile.
-		// The API input has been cheked already, skip checking internal data.
-		const dtPolyRef curRef = curNode->id;
-		const dtMeshTile* curTile = 0;
-		const dtPoly* curPoly = 0;
-		m_nav->getTileAndPolyByRefUnsafe(curRef, &curTile, &curPoly);
-		
-		for (unsigned int i = curPoly->firstLink; i != DT_NULL_LINK; i = curTile->links[i].next)
-		{
-			const dtLink* link = &curTile->links[i];
-			dtPolyRef neighbourRef = link->ref;
-			// Skip invalid neighbours.
-			if (!neighbourRef)
-				continue;
-			
-			// Skip if cannot alloca more nodes.
-			dtNode* neighbourNode = m_tinyNodePool->getNode(neighbourRef);
-			if (!neighbourNode)
-				continue;
-			// Skip visited.
-			if (neighbourNode->flags & DT_NODE_CLOSED)
-				continue;
-			
-			// Expand to neighbour
-			const dtMeshTile* neighbourTile = 0;
-			const dtPoly* neighbourPoly = 0;
-			m_nav->getTileAndPolyByRefUnsafe(neighbourRef, &neighbourTile, &neighbourPoly);
-			
-			// Skip off-mesh connections.
-			if (neighbourPoly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION)
-				continue;
-			
-			// Do not advance if the polygon is excluded by the filter.
-			if (!filter->passFilter(neighbourRef, neighbourTile, neighbourPoly))
-				continue;
-			
-			// Find edge and calc distance to the edge.
-			float va[3], vb[3];
-			if (!getPortalPoints(curRef, curPoly, curTile, neighbourRef, neighbourPoly, neighbourTile, va, vb))
-				continue;
-			
-			// If the circle is not touching the next polygon, skip it.
-			float tseg;
-			float distSqr = dtDistancePtSegSqr2D(centerPos, va, vb, tseg);
-			if (distSqr > radiusSqr)
-				continue;
-			
-			// Mark node visited, this is done before the overlap test so that
-			// we will not visit the poly again if the test fails.
-			neighbourNode->flags |= DT_NODE_CLOSED;
-			neighbourNode->pidx = m_tinyNodePool->getNodeIdx(curNode);
-			
-			// Check that the polygon does not collide with existing polygons.
-			
-			// Collect vertices of the neighbour poly.
-			const int npa = neighbourPoly->vertCount;
-			for (int k = 0; k < npa; ++k)
-				dtVcopy(&pa[k*3], &neighbourTile->verts[neighbourPoly->verts[k]*3]);
-			
-			bool overlap = false;
-			for (int j = 0; j < n; ++j)
-			{
-				dtPolyRef pastRef = resultRef[j];
-				
-				// Connected polys do not overlap.
-				bool connected = false;
-				for (unsigned int k = curPoly->firstLink; k != DT_NULL_LINK; k = curTile->links[k].next)
-				{
-					if (curTile->links[k].ref == pastRef)
-					{
-						connected = true;
-						break;
-					}
-				}
-				if (connected)
-					continue;
-				
-				// Potentially overlapping.
-				const dtMeshTile* pastTile = 0;
-				const dtPoly* pastPoly = 0;
-				m_nav->getTileAndPolyByRefUnsafe(pastRef, &pastTile, &pastPoly);
-				
-				// Get vertices and test overlap
-				const int npb = pastPoly->vertCount;
-				for (int k = 0; k < npb; ++k)
-					dtVcopy(&pb[k*3], &pastTile->verts[pastPoly->verts[k]*3]);
-				
-				if (dtOverlapPolyPoly2D(pa,npa, pb,npb))
-				{
-					overlap = true;
-					break;
-				}
-			}
-			if (overlap)
-				continue;
-			
-			// This poly is fine, store and advance to the poly.
-			if (n < maxResult)
-			{
-				resultRef[n] = neighbourRef;
-				if (resultParent)
-					resultParent[n] = curRef;
-				++n;
-			}
-			
-			if (nstack < MAX_STACK)
-			{
-				stack[nstack++] = neighbourNode;
-			}
-		}
-	}
-	
-	*resultCount = n;
-	
-	return DT_SUCCESS;
-}
-
-
-struct dtSegInterval
-{
-	short tmin, tmax;
-};
-
-static void insertInterval(dtSegInterval* ints, int& nints, const int maxInts,
-						   const short tmin, const short tmax)
-{
-	if (nints+1 > maxInts) return;
-	// Find insertion point.
-	int idx = 0;
-	while (idx < nints)
-	{
-		if (tmax <= ints[idx].tmin)
-			break;
-		idx++;
-	}
-	// Move current results.
-	if (nints-idx)
-		memmove(ints+idx+1, ints+idx, sizeof(dtSegInterval)*(nints-idx));
-	// Store
-	ints[idx].tmin = tmin;
-	ints[idx].tmax = tmax;
-	nints++;
-}
-
-dtStatus dtNavMeshQuery::getPolyWallSegments(dtPolyRef ref, const dtQueryFilter* filter,
-											 float* segments, int* segmentCount, const int maxSegments) const
-{
-	dtAssert(m_nav);
-	
-	*segmentCount = 0;
-	
-	const dtMeshTile* tile = 0;
-	const dtPoly* poly = 0;
-	if (m_nav->getTileAndPolyByRef(ref, &tile, &poly) != DT_SUCCESS)
-		return DT_FAILURE;
-	
-	int n = 0;
-	static const int MAX_INTERVAL = 16;
-	dtSegInterval ints[MAX_INTERVAL];
-	int nints;
-	
-	for (int i = 0, j = (int)poly->vertCount-1; i < (int)poly->vertCount; j = i++)
-	{
-		// Skip non-solid edges.
-		nints = 0;
-		if (poly->neis[j] & DT_EXT_LINK)
-		{
-			// Tile border.
-			for (unsigned int k = poly->firstLink; k != DT_NULL_LINK; k = tile->links[k].next)
-			{
-				const dtLink* link = &tile->links[k];
-				if (link->edge == j)
-				{
-					if (link->ref != 0)
-					{
-						const dtMeshTile* neiTile = 0;
-						const dtPoly* neiPoly = 0;
-						m_nav->getTileAndPolyByRefUnsafe(link->ref, &neiTile, &neiPoly);
-						if (filter->passFilter(link->ref, neiTile, neiPoly))
-						{
-							insertInterval(ints, nints, MAX_INTERVAL, link->bmin, link->bmax);
-						}
-					}
-				}
-			}
-		}
-		else if (poly->neis[j])
-		{
-			// Internal edge
-			const unsigned int idx = (unsigned int)(poly->neis[j]-1);
-			const dtPolyRef ref = m_nav->getPolyRefBase(tile) | idx;
-			if (filter->passFilter(ref, tile, &tile->polys[idx]))
-				continue;
-		}
-		
-		// Add sentinels
-		insertInterval(ints, nints, MAX_INTERVAL, -1, 0);
-		insertInterval(ints, nints, MAX_INTERVAL, 255, 256);
-		
-		// Store segment.
-		const float* vj = &tile->verts[poly->verts[j]*3];
-		const float* vi = &tile->verts[poly->verts[i]*3];
-		for (int k = 1; k < nints; ++k)
-		{
-			// Find the space inbetween the opening areas.
-			const int imin = ints[k-1].tmax;
-			const int imax = ints[k].tmin;
-			if (imin == imax) continue;
-			if (imin == 0 && imax == 255)
-			{
-				if (n < maxSegments)
-				{
-					float* seg = &segments[n*6];
-					n++;
-					dtVcopy(seg+0, vj);
-					dtVcopy(seg+3, vi);
-				}
-			}
-			else
-			{
-				const float tmin = imin/255.0f; 
-				const float tmax = imax/255.0f; 
-				if (n < maxSegments)
-				{
-					float* seg = &segments[n*6];
-					n++;
-					dtVlerp(seg+0, vj,vi, tmin);
-					dtVlerp(seg+3, vj,vi, tmax);
-				}
-			}
-		}
-	}
-	
-	*segmentCount = n;
-	
-	return DT_SUCCESS;
-}
-
-dtStatus dtNavMeshQuery::findDistanceToWall(dtPolyRef startRef, const float* centerPos, const float maxRadius,
-											const dtQueryFilter* filter,
-											float* hitDist, float* hitPos, float* hitNormal) const
-{
-	dtAssert(m_nav);
-	dtAssert(m_nodePool);
-	dtAssert(m_openList);
-	
-	// Validate input
-	if (!startRef) return DT_FAILURE;
-	if (!m_nav->isValidPolyRef(startRef)) return DT_FAILURE;
-	
-	m_nodePool->clear();
-	m_openList->clear();
-	
-	dtNode* startNode = m_nodePool->getNode(startRef);
-	dtVcopy(startNode->pos, centerPos);
-	startNode->pidx = 0;
-	startNode->cost = 0;
-	startNode->total = 0;
-	startNode->id = startRef;
-	startNode->flags = DT_NODE_OPEN;
-	m_openList->push(startNode);
-	
-	float radiusSqr = dtSqr(maxRadius);
-	
-	while (!m_openList->empty())
-	{
-		dtNode* bestNode = m_openList->pop();
-		bestNode->flags &= ~DT_NODE_OPEN;
-		bestNode->flags |= DT_NODE_CLOSED;
-		
-		// Get poly and tile.
-		// The API input has been cheked already, skip checking internal data.
-		const dtPolyRef bestRef = bestNode->id;
-		const dtMeshTile* bestTile = 0;
-		const dtPoly* bestPoly = 0;
-		m_nav->getTileAndPolyByRefUnsafe(bestRef, &bestTile, &bestPoly);
-		
-		// Get parent poly and tile.
-		dtPolyRef parentRef = 0;
-		const dtMeshTile* parentTile = 0;
-		const dtPoly* parentPoly = 0;
-		if (bestNode->pidx)
-			parentRef = m_nodePool->getNodeAtIdx(bestNode->pidx)->id;
-		if (parentRef)
-			m_nav->getTileAndPolyByRefUnsafe(parentRef, &parentTile, &parentPoly);
-		
-		// Hit test walls.
-		for (int i = 0, j = (int)bestPoly->vertCount-1; i < (int)bestPoly->vertCount; j = i++)
-		{
-			// Skip non-solid edges.
-			if (bestPoly->neis[j] & DT_EXT_LINK)
-			{
-				// Tile border.
-				bool solid = true;
-				for (unsigned int k = bestPoly->firstLink; k != DT_NULL_LINK; k = bestTile->links[k].next)
-				{
-					const dtLink* link = &bestTile->links[k];
-					if (link->edge == j)
-					{
-						if (link->ref != 0)
-						{
-							const dtMeshTile* neiTile = 0;
-							const dtPoly* neiPoly = 0;
-							m_nav->getTileAndPolyByRefUnsafe(link->ref, &neiTile, &neiPoly);
-							if (filter->passFilter(link->ref, neiTile, neiPoly))
-								solid = false;
-						}
-						break;
-					}
-				}
-				if (!solid) continue;
-			}
-			else if (bestPoly->neis[j])
-			{
-				// Internal edge
-				const unsigned int idx = (unsigned int)(bestPoly->neis[j]-1);
-				const dtPolyRef ref = m_nav->getPolyRefBase(bestTile) | idx;
-				if (filter->passFilter(ref, bestTile, &bestTile->polys[idx]))
-					continue;
-			}
-			
-			// Calc distance to the edge.
-			const float* vj = &bestTile->verts[bestPoly->verts[j]*3];
-			const float* vi = &bestTile->verts[bestPoly->verts[i]*3];
-			float tseg;
-			float distSqr = dtDistancePtSegSqr2D(centerPos, vj, vi, tseg);
-			
-			// Edge is too far, skip.
-			if (distSqr > radiusSqr)
-				continue;
-			
-			// Hit wall, update radius.
-			radiusSqr = distSqr;
-			// Calculate hit pos.
-			hitPos[0] = vj[0] + (vi[0] - vj[0])*tseg;
-			hitPos[1] = vj[1] + (vi[1] - vj[1])*tseg;
-			hitPos[2] = vj[2] + (vi[2] - vj[2])*tseg;
-		}
-		
-		for (unsigned int i = bestPoly->firstLink; i != DT_NULL_LINK; i = bestTile->links[i].next)
-		{
-			const dtLink* link = &bestTile->links[i];
-			dtPolyRef neighbourRef = link->ref;
-			// Skip invalid neighbours and do not follow back to parent.
-			if (!neighbourRef || neighbourRef == parentRef)
-				continue;
-			
-			// Expand to neighbour.
-			const dtMeshTile* neighbourTile = 0;
-			const dtPoly* neighbourPoly = 0;
-			m_nav->getTileAndPolyByRefUnsafe(neighbourRef, &neighbourTile, &neighbourPoly);
-			
-			// Skip off-mesh connections.
-			if (neighbourPoly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION)
-				continue;
-			
-			// Calc distance to the edge.
-			const float* va = &bestTile->verts[bestPoly->verts[link->edge]*3];
-			const float* vb = &bestTile->verts[bestPoly->verts[(link->edge+1) % bestPoly->vertCount]*3];
-			float tseg;
-			float distSqr = dtDistancePtSegSqr2D(centerPos, va, vb, tseg);
-			
-			// If the circle is not touching the next polygon, skip it.
-			if (distSqr > radiusSqr)
-				continue;
-			
-			if (!filter->passFilter(neighbourRef, neighbourTile, neighbourPoly))
-				continue;
-
-			dtNode* neighbourNode = m_nodePool->getNode(neighbourRef);
-			if (!neighbourNode)
-				continue;
-			
-			if (neighbourNode->flags & DT_NODE_CLOSED)
-				continue;
-			
-			// Cost
-			if (neighbourNode->flags == 0)
-			{
-				getEdgeMidPoint(bestRef, bestPoly, bestTile,
-								neighbourRef, neighbourPoly, neighbourTile, neighbourNode->pos);
-			}
-			
-			const float total = bestNode->total + dtVdist(bestNode->pos, neighbourNode->pos);
-			
-			// The node is already in open list and the new result is worse, skip.
-			if ((neighbourNode->flags & DT_NODE_OPEN) && total >= neighbourNode->total)
-				continue;
-			
-			neighbourNode->id = neighbourRef;
-			neighbourNode->flags &= ~DT_NODE_CLOSED;
-			neighbourNode->pidx = m_nodePool->getNodeIdx(bestNode);
-			neighbourNode->total = total;
-				
-			if (neighbourNode->flags & DT_NODE_OPEN)
-			{
-				m_openList->modify(neighbourNode);
-			}
-			else
-			{
-				neighbourNode->flags |= DT_NODE_OPEN;
-				m_openList->push(neighbourNode);
-			}
-		}
-	}
-	
-	// Calc hit normal.
-	dtVsub(hitNormal, centerPos, hitPos);
-	dtVnormalize(hitNormal);
-	
-	*hitDist = sqrtf(radiusSqr);
-	
-	return DT_SUCCESS;
-}
-
-bool dtNavMeshQuery::isInClosedList(dtPolyRef ref) const
-{
-	if (!m_nodePool) return false;
-	const dtNode* node = m_nodePool->findNode(ref);
-	return node && node->flags & DT_NODE_CLOSED;
-}
diff --git a/deps/recastnavigation/Detour/DetourNavMeshQuery.h b/deps/recastnavigation/Detour/DetourNavMeshQuery.h
deleted file mode 100644
index f5046d8329..0000000000
--- a/deps/recastnavigation/Detour/DetourNavMeshQuery.h
+++ /dev/null
@@ -1,407 +0,0 @@
-//
-// 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 DETOURNAVMESHQUERY_H
-#define DETOURNAVMESHQUERY_H
-
-#include "DetourNavMesh.h"
-
-
-// Define DT_VIRTUAL_QUERYFILTER if you wish to derive a custom filter from dtQueryFilter.
-// On certain platforms indirect or virtual function call is expensive. The default
-// setting is to use non-virtual functions, the actualy implementations of the functions
-// are declared as inline for maximum speed. 
-
-//#define DT_VIRTUAL_QUERYFILTER 1
-
-// Class for polygon filtering and cost calculation during query operations.
-// - It is possible to derive a custom query filter from dtQueryFilter by overriding
-//   the virtual functions passFilter() and getCost().
-// - Both functions should be as fast as possible. Use cached local copy of data
-//   instead of accessing your own objects where possible.
-// - You do not need to adhere to the flags and cost logic provided by the default
-//   implementation.
-// - In order for the A* to work properly, the cost should be proportional to
-//   the travel distance. Using cost modifier less than 1.0 is likely to lead
-//   to problems during pathfinding.
-class dtQueryFilter
-{
-	float m_areaCost[DT_MAX_AREAS];		// Array storing cost per area type, used by default implementation.
-	unsigned short m_includeFlags;		// Include poly flags, used by default implementation.
-	unsigned short m_excludeFlags;		// Exclude poly flags, used by default implementation.
-	
-public:
-	dtQueryFilter();
-	
-	// Returns true if the polygon is can visited.
-	// Params:
-	//  ref - (in) reference to the polygon test.
-	//  tile - (in) pointer to the tile of the polygon test.
-	//  poly - (in) pointer to the polygon test.
-#ifdef DT_VIRTUAL_QUERYFILTER
-	virtual bool passFilter(const dtPolyRef ref,
-							const dtMeshTile* tile,
-							const dtPoly* poly) const;
-#else
-	bool passFilter(const dtPolyRef ref,
-					const dtMeshTile* tile,
-					const dtPoly* poly) const;
-#endif
-
-	// Returns cost to travel from 'pa' to 'pb'.'
-	// The segment is fully contained inside 'cur'.
-	// 'pa' lies on the edge between 'prev' and 'cur', 
-	// 'pb' lies on the edge between 'cur' and 'next'.
-	// Params:
-	//  pa - (in) segment start position.
-	//  pb - (in) segment end position.
-	//  prevRef, prevTile, prevPoly - (in) data describing the previous polygon, can be null.
-	//  curRef, curTile, curPoly - (in) data describing the current polygon.
-	//  nextRef, nextTile, nextPoly - (in) data describing the next polygon, can be null.
-#ifdef DT_VIRTUAL_QUERYFILTER
-	virtual float getCost(const float* pa, const float* pb,
-						  const dtPolyRef prevRef, const dtMeshTile* prevTile, const dtPoly* prevPoly,
-						  const dtPolyRef curRef, const dtMeshTile* curTile, const dtPoly* curPoly,
-						  const dtPolyRef nextRef, const dtMeshTile* nextTile, const dtPoly* nextPoly) const;
-#else
-	float getCost(const float* pa, const float* pb,
-				  const dtPolyRef prevRef, const dtMeshTile* prevTile, const dtPoly* prevPoly,
-				  const dtPolyRef curRef, const dtMeshTile* curTile, const dtPoly* curPoly,
-				  const dtPolyRef nextRef, const dtMeshTile* nextTile, const dtPoly* nextPoly) const;
-#endif
-	
-	// Getters and setters for the default implementation data.
-	inline float getAreaCost(const int i) const { return m_areaCost[i]; }
-	inline void setAreaCost(const int i, const float cost) { m_areaCost[i] = cost; } 
-
-	inline unsigned short getIncludeFlags() const { return m_includeFlags; }
-	inline void setIncludeFlags(const unsigned short flags) { m_includeFlags = flags; }
-
-	inline unsigned short getExcludeFlags() const { return m_excludeFlags; }
-	inline void setExcludeFlags(const unsigned short flags) { m_excludeFlags = flags; }	
-};
-
-class dtNavMeshQuery
-{
-public:
-	dtNavMeshQuery();
-	~dtNavMeshQuery();
-	
-	// Initializes the nav mesh query.
-	// Params:
-	//  nav - (in) pointer to navigation mesh data.
-	//  maxNodes - (in) Maximum number of search nodes to use (max 65536).
-	// Returns: True if succeed, else false.
-	dtStatus init(const dtNavMesh* nav, const int maxNodes);
-	
-	// Finds the nearest navigation polygon around the center location.
-	// Params:
-	//	center[3] - (in) The center of the search box.
-	//	extents[3] - (in) The extents of the search box.
-	//  filter - (in) path polygon filter.
-	//  nearestRef - (out) Reference to the nearest polygon.
-	//  nearestPt[3] - (out, opt) The nearest point on found polygon, null if not needed.
-	// Returns: Reference identifier for the polygon, or 0 if no polygons found.
-	dtStatus findNearestPoly(const float* center, const float* extents,
-							 const dtQueryFilter* filter,
-							 dtPolyRef* nearestRef, float* nearestPt) const;
-	
-	// Returns polygons which overlap the query box.
-	// Params:
-	//	center[3] - (in) the center of the search box.
-	//	extents[3] - (in) the extents of the search box.
-	//  filter - (in) path polygon filter.
-	//	polys - (out) array holding the search result.
-	//  polyCount - (out) Number of polygons in search result array.
-	//	maxPolys - (in) The max number of polygons the polys array can hold.
-	dtStatus queryPolygons(const float* center, const float* extents,
-						   const dtQueryFilter* filter,
-						   dtPolyRef* polys, int* polyCount, const int maxPolys) const;
-	
-	// Finds path from start polygon to end polygon.
-	// If target polygon canno be reached through the navigation graph,
-	// the last node on the array is nearest node to the end polygon.
-	// Start end end positions are needed to calculate more accurate
-	// traversal cost at start end end polygons.
-	// Params:
-	//	startRef - (in) ref to path start polygon.
-	//	endRef - (in) ref to path end polygon.
-	//	startPos[3] - (in) Path start location.
-	//	endPos[3] - (in) Path end location.
-	//  filter - (in) path polygon filter.
-	//	path - (out) array holding the search result.
-	//  pathCount - (out) Number of polygons in search result array.
-	//	maxPath - (in) The max number of polygons the path array can hold. Must be at least 1.
-	dtStatus findPath(dtPolyRef startRef, dtPolyRef endRef,
-					  const float* startPos, const float* endPos,
-					  const dtQueryFilter* filter,
-					  dtPolyRef* path, int* pathCount, const int maxPath) const;
-	
-	// Intializes sliced path find query.
-	// Note 1: calling any other dtNavMeshQuery method before calling findPathEnd()
-	// may results in corrupted data!
-	// Note 2: The pointer to filter is store, and used in subsequent
-	// calls to updateSlicedFindPath().
-	// Params:
-	//	startRef - (in) ref to path start polygon.
-	//	endRef - (in) ref to path end polygon.
-	//	startPos[3] - (in) Path start location.
-	//	endPos[3] - (in) Path end location.
-	//  filter - (in) path polygon filter.
-	dtStatus initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef,
-								const float* startPos, const float* endPos,
-								const dtQueryFilter* filter);
-
-	// Updates sliced path find query.
-	// Params:
-	//  maxIter - (in) max number of iterations to update.
-	// Returns: Path query state.
-	dtStatus updateSlicedFindPath(const int maxIter);
-
-	// Finalizes sliced path find query and returns found path.
-	//	path - (out) array holding the search result.
-	//  pathCount - (out) Number of polygons in search result array.
-	//	maxPath - (in) The max number of polygons the path array can hold.
-	dtStatus finalizeSlicedFindPath(dtPolyRef* path, int* pathCount, const int maxPath);
-	
-	// Finalizes partial sliced path find query and returns path to the furthest
-	// polygon on the existing path that was visited during the search.
-	//	existing - (out) Array of polygons in the existing path.
-	//  existingSize - (out) Number of polygons in existing path array.
-	//	path - (out) array holding the search result.
-	//  pathCount - (out) Number of polygons in search result array.
-	//	maxPath - (in) The max number of polygons the path array can hold.
-	dtStatus finalizeSlicedFindPathPartial(const dtPolyRef* existing, const int existingSize,
-										   dtPolyRef* path, int* pathCount, const int maxPath);
-	
-	// Finds a straight path from start to end locations within the corridor
-	// described by the path polygons.
-	// Start and end locations will be clamped on the corridor.
-	// The returned polygon references are point to polygon which was entered when
-	// a path point was added. For the end point, zero will be returned. This allows
-	// to match for example off-mesh link points to their representative polygons.
-	// Params:
-	//	startPos[3] - (in) Path start location.
-	//	endPo[3] - (in) Path end location.
-	//	path - (in) Array of connected polygons describing the corridor.
-	//	pathSize - (in) Number of polygons in path array.
-	//	straightPath - (out) Points describing the straight path.
-	//  straightPathFlags - (out, opt) Flags describing each point type, see dtStraightPathFlags.
-	//  straightPathRefs - (out, opt) References to polygons at point locations.
-	//  straightPathCount - (out) Number of points in the path.
-	//	maxStraightPath - (in) The max number of points the straight path array can hold. Must be at least 1.
-	dtStatus findStraightPath(const float* startPos, const float* endPos,
-							  const dtPolyRef* path, const int pathSize,
-							  float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs,
-							  int* straightPathCount, const int maxStraightPath) const;
-	
-	// Moves from startPos to endPos constrained to the navmesh.
-	// If the endPos is reachable, the resultPos will be endPos,
-	// or else the resultPos will be the nearest point in navmesh.
-	// Note: The resulting point is not projected to the ground, use getPolyHeight() to get height.
-	// Note: The algorithm is optimized for small delta movement and small number of polygons. 
-	// Params:
-	//  startRef - (in) ref to the polygon where startPos lies.
-	//  startPos[3] - (in) start position of the mover.
-	//  endPos[3] - (in) desired end position of the mover.
-	//  filter - (in) path polygon filter.
-	//  resultPos[3] - (out) new position of the mover.
-	//  visited - (out) array of visited polygons.
-	//  visitedCount - (out) Number of entries in the visited array.
-	//  maxVisitedSize - (in) max number of polygons in the visited array.
-	dtStatus moveAlongSurface(dtPolyRef startRef, const float* startPos, const float* endPos,
-							  const dtQueryFilter* filter,
-							  float* resultPos, dtPolyRef* visited, int* visitedCount, const int maxVisitedSize) const;
-	
-	// Casts 'walkability' ray along the navmesh surface from startPos towards the endPos.
-	// Params:
-	//	startRef - (in) ref to the polygon where the start lies.
-	//	startPos[3] - (in) start position of the query.
-	//	endPos[3] - (in) end position of the query.
-	//	t - (out) hit parameter along the segment, FLT_MAX if no hit.
-	//	hitNormal[3] - (out) normal of the nearest hit.
-	//  filter - (in) path polygon filter.
-	//  path - (out,opt) visited path polygons.
-	//  pathCount - (out,opt) Number of polygons visited.
-	//  maxPath - (in) max number of polygons in the path array.
-	dtStatus raycast(dtPolyRef startRef, const float* startPos, const float* endPos,
-					 const dtQueryFilter* filter,
-					 float* t, float* hitNormal, dtPolyRef* path, int* pathCount, const int maxPath) const;
-	
-	// Returns distance to nearest wall from the specified location.
-	// Params:
-	//	startRef - (in) ref to the polygon where the center lies.
-	//	centerPos[3] - (in) center if the query circle.
-	//	maxRadius - (in) max search radius.
-	//  filter - (in) path polygon filter.
-	//  hitDist - (out) distance to nearest wall from the test location.
-	//	hitPos[3] - (out) location of the nearest hit.
-	//	hitNormal[3] - (out) normal of the nearest hit.
-	dtStatus findDistanceToWall(dtPolyRef startRef, const float* centerPos, const float maxRadius,
-								const dtQueryFilter* filter,
-								float* hitDist, float* hitPos, float* hitNormal) const;
-	
-	// Finds polygons found along the navigation graph which touch the specified circle.
-	// Params:
-	//	startRef - (in) ref to the polygon where the search starts.
-	//	centerPos[3] - (in) center if the query circle.
-	//	radius - (in) radius of the query circle.
-	//  filter - (in) path polygon filter.
-	//	resultRef - (out, opt) refs to the polygons touched by the circle.
-	//	resultParent - (out, opt) parent of each result polygon.
-	//	resultCost - (out, opt) search cost at each result polygon.
-	//  resultCount - (out, opt) Number of results.
-	//	maxResult - (int) maximum capacity of search results.
-	dtStatus findPolysAroundCircle(dtPolyRef startRef, const float* centerPos, const float radius,
-								   const dtQueryFilter* filter,
-								   dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost,
-								   int* resultCount, const int maxResult) const;
-	
-	// Finds polygons found along the navigation graph which touch the convex polygon shape.
-	// Params:
-	//	startRef - (in) ref to the polygon where the search starts.
-	//	verts[3*n] - (in) vertices describing convex polygon shape (CCW).
-	//	nverts - (in) number of vertices in the polygon.
-	//  filter - (in) path polygon filter.
-	//	resultRef - (out, opt) refs to the polygons touched by the circle.
-	//	resultParent - (out, opt) parent of each result polygon.
-	//	resultCost - (out, opt) search cost at each result polygon.
-	//  resultCount - (out) number of results.
-	//	maxResult - (int) maximum capacity of search results.
-	dtStatus findPolysAroundShape(dtPolyRef startRef, const float* verts, const int nverts,
-								  const dtQueryFilter* filter,
-								  dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost,
-								  int* resultCount, const int maxResult) const;
-	
-	// Finds non-overlapping local neighbourhood around center location.
-	// Note: The algorithm is optimized for small query radius and small number of polygons. 
-	// Params:
-	//	startRef - (in) ref to the polygon where the search starts.
-	//	centerPos[3] - (in) center if the query circle.
-	//	radius - (in) radius of the query circle.
-	//  filter - (in) path polygon filter.
-	//	resultRef - (out) refs to the polygons touched by the circle.
-	//	resultParent - (out, opt) parent of each result polygon.
-	//  resultCount - (out) number of results.
-	//	maxResult - (int) maximum capacity of search results.
-	dtStatus findLocalNeighbourhood(dtPolyRef startRef, const float* centerPos, const float radius,
-									const dtQueryFilter* filter,
-									dtPolyRef* resultRef, dtPolyRef* resultParent,
-									int* resultCount, const int maxResult) const;
-	
-	// Returns wall segments of specified polygon.
-	// Params:
-	//  ref - (in) ref to the polygon.
-	//  filter - (in) path polygon filter.
-	//  segments[6*maxSegments] - (out) wall segments (2 endpoints per segment).
-	//  segmentCount - (out) number of wall segments.
-	//  maxSegments - (in) max number of segments that can be stored in 'segments'.
-	dtStatus getPolyWallSegments(dtPolyRef ref, const dtQueryFilter* filter,
-								 float* segments, int* segmentCount, const int maxSegments) const;
-	
-	// Returns closest point on navigation polygon.
-	// Uses detail polygons to find the closest point to the navigation polygon surface. 
-	// Params:
-	//	ref - (in) ref to the polygon.
-	//	pos[3] - (in) the point to check.
-	//	closest[3] - (out) closest point.
-	// Returns: true if closest point found.
-	dtStatus closestPointOnPoly(dtPolyRef ref, const float* pos, float* closest) const;
-	
-	// Returns closest point on navigation polygon boundary.
-	// Uses the navigation polygon boundary to snap the point to poly boundary
-	// if it is outside the polygon. Much faster than closestPointToPoly. Does not affect height.
-	// Params:
-	//	ref - (in) ref to the polygon.
-	//	pos[3] - (in) the point to check.
-	//	closest[3] - (out) closest point.
-	// Returns: true if closest point found.
-	dtStatus closestPointOnPolyBoundary(dtPolyRef ref, const float* pos, float* closest) const;
-	
-	// Returns start and end location of an off-mesh link polygon.
-	// Params:
-	//	prevRef - (in) ref to the polygon before the link (used to select direction).
-	//	polyRef - (in) ref to the off-mesh link polygon.
-	//	startPos[3] - (out) start point of the link.
-	//	endPos[3] - (out) end point of the link.
-	// Returns: true if link is found.
-	dtStatus getOffMeshConnectionPolyEndPoints(dtPolyRef prevRef, dtPolyRef polyRef, float* startPos, float* endPos) const;
-	
-	// Returns height of the polygon at specified location.
-	// Params:
-	//	ref - (in) ref to the polygon.
-	//	pos[3] - (in) the point where to locate the height.
-	//	height - (out) height at the location.
-	// Returns: true if over polygon.
-	dtStatus getPolyHeight(dtPolyRef ref, const float* pos, float* height) const;
-		
-	// Returns true if poly reference ins in closed list.
-	bool isInClosedList(dtPolyRef ref) const;
-	
-	class dtNodePool* getNodePool() const { return m_nodePool; }
-	
-private:
-	
-	// Returns neighbour tile based on side. 
-	dtMeshTile* getNeighbourTileAt(int x, int y, int side) const;
-
-	// Queries polygons within a tile.
-	int queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, const float* qmax, const dtQueryFilter* filter,
-							dtPolyRef* polys, const int maxPolys) const;
-	// Find nearest polygon within a tile.
-	dtPolyRef findNearestPolyInTile(const dtMeshTile* tile, const float* center, const float* extents,
-									const dtQueryFilter* filter, float* nearestPt) const;
-	// Returns closest point on polygon.
-	dtStatus closestPointOnPolyInTile(const dtMeshTile* tile, const dtPoly* poly, const float* pos, float* closest) const;
-	
-	// Returns portal points between two polygons.
-	dtStatus getPortalPoints(dtPolyRef from, dtPolyRef to, float* left, float* right,
-							 unsigned char& fromType, unsigned char& toType) const;
-	dtStatus getPortalPoints(dtPolyRef from, const dtPoly* fromPoly, const dtMeshTile* fromTile,
-							 dtPolyRef to, const dtPoly* toPoly, const dtMeshTile* toTile,
-							 float* left, float* right) const;
-	
-	// Returns edge mid point between two polygons.
-	dtStatus getEdgeMidPoint(dtPolyRef from, dtPolyRef to, float* mid) const;
-	dtStatus getEdgeMidPoint(dtPolyRef from, const dtPoly* fromPoly, const dtMeshTile* fromTile,
-							 dtPolyRef to, const dtPoly* toPoly, const dtMeshTile* toTile,
-							 float* mid) const;
-	
-	const dtNavMesh* m_nav;				// Pointer to navmesh data.
-
-	struct dtQueryData
-	{
-		dtStatus status;
-		struct dtNode* lastBestNode;
-		float lastBestNodeCost;
-		dtPolyRef startRef, endRef;
-		float startPos[3], endPos[3];
-		const dtQueryFilter* filter;
-	};
-	dtQueryData m_query;				// Sliced query state.
-
-	class dtNodePool* m_tinyNodePool;	// Pointer to small node pool.
-	class dtNodePool* m_nodePool;		// Pointer to node pool.
-	class dtNodeQueue* m_openList;		// Pointer to open list queue.
-};
-
-// Helper function to allocate navmesh query class using Detour allocator.
-dtNavMeshQuery* dtAllocNavMeshQuery();
-void dtFreeNavMeshQuery(dtNavMeshQuery* query);
-
-#endif // DETOURNAVMESHQUERY_H
diff --git a/deps/recastnavigation/Detour/DetourNode.cpp b/deps/recastnavigation/Detour/DetourNode.cpp
deleted file mode 100644
index f7811e3450..0000000000
--- a/deps/recastnavigation/Detour/DetourNode.cpp
+++ /dev/null
@@ -1,164 +0,0 @@
-//
-// 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 "DetourNode.h"
-#include "DetourAlloc.h"
-#include "DetourAssert.h"
-#include "DetourCommon.h"
-#include <string.h>
-
-inline unsigned int dtHashRef(dtPolyRef a)
-{
-    a = (~a) + (a << 18);
-    a = a ^ (a >> 31);
-    a = a * 21;
-    a = a ^ (a >> 11);
-    a = a + (a << 6);
-    a = a ^ (a >> 22);
-    return (unsigned int)a;
-}
-
-//////////////////////////////////////////////////////////////////////////////////////////
-dtNodePool::dtNodePool(int maxNodes, int hashSize) :
-	m_nodes(0),
-	m_first(0),
-	m_next(0),
-	m_maxNodes(maxNodes),
-	m_hashSize(hashSize),
-	m_nodeCount(0)
-{
-	dtAssert(dtNextPow2(m_hashSize) == (unsigned int)m_hashSize);
-	dtAssert(m_maxNodes > 0);
-
-	m_nodes = (dtNode*)dtAlloc(sizeof(dtNode)*m_maxNodes, DT_ALLOC_PERM);
-	m_next = (dtNodeIndex*)dtAlloc(sizeof(dtNodeIndex)*m_maxNodes, DT_ALLOC_PERM);
-	m_first = (dtNodeIndex*)dtAlloc(sizeof(dtNodeIndex)*hashSize, DT_ALLOC_PERM);
-
-	dtAssert(m_nodes);
-	dtAssert(m_next);
-	dtAssert(m_first);
-
-	memset(m_first, 0xff, sizeof(dtNodeIndex)*m_hashSize);
-	memset(m_next, 0xff, sizeof(dtNodeIndex)*m_maxNodes);
-}
-
-dtNodePool::~dtNodePool()
-{
-	dtFree(m_nodes);
-	dtFree(m_next);
-	dtFree(m_first);
-}
-
-void dtNodePool::clear()
-{
-	memset(m_first, 0xff, sizeof(dtNodeIndex)*m_hashSize);
-	m_nodeCount = 0;
-}
-
-dtNode* dtNodePool::findNode(dtPolyRef id)
-{
-	unsigned int bucket = dtHashRef(id) & (m_hashSize-1);
-	dtNodeIndex i = m_first[bucket];
-	while (i != DT_NULL_IDX)
-	{
-		if (m_nodes[i].id == id)
-			return &m_nodes[i];
-		i = m_next[i];
-	}
-	return 0;
-}
-
-dtNode* dtNodePool::getNode(dtPolyRef id)
-{
-	unsigned int bucket = dtHashRef(id) & (m_hashSize-1);
-	dtNodeIndex i = m_first[bucket];
-	dtNode* node = 0;
-	while (i != DT_NULL_IDX)
-	{
-		if (m_nodes[i].id == id)
-			return &m_nodes[i];
-		i = m_next[i];
-	}
-	
-	if (m_nodeCount >= m_maxNodes)
-		return 0;
-	
-	i = (dtNodeIndex)m_nodeCount;
-	m_nodeCount++;
-	
-	// Init node
-	node = &m_nodes[i];
-	node->pidx = 0;
-	node->cost = 0;
-	node->total = 0;
-	node->id = id;
-	node->flags = 0;
-	
-	m_next[i] = m_first[bucket];
-	m_first[bucket] = i;
-	
-	return node;
-}
-
-
-//////////////////////////////////////////////////////////////////////////////////////////
-dtNodeQueue::dtNodeQueue(int n) :
-	m_heap(0),
-	m_capacity(n),
-	m_size(0)
-{
-	dtAssert(m_capacity > 0);
-	
-	m_heap = (dtNode**)dtAlloc(sizeof(dtNode*)*(m_capacity+1), DT_ALLOC_PERM);
-	dtAssert(m_heap);
-}
-
-dtNodeQueue::~dtNodeQueue()
-{
-	dtFree(m_heap);
-}
-
-void dtNodeQueue::bubbleUp(int i, dtNode* node)
-{
-	int parent = (i-1)/2;
-	// note: (index > 0) means there is a parent
-	while ((i > 0) && (m_heap[parent]->total > node->total))
-	{
-		m_heap[i] = m_heap[parent];
-		i = parent;
-		parent = (i-1)/2;
-	}
-	m_heap[i] = node;
-}
-
-void dtNodeQueue::trickleDown(int i, dtNode* node)
-{
-	int child = (i*2)+1;
-	while (child < m_size)
-	{
-		if (((child+1) < m_size) && 
-			(m_heap[child]->total > m_heap[child+1]->total))
-		{
-			child++;
-		}
-		m_heap[i] = m_heap[child];
-		i = child;
-		child = (i*2)+1;
-	}
-	bubbleUp(i, node);
-}
diff --git a/deps/recastnavigation/Detour/DetourNode.h b/deps/recastnavigation/Detour/DetourNode.h
deleted file mode 100644
index e46254fb50..0000000000
--- a/deps/recastnavigation/Detour/DetourNode.h
+++ /dev/null
@@ -1,159 +0,0 @@
-//
-// 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 DETOURNODE_H
-#define DETOURNODE_H
-
-#include "DetourNavMesh.h"
-
-enum dtNodeFlags
-{
-	DT_NODE_OPEN = 0x01,
-	DT_NODE_CLOSED = 0x02,
-};
-
-typedef unsigned short dtNodeIndex;
-static const dtNodeIndex DT_NULL_IDX = ~0;
-
-struct dtNode
-{
-	float pos[3];				// Position of the node.
-	float cost;					// Cost from previous node to current node.
-	float total;				// Cost up to the node.
-	unsigned int pidx : 30;		// Index to parent node.
-	unsigned int flags : 2;		// Node flags 0/open/closed.
-	dtPolyRef id;				// Polygon ref the node corresponds to.
-};
-
-
-class dtNodePool
-{
-public:
-	dtNodePool(int maxNodes, int hashSize);
-	~dtNodePool();
-	inline void operator=(const dtNodePool&) {}
-	void clear();
-	dtNode* getNode(dtPolyRef id);
-	dtNode* findNode(dtPolyRef id);
-
-	inline unsigned int getNodeIdx(const dtNode* node) const
-	{
-		if (!node) return 0;
-		return (unsigned int)(node - m_nodes)+1;
-	}
-
-	inline dtNode* getNodeAtIdx(unsigned int idx)
-	{
-		if (!idx) return 0;
-		return &m_nodes[idx-1];
-	}
-
-	inline const dtNode* getNodeAtIdx(unsigned int idx) const
-	{
-		if (!idx) return 0;
-		return &m_nodes[idx-1];
-	}
-	
-	inline int getMemUsed() const
-	{
-		return sizeof(*this) +
-			sizeof(dtNode)*m_maxNodes +
-			sizeof(dtNodeIndex)*m_maxNodes +
-			sizeof(dtNodeIndex)*m_hashSize;
-	}
-	
-	inline int getMaxNodes() const { return m_maxNodes; }
-	
-	inline int getHashSize() const { return m_hashSize; }
-	inline dtNodeIndex getFirst(int bucket) const { return m_first[bucket]; }
-	inline dtNodeIndex getNext(int i) const { return m_next[i]; }
-	
-private:
-	
-	dtNode* m_nodes;
-	dtNodeIndex* m_first;
-	dtNodeIndex* m_next;
-	const int m_maxNodes;
-	const int m_hashSize;
-	int m_nodeCount;
-};
-
-class dtNodeQueue
-{
-public:
-	dtNodeQueue(int n);
-	~dtNodeQueue();
-	inline void operator=(dtNodeQueue&) {}
-	
-	inline void clear()
-	{
-		m_size = 0;
-	}
-	
-	inline dtNode* top()
-	{
-		return m_heap[0];
-	}
-	
-	inline dtNode* pop()
-	{
-		dtNode* result = m_heap[0];
-		m_size--;
-		trickleDown(0, m_heap[m_size]);
-		return result;
-	}
-	
-	inline void push(dtNode* node)
-	{
-		m_size++;
-		bubbleUp(m_size-1, node);
-	}
-	
-	inline void modify(dtNode* node)
-	{
-		for (int i = 0; i < m_size; ++i)
-		{
-			if (m_heap[i] == node)
-			{
-				bubbleUp(i, node);
-				return;
-			}
-		}
-	}
-	
-	inline bool empty() const { return m_size == 0; }
-	
-	inline int getMemUsed() const
-	{
-		return sizeof(*this) +
-		sizeof(dtNode*)*(m_capacity+1);
-	}
-	
-	inline int getCapacity() const { return m_capacity; }
-	
-private:
-	void bubbleUp(int i, dtNode* node);
-	void trickleDown(int i, dtNode* node);
-	
-	dtNode** m_heap;
-	const int m_capacity;
-	int m_size;
-};		
-
-
-#endif // DETOURNODE_H
\ No newline at end of file
diff --git a/deps/recastnavigation/Detour/DetourObstacleAvoidance.cpp b/deps/recastnavigation/Detour/DetourObstacleAvoidance.cpp
deleted file mode 100644
index a255c9b3fd..0000000000
--- a/deps/recastnavigation/Detour/DetourObstacleAvoidance.cpp
+++ /dev/null
@@ -1,532 +0,0 @@
-//
-// 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 "DetourObstacleAvoidance.h"
-#include "DetourCommon.h"
-#include "DetourAlloc.h"
-#include "DetourAssert.h"
-#include <string.h>
-#include <math.h>
-#include <float.h>
-#include <new>
-
-
-static int sweepCircleCircle(const float* c0, const float r0, const float* v,
-							 const float* c1, const float r1,
-							 float& tmin, float& tmax)
-{
-	static const float EPS = 0.0001f;
-	float s[3];
-	dtVsub(s,c1,c0);
-	float r = r0+r1;
-	float c = dtVdot2D(s,s) - r*r;
-	float a = dtVdot2D(v,v);
-	if (a < EPS) return 0;	// not moving
-	
-	// Overlap, calc time to exit.
-	float b = dtVdot2D(v,s);
-	float d = b*b - a*c;
-	if (d < 0.0f) return 0; // no intersection.
-	a = 1.0f / a;
-	const float rd = dtSqrt(d);
-	tmin = (b - rd) * a;
-	tmax = (b + rd) * a;
-	return 1;
-}
-
-static int isectRaySeg(const float* ap, const float* u,
-					   const float* bp, const float* bq,
-					   float& t)
-{
-	float v[3], w[3];
-	dtVsub(v,bq,bp);
-	dtVsub(w,ap,bp);
-	float d = dtVperp2D(u,v);
-	if (fabsf(d) < 1e-6f) return 0;
-	d = 1.0f/d;
-	t = dtVperp2D(v,w) * d;
-	if (t < 0 || t > 1) return 0;
-	float s = dtVperp2D(u,w) * d;
-	if (s < 0 || s > 1) return 0;
-	return 1;
-}
-
-
-
-dtObstacleAvoidanceDebugData* dtAllocObstacleAvoidanceDebugData()
-{
-	void* mem = dtAlloc(sizeof(dtObstacleAvoidanceDebugData), DT_ALLOC_PERM);
-	if (!mem) return 0;
-	return new(mem) dtObstacleAvoidanceDebugData;
-}
-
-void dtFreeObstacleAvoidanceDebugData(dtObstacleAvoidanceDebugData* ptr)
-{
-	if (!ptr) return;
-	ptr->~dtObstacleAvoidanceDebugData();
-	dtFree(ptr);
-}
-
-
-dtObstacleAvoidanceDebugData::dtObstacleAvoidanceDebugData() :
-	m_nsamples(0),
-	m_maxSamples(0),
-	m_vel(0),
-	m_ssize(0),
-	m_pen(0),
-	m_vpen(0),
-	m_vcpen(0),
-	m_spen(0),
-	m_tpen(0)
-{
-}
-
-dtObstacleAvoidanceDebugData::~dtObstacleAvoidanceDebugData()
-{
-	dtFree(m_vel);
-	dtFree(m_ssize);
-	dtFree(m_pen);
-	dtFree(m_vpen);
-	dtFree(m_vcpen);
-	dtFree(m_spen);
-	dtFree(m_tpen);
-}
-		
-bool dtObstacleAvoidanceDebugData::init(const int maxSamples)
-{
-	dtAssert(maxSamples);
-	m_maxSamples = maxSamples;
-
-	m_vel = (float*)dtAlloc(sizeof(float)*3*m_maxSamples, DT_ALLOC_PERM);
-	if (!m_vel)
-		return false;
-	m_pen = (float*)dtAlloc(sizeof(float)*m_maxSamples, DT_ALLOC_PERM);
-	if (!m_pen)
-		return false;
-	m_ssize = (float*)dtAlloc(sizeof(float)*m_maxSamples, DT_ALLOC_PERM);
-	if (!m_ssize)
-		return false;
-	m_vpen = (float*)dtAlloc(sizeof(float)*m_maxSamples, DT_ALLOC_PERM);
-	if (!m_vpen)
-		return false;
-	m_vcpen = (float*)dtAlloc(sizeof(float)*m_maxSamples, DT_ALLOC_PERM);
-	if (!m_vcpen)
-		return false;
-	m_spen = (float*)dtAlloc(sizeof(float)*m_maxSamples, DT_ALLOC_PERM);
-	if (!m_spen)
-		return false;
-	m_tpen = (float*)dtAlloc(sizeof(float)*m_maxSamples, DT_ALLOC_PERM);
-	if (!m_tpen)
-		return false;
-	
-	return true;
-}
-
-void dtObstacleAvoidanceDebugData::reset()
-{
-	m_nsamples = 0;
-}
-
-void dtObstacleAvoidanceDebugData::addSample(const float* vel, const float ssize, const float pen,
-											 const float vpen, const float vcpen, const float spen, const float tpen)
-{
-	if (m_nsamples >= m_maxSamples)
-		return;
-	dtAssert(m_vel);
-	dtAssert(m_ssize);
-	dtAssert(m_pen);
-	dtAssert(m_vpen);
-	dtAssert(m_vcpen);
-	dtAssert(m_spen);
-	dtAssert(m_tpen);
-	dtVcopy(&m_vel[m_nsamples*3], vel);
-	m_ssize[m_nsamples] = ssize;
-	m_pen[m_nsamples] = pen;
-	m_vpen[m_nsamples] = vpen;
-	m_vcpen[m_nsamples] = vcpen;
-	m_spen[m_nsamples] = spen;
-	m_tpen[m_nsamples] = tpen;
-	m_nsamples++;
-}
-
-static void normalizeArray(float* arr, const int n)
-{
-	// Normalize penaly range.
-	float minPen = FLT_MAX;
-	float maxPen = -FLT_MAX;
-	for (int i = 0; i < n; ++i)
-	{
-		minPen = dtMin(minPen, arr[i]);
-		maxPen = dtMax(maxPen, arr[i]);
-	}
-	const float penRange = maxPen-minPen;
-	const float s = penRange > 0.001f ? (1.0f / penRange) : 1;
-	for (int i = 0; i < n; ++i)
-		arr[i] = dtClamp((arr[i]-minPen)*s, 0.0f, 1.0f);
-}
-
-void dtObstacleAvoidanceDebugData::normalizeSamples()
-{
-	normalizeArray(m_pen, m_nsamples);
-	normalizeArray(m_vpen, m_nsamples);
-	normalizeArray(m_vcpen, m_nsamples);
-	normalizeArray(m_spen, m_nsamples);
-	normalizeArray(m_tpen, m_nsamples);
-}
-
-
-dtObstacleAvoidanceQuery* dtAllocObstacleAvoidanceQuery()
-{
-	void* mem = dtAlloc(sizeof(dtObstacleAvoidanceQuery), DT_ALLOC_PERM);
-	if (!mem) return 0;
-	return new(mem) dtObstacleAvoidanceQuery;
-}
-
-void dtFreeObstacleAvoidanceQuery(dtObstacleAvoidanceQuery* ptr)
-{
-	if (!ptr) return;
-	ptr->~dtObstacleAvoidanceQuery();
-	dtFree(ptr);
-}
-
-
-dtObstacleAvoidanceQuery::dtObstacleAvoidanceQuery() :
-	m_velBias(0.0f),
-	m_weightDesVel(0.0f),
-	m_weightCurVel(0.0f),
-	m_weightSide(0.0f),
-	m_weightToi(0.0f),
-	m_horizTime(0.0f),
-	m_maxCircles(0),
-	m_circles(0),
-	m_ncircles(0),
-	m_maxSegments(0),
-	m_segments(0),
-	m_nsegments(0)
-{
-}
-
-dtObstacleAvoidanceQuery::~dtObstacleAvoidanceQuery()
-{
-	dtFree(m_circles);
-	dtFree(m_segments);
-}
-
-bool dtObstacleAvoidanceQuery::init(const int maxCircles, const int maxSegments)
-{
-	m_maxCircles = maxCircles;
-	m_ncircles = 0;
-	m_circles = (dtObstacleCircle*)dtAlloc(sizeof(dtObstacleCircle)*m_maxCircles, DT_ALLOC_PERM);
-	if (!m_circles)
-		return false;
-	memset(m_circles, 0, sizeof(dtObstacleCircle)*m_maxCircles);
-
-	m_maxSegments = maxSegments;
-	m_nsegments = 0;
-	m_segments = (dtObstacleSegment*)dtAlloc(sizeof(dtObstacleSegment)*m_maxSegments, DT_ALLOC_PERM);
-	if (!m_segments)
-		return false;
-	memset(m_segments, 0, sizeof(dtObstacleSegment)*m_maxSegments);
-	
-	return true;
-}
-
-void dtObstacleAvoidanceQuery::reset()
-{
-	m_ncircles = 0;
-	m_nsegments = 0;
-}
-
-void dtObstacleAvoidanceQuery::addCircle(const float* pos, const float rad,
-										 const float* vel, const float* dvel)
-{
-	if (m_ncircles >= m_maxCircles)
-		return;
-		
-	dtObstacleCircle* cir = &m_circles[m_ncircles++];
-	dtVcopy(cir->p, pos);
-	cir->rad = rad;
-	dtVcopy(cir->vel, vel);
-	dtVcopy(cir->dvel, dvel);
-}
-
-void dtObstacleAvoidanceQuery::addSegment(const float* p, const float* q)
-{
-	if (m_nsegments > m_maxSegments)
-		return;
-	
-	dtObstacleSegment* seg = &m_segments[m_nsegments++];
-	dtVcopy(seg->p, p);
-	dtVcopy(seg->q, q);
-}
-
-void dtObstacleAvoidanceQuery::prepare(const float* pos, const float* dvel)
-{
-	// Prepare obstacles
-	for (int i = 0; i < m_ncircles; ++i)
-	{
-		dtObstacleCircle* cir = &m_circles[i];
-		
-		// Side
-		const float* pa = pos;
-		const float* pb = cir->p;
-		
-		const float orig[3] = {0,0};
-		float dv[3];
-		dtVsub(cir->dp,pb,pa);
-		dtVnormalize(cir->dp);
-		dtVsub(dv, cir->dvel, dvel);
-		
-		const float a = dtTriArea2D(orig, cir->dp,dv);
-		if (a < 0.01f)
-		{
-			cir->np[0] = -cir->dp[2];
-			cir->np[2] = cir->dp[0];
-		}
-		else
-		{
-			cir->np[0] = cir->dp[2];
-			cir->np[2] = -cir->dp[0];
-		}
-	}	
-
-	for (int i = 0; i < m_nsegments; ++i)
-	{
-		dtObstacleSegment* seg = &m_segments[i];
-		
-		// Precalc if the agent is really close to the segment.
-		const float r = 0.01f;
-		float t;
-		seg->touch = dtDistancePtSegSqr2D(pos, seg->p, seg->q, t) < dtSqr(r);
-	}	
-}
-
-float dtObstacleAvoidanceQuery::processSample(const float* vcand, const float cs,
-											  const float* pos, const float rad,
-											  const float vmax, const float* vel, const float* dvel,
-											  dtObstacleAvoidanceDebugData* debug)
-{
-	// Find min time of impact and exit amongst all obstacles.
-	float tmin = m_horizTime;
-	float side = 0;
-	int nside = 0;
-	
-	for (int i = 0; i < m_ncircles; ++i)
-	{
-		const dtObstacleCircle* cir = &m_circles[i];
-			
-		// RVO
-		float vab[3];
-		dtVscale(vab, vcand, 2);
-		dtVsub(vab, vab, vel);
-		dtVsub(vab, vab, cir->vel);
-		
-		// Side
-		side += dtClamp(dtMin(dtVdot2D(cir->dp,vab)*0.5f+0.5f, dtVdot2D(cir->np,vab)*2), 0.0f, 1.0f);
-		nside++;
-		
-		float htmin = 0, htmax = 0;
-		if (!sweepCircleCircle(pos,rad, vab, cir->p,cir->rad, htmin, htmax))
-			continue;
-		
-		// Handle overlapping obstacles.
-		if (htmin < 0.0f && htmax > 0.0f)
-		{
-			// Avoid more when overlapped.
-			htmin = -htmin * 0.5f;
-		}
-		
-		if (htmin >= 0.0f)
-		{
-			// The closest obstacle is somewhere ahead of us, keep track of nearest obstacle.
-			if (htmin < tmin)
-				tmin = htmin;
-		}
-	}
-
-	for (int i = 0; i < m_nsegments; ++i)
-	{
-		const dtObstacleSegment* seg = &m_segments[i];
-		float htmin = 0;
-		
-		if (seg->touch)
-		{
-			// Special case when the agent is very close to the segment.
-			float sdir[3], snorm[3];
-			dtVsub(sdir, seg->q, seg->p);
-			snorm[0] = -sdir[2];
-			snorm[2] = sdir[0];
-			// If the velocity is pointing towards the segment, no collision.
-			if (dtVdot2D(snorm, vcand) < 0.0f)
-				continue;
-			// Else immediate collision.
-			htmin = 0.0f;
-		}
-		else
-		{
-			if (!isectRaySeg(pos, vcand, seg->p, seg->q, htmin))
-				continue;
-		}
-		
-		// Avoid less when facing walls.
-		htmin *= 2.0f;
-		
-		// The closest obstacle is somewhere ahead of us, keep track of nearest obstacle.
-		if (htmin < tmin)
-			tmin = htmin;
-	}
-	
-	// Normalize side bias, to prevent it dominating too much.
-	if (nside)
-		side /= nside;
-	
-	const float ivmax = 1.0f / vmax;
-	const float vpen = m_weightDesVel * (dtVdist2D(vcand, dvel) * ivmax);
-	const float vcpen = m_weightCurVel * (dtVdist2D(vcand, vel) * ivmax);
-	const float spen = m_weightSide * side;
-	const float tpen = m_weightToi * (1.0f/(0.1f+tmin / m_horizTime));
-	
-	const float penalty = vpen + vcpen + spen + tpen;
-	
-	// Store different penalties for debug viewing
-	if (debug)
-		debug->addSample(vcand, cs, penalty, vpen, vcpen, spen, tpen);
-	
-	return penalty;
-}
-
-void dtObstacleAvoidanceQuery::sampleVelocityGrid(const float* pos, const float rad, const float vmax,
-												  const float* vel, const float* dvel,
-												  float* nvel, const int gsize,
-												  dtObstacleAvoidanceDebugData* debug)
-{
-	prepare(pos, dvel);
-	
-	dtVset(nvel, 0,0,0);
-	
-	if (debug)
-		debug->reset();
-
-	const float cvx = dvel[0] * m_velBias;
-	const float cvz = dvel[2] * m_velBias;
-	const float cs = vmax * 2 * (1 - m_velBias) / (float)(gsize-1);
-	const float half = (gsize-1)*cs*0.5f;
-		
-	float minPenalty = FLT_MAX;
-		
-	for (int y = 0; y < gsize; ++y)
-	{
-		for (int x = 0; x < gsize; ++x)
-		{
-			float vcand[3];
-			vcand[0] = cvx + x*cs - half;
-			vcand[1] = 0;
-			vcand[2] = cvz + y*cs - half;
-			
-			if (dtSqr(vcand[0])+dtSqr(vcand[2]) > dtSqr(vmax+cs/2)) continue;
-			
-			const float penalty = processSample(vcand, cs, pos,rad,vmax,vel,dvel, debug);
-			if (penalty < minPenalty)
-			{
-				minPenalty = penalty;
-				dtVcopy(nvel, vcand);
-			}
-		}
-	}
-}
-
-
-static const float DT_PI = 3.14159265f;
-
-void dtObstacleAvoidanceQuery::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)
-{
-	prepare(pos, dvel);
-	
-	dtVset(nvel, 0,0,0);
-	
-	if (debug)
-		debug->reset();
-	
-	// Build sampling pattern aligned to desired velocity.
-	static const int MAX_PATTERN_DIVS = 32;
-	static const int MAX_PATTERN_RINGS = 4;
-	float pat[(MAX_PATTERN_DIVS*MAX_PATTERN_RINGS+1)*2];
-	int npat = 0;
-
-	const int nd = dtClamp(ndivs, 1, MAX_PATTERN_DIVS);
-	const int nr = dtClamp(nrings, 1, MAX_PATTERN_RINGS);
-	const float da = (1.0f/nd) * DT_PI*2;
-	const float dang = atan2f(dvel[2], dvel[0]);
-	
-	// Always add sample at zero
-	pat[npat*2+0] = 0;
-	pat[npat*2+1] = 0;
-	npat++;
-	
-	for (int j = 0; j < nr; ++j)
-	{
-		const float rad = (float)(nr-j)/(float)nr;
-		float a = dang + (j&1)*0.5f*da;
-		for (int i = 0; i < nd; ++i)
-		{
-			pat[npat*2+0] = cosf(a)*rad;
-			pat[npat*2+1] = sinf(a)*rad;
-			npat++;
-			a += da;
-		}
-	}
-
-	// Start sampling.
-	float cr = vmax * (1.0f-m_velBias);
-	float res[3];
-	dtVset(res, dvel[0] * m_velBias, 0, dvel[2] * m_velBias);
-
-	for (int k = 0; k < depth; ++k)
-	{
-		float minPenalty = FLT_MAX;
-		float bvel[3];
-		dtVset(bvel, 0,0,0);
-		
-		for (int i = 0; i < npat; ++i)
-		{
-			float vcand[3];
-			vcand[0] = res[0] + pat[i*2+0]*cr;
-			vcand[1] = 0;
-			vcand[2] = res[2] + pat[i*2+1]*cr;
-			
-			if (dtSqr(vcand[0])+dtSqr(vcand[2]) > dtSqr(vmax+0.001f)) continue;
-			
-			const float penalty = processSample(vcand,cr/10, pos,rad,vmax,vel,dvel, debug);
-			if (penalty < minPenalty)
-			{
-				minPenalty = penalty;
-				dtVcopy(bvel, vcand);
-			}
-		}
-
-		dtVcopy(res, bvel);
-
-		cr *= 0.5f;
-	}	
-	
-	dtVcopy(nvel, res);
-}
-
diff --git a/deps/recastnavigation/Detour/DetourObstacleAvoidance.h b/deps/recastnavigation/Detour/DetourObstacleAvoidance.h
deleted file mode 100644
index 4a7187a799..0000000000
--- a/deps/recastnavigation/Detour/DetourObstacleAvoidance.h
+++ /dev/null
@@ -1,148 +0,0 @@
-//
-// 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