From 8d394f6c0168250936ea784e2bf17ecd7ef70903 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?R=C3=A9mi=20Verschelde?= <rverschelde@gmail.com>
Date: Thu, 30 Apr 2020 15:16:13 +0200
Subject: [PATCH] Recast: Update to upstream commit 57610fa (2019)

(cherry picked from commit 6ba546f98bd278dab7503e7c6b7f9166af525eda)
---
 thirdparty/README.md                          |   4 +-
 .../recastnavigation/Recast/Include/Recast.h  |   8 +
 .../Recast/Include/RecastAlloc.h              | 298 +++++++++++++++---
 .../recastnavigation/Recast/Source/Recast.cpp | 169 +++++++---
 .../Recast/Source/RecastAlloc.cpp             |  26 --
 .../Recast/Source/RecastContour.cpp           |   2 +-
 .../Recast/Source/RecastMeshDetail.cpp        |  12 +-
 .../Recast/Source/RecastRegion.cpp            | 198 ++++++------
 8 files changed, 478 insertions(+), 239 deletions(-)

diff --git a/thirdparty/README.md b/thirdparty/README.md
index e5a30adbef7..3696a19a10e 100644
--- a/thirdparty/README.md
+++ b/thirdparty/README.md
@@ -440,12 +440,12 @@ Files extracted from upstream source:
 ## recastnavigation
 
 - Upstream: https://github.com/recastnavigation/recastnavigation
-- version: git (ef3ea40f, 2017)
+- Version: git (57610fa6ef31b39020231906f8c5d40eaa8294ae, 2019)
 - License: zlib
 
 Files extracted from upstream source:
 
-- `Recast/` folder
+- `Recast/` folder without `CMakeLists.txt`
 - License.txt
 
 
diff --git a/thirdparty/recastnavigation/Recast/Include/Recast.h b/thirdparty/recastnavigation/Recast/Include/Recast.h
index e85c0d2e29f..4d557389b5f 100644
--- a/thirdparty/recastnavigation/Recast/Include/Recast.h
+++ b/thirdparty/recastnavigation/Recast/Include/Recast.h
@@ -332,6 +332,8 @@ struct rcCompactSpan
 /// @ingroup recast
 struct rcCompactHeightfield
 {
+	rcCompactHeightfield();
+	~rcCompactHeightfield();
 	int width;					///< The width of the heightfield. (Along the x-axis in cell units.)
 	int height;					///< The height of the heightfield. (Along the z-axis in cell units.)
 	int spanCount;				///< The number of spans in the heightfield.
@@ -376,6 +378,8 @@ struct rcHeightfieldLayer
 /// @see rcAllocHeightfieldLayerSet, rcFreeHeightfieldLayerSet 
 struct rcHeightfieldLayerSet
 {
+	rcHeightfieldLayerSet();
+	~rcHeightfieldLayerSet();
 	rcHeightfieldLayer* layers;			///< The layers in the set. [Size: #nlayers]
 	int nlayers;						///< The number of layers in the set.
 };
@@ -395,6 +399,8 @@ struct rcContour
 /// @ingroup recast
 struct rcContourSet
 {
+	rcContourSet();
+	~rcContourSet();
 	rcContour* conts;	///< An array of the contours in the set. [Size: #nconts]
 	int nconts;			///< The number of contours in the set.
 	float bmin[3];  	///< The minimum bounds in world space. [(x, y, z)]
@@ -411,6 +417,8 @@ struct rcContourSet
 /// @ingroup recast
 struct rcPolyMesh
 {
+	rcPolyMesh();
+	~rcPolyMesh();
 	unsigned short* verts;	///< The mesh vertices. [Form: (x, y, z) * #nverts]
 	unsigned short* polys;	///< Polygon and neighbor data. [Length: #maxpolys * 2 * #nvp]
 	unsigned short* regs;	///< The region id assigned to each polygon. [Length: #maxpolys]
diff --git a/thirdparty/recastnavigation/Recast/Include/RecastAlloc.h b/thirdparty/recastnavigation/Recast/Include/RecastAlloc.h
index 3cdd450d42d..e436af9a016 100644
--- a/thirdparty/recastnavigation/Recast/Include/RecastAlloc.h
+++ b/thirdparty/recastnavigation/Recast/Include/RecastAlloc.h
@@ -20,6 +20,9 @@
 #define RECASTALLOC_H
 
 #include <stddef.h>
+#include <stdint.h>
+
+#include <RecastAssert.h>
 
 /// Provides hint values to the memory allocator on how long the
 /// memory is expected to be used.
@@ -58,64 +61,257 @@ void* rcAlloc(size_t size, rcAllocHint hint);
 /// @see rcAlloc
 void rcFree(void* ptr);
 
+/// An implementation of operator new usable for placement new. The default one is part of STL (which we don't use).
+/// rcNewTag is a dummy type used to differentiate our operator from the STL one, in case users import both Recast
+/// and STL.
+struct rcNewTag {};
+inline void* operator new(size_t, const rcNewTag&, void* p) { return p; }
+inline void operator delete(void*, const rcNewTag&, void*) {}
 
-/// A simple dynamic array of integers.
+/// Signed to avoid warnnings when comparing to int loop indexes, and common error with comparing to zero.
+/// MSVC2010 has a bug where ssize_t is unsigned (!!!).
+typedef intptr_t rcSizeType;
+#define RC_SIZE_MAX INTPTR_MAX
+
+/// Macros to hint to the compiler about the likeliest branch. Please add a benchmark that demonstrates a performance
+/// improvement before introducing use cases.
+#if defined(__GNUC__) || defined(__clang__)
+#define rcLikely(x) __builtin_expect((x), true)
+#define rcUnlikely(x) __builtin_expect((x), false)
+#else
+#define rcLikely(x) (x)
+#define rcUnlikely(x) (x)
+#endif
+
+/// Variable-sized storage type. Mimics the interface of std::vector<T> with some notable differences:
+///  * Uses rcAlloc()/rcFree() to handle storage.
+///  * No support for a custom allocator.
+///  * Uses signed size instead of size_t to avoid warnings in for loops: "for (int i = 0; i < foo.size(); i++)"
+///  * Omits methods of limited utility: insert/erase, (bad performance), at (we don't use exceptions), operator=.
+///  * assign() and the pre-sizing constructor follow C++11 semantics -- they don't construct a temporary if no value is provided.
+///  * push_back() and resize() support adding values from the current vector. Range-based constructors and assign(begin, end) do not.
+///  * No specialization for bool.
+template <typename T, rcAllocHint H>
+class rcVectorBase {
+	rcSizeType m_size;
+	rcSizeType m_cap;
+	T* m_data;
+	// Constructs a T at the give address with either the copy constructor or the default.
+	static void construct(T* p, const T& v) { ::new(rcNewTag(), (void*)p) T(v); }
+	static void construct(T* p) { ::new(rcNewTag(), (void*)p) T; }
+	static void construct_range(T* begin, T* end);
+	static void construct_range(T* begin, T* end, const T& value);
+	static void copy_range(T* dst, const T* begin, const T* end);
+	void destroy_range(rcSizeType begin, rcSizeType end);
+	// Creates an array of the given size, copies all of this vector's data into it, and returns it.
+	T* allocate_and_copy(rcSizeType size);
+	void resize_impl(rcSizeType size, const T* value);
+ public:
+	typedef rcSizeType size_type;
+	typedef T value_type;
+
+	rcVectorBase() : m_size(0), m_cap(0), m_data(0) {};
+	rcVectorBase(const rcVectorBase<T, H>& other) : m_size(0), m_cap(0), m_data(0) { assign(other.begin(), other.end()); }
+	explicit rcVectorBase(rcSizeType count) : m_size(0), m_cap(0), m_data(0) { resize(count); }
+	rcVectorBase(rcSizeType count, const T& value) : m_size(0), m_cap(0), m_data(0) { resize(count, value); }
+	rcVectorBase(const T* begin, const T* end) : m_size(0), m_cap(0), m_data(0) { assign(begin, end); }
+	~rcVectorBase() { destroy_range(0, m_size); rcFree(m_data); }
+
+	// Unlike in std::vector, we return a bool to indicate whether the alloc was successful.
+	bool reserve(rcSizeType size);
+
+	void assign(rcSizeType count, const T& value) { clear(); resize(count, value); }
+	void assign(const T* begin, const T* end);
+
+	void resize(rcSizeType size) { resize_impl(size, NULL); }
+	void resize(rcSizeType size, const T& value) { resize_impl(size, &value); }
+	// Not implemented as resize(0) because resize requires T to be default-constructible.
+	void clear() { destroy_range(0, m_size); m_size = 0; }
+
+	void push_back(const T& value);
+	void pop_back() { rcAssert(m_size > 0); back().~T(); m_size--; }
+
+	rcSizeType size() const { return m_size; }
+	rcSizeType capacity() const { return m_cap; }
+	bool empty() const { return size() == 0; }
+
+	const T& operator[](rcSizeType i) const { rcAssert(i >= 0 && i < m_size); return m_data[i]; }
+	T& operator[](rcSizeType i) { rcAssert(i >= 0 && i < m_size); return m_data[i]; }
+
+	const T& front() const { rcAssert(m_size); return m_data[0]; }
+	T& front() { rcAssert(m_size); return m_data[0]; }
+	const T& back() const { rcAssert(m_size); return m_data[m_size - 1]; };
+	T& back() { rcAssert(m_size); return m_data[m_size - 1]; };
+	const T* data() const { return m_data; }
+	T* data() { return m_data; }
+
+	T* begin() { return m_data; }
+	T* end() { return m_data + m_size; }
+	const T* begin() const { return m_data; }
+	const T* end() const { return m_data + m_size; }
+
+	void swap(rcVectorBase<T, H>& other);
+
+	// Explicitly deleted.
+	rcVectorBase& operator=(const rcVectorBase<T, H>& other);
+};
+
+template<typename T, rcAllocHint H>
+bool rcVectorBase<T, H>::reserve(rcSizeType count) {
+	if (count <= m_cap) {
+		return true;
+	}
+	T* new_data = allocate_and_copy(count);
+	if (!new_data) {
+	  return false;
+	}
+	destroy_range(0, m_size);
+	rcFree(m_data);
+	m_data = new_data;
+	m_cap = count;
+	return true;
+}
+template <typename T, rcAllocHint H>
+T* rcVectorBase<T, H>::allocate_and_copy(rcSizeType size) {
+	rcAssert(RC_SIZE_MAX / static_cast<rcSizeType>(sizeof(T)) >= size);
+	T* new_data = static_cast<T*>(rcAlloc(sizeof(T) * size, H));
+	if (new_data) {
+		copy_range(new_data, m_data, m_data + m_size);
+	}
+	return new_data;
+}
+template <typename T, rcAllocHint H>
+void rcVectorBase<T, H>::assign(const T* begin, const T* end) {
+	clear();
+	reserve(end - begin);
+	m_size = end - begin;
+	copy_range(m_data, begin, end);
+}
+template <typename T, rcAllocHint H>
+void rcVectorBase<T, H>::push_back(const T& value) {
+	// rcLikely increases performance by ~50% on BM_rcVector_PushPreallocated,
+	// and by ~2-5% on BM_rcVector_Push.
+	if (rcLikely(m_size < m_cap)) {
+		construct(m_data + m_size++, value);
+		return;
+	}
+
+	rcAssert(RC_SIZE_MAX / 2 >= m_size);
+	rcSizeType new_cap = m_size ? 2*m_size : 1;
+	T* data = allocate_and_copy(new_cap);
+	// construct between allocate and destroy+free in case value is
+	// in this vector.
+	construct(data + m_size, value);
+	destroy_range(0, m_size);
+	m_size++;
+	m_cap = new_cap;
+	rcFree(m_data);
+	m_data = data;
+}
+template <typename T, rcAllocHint H>
+void rcVectorBase<T, H>::resize_impl(rcSizeType size, const T* value) {
+	if (size < m_size) {
+		destroy_range(size, m_size);
+		m_size = size;
+	} else if (size > m_size) {
+		T* new_data = allocate_and_copy(size);
+		// We defer deconstructing/freeing old data until after constructing
+		// new elements in case "value" is there.
+		if (value) {
+			construct_range(new_data + m_size, new_data + size, *value);
+		} else {
+			construct_range(new_data + m_size, new_data + size);
+		}
+		destroy_range(0, m_size);
+		rcFree(m_data);
+		m_data = new_data;
+		m_cap = size;
+		m_size = size;
+	}
+}
+template <typename T, rcAllocHint H>
+void rcVectorBase<T, H>::swap(rcVectorBase<T, H>& other) {
+	// TODO: Reorganize headers so we can use rcSwap here.
+	rcSizeType tmp_cap = other.m_cap;
+	rcSizeType tmp_size = other.m_size;
+	T* tmp_data = other.m_data;
+
+	other.m_cap = m_cap;
+	other.m_size = m_size;
+	other.m_data = m_data;
+
+	m_cap = tmp_cap;
+	m_size = tmp_size;
+	m_data = tmp_data;
+}
+// static
+template <typename T, rcAllocHint H>
+void rcVectorBase<T, H>::construct_range(T* begin, T* end) {
+	for (T* p = begin; p < end; p++) {
+		construct(p);
+	}
+}
+// static
+template <typename T, rcAllocHint H>
+void rcVectorBase<T, H>::construct_range(T* begin, T* end, const T& value) {
+	for (T* p = begin; p < end; p++) {
+		construct(p, value);
+	}
+}
+// static
+template <typename T, rcAllocHint H>
+void rcVectorBase<T, H>::copy_range(T* dst, const T* begin, const T* end) {
+	for (rcSizeType i = 0 ; i < end - begin; i++) {
+		construct(dst + i, begin[i]);
+	}
+}
+template <typename T, rcAllocHint H>
+void rcVectorBase<T, H>::destroy_range(rcSizeType begin, rcSizeType end) {
+	for (rcSizeType i = begin; i < end; i++) {
+		m_data[i].~T();
+	}
+}
+
+template <typename T>
+class rcTempVector : public rcVectorBase<T, RC_ALLOC_TEMP> {
+	typedef rcVectorBase<T, RC_ALLOC_TEMP> Base;
+public:
+	rcTempVector() : Base() {}
+	explicit rcTempVector(rcSizeType size) : Base(size) {}
+	rcTempVector(rcSizeType size, const T& value) : Base(size, value) {}
+	rcTempVector(const rcTempVector<T>& other) : Base(other) {}
+	rcTempVector(const T* begin, const T* end) : Base(begin, end) {}
+};
+template <typename T>
+class rcPermVector : public rcVectorBase<T, RC_ALLOC_PERM> {
+	typedef rcVectorBase<T, RC_ALLOC_PERM> Base;
+public:
+	rcPermVector() : Base() {}
+	explicit rcPermVector(rcSizeType size) : Base(size) {}
+	rcPermVector(rcSizeType size, const T& value) : Base(size, value) {}
+	rcPermVector(const rcPermVector<T>& other) : Base(other) {}
+	rcPermVector(const T* begin, const T* end) : Base(begin, end) {}
+};
+
+
+/// Legacy class. Prefer rcVector<int>.
 class rcIntArray
 {
-	int* m_data;
-	int m_size, m_cap;
-
-	void doResize(int n);
-	
-	// Explicitly disabled copy constructor and copy assignment operator.
-	rcIntArray(const rcIntArray&);
-	rcIntArray& operator=(const rcIntArray&);
-
+	rcTempVector<int> m_impl;
 public:
-	/// Constructs an instance with an initial array size of zero.
-	rcIntArray() : m_data(0), m_size(0), m_cap(0) {}
-
-	/// Constructs an instance initialized to the specified size.
-	///  @param[in]		n	The initial size of the integer array.
-	rcIntArray(int n) : m_data(0), m_size(0), m_cap(0) { resize(n); }
-	~rcIntArray() { rcFree(m_data); }
-
-	/// Specifies the new size of the integer array.
-	///  @param[in]		n	The new size of the integer array.
-	void resize(int n)
-	{
-		if (n > m_cap)
-			doResize(n);
-		
-		m_size = n;
-	}
-
-	/// Push the specified integer onto the end of the array and increases the size by one.
-	///  @param[in]		item	The new value.
-	void push(int item) { resize(m_size+1); m_data[m_size-1] = item; }
-
-	/// Returns the value at the end of the array and reduces the size by one.
-	///  @return The value at the end of the array.
+	rcIntArray() {}
+	rcIntArray(int n) : m_impl(n, 0) {}
+	void push(int item) { m_impl.push_back(item); }
+	void resize(int size) { m_impl.resize(size); }
 	int pop()
 	{
-		if (m_size > 0)
-			m_size--;
-		
-		return m_data[m_size];
+		int v = m_impl.back();
+		m_impl.pop_back();
+		return v;
 	}
-
-	/// The value at the specified array index.
-	/// @warning Does not provide overflow protection.
-	///  @param[in]		i	The index of the value.
-	const int& operator[](int i) const { return m_data[i]; }
-
-	/// The value at the specified array index.
-	/// @warning Does not provide overflow protection.
-	///  @param[in]		i	The index of the value.
-	int& operator[](int i) { return m_data[i]; }
-
-	/// The current size of the integer array.
-	int size() const { return m_size; }
+	int size() const { return static_cast<int>(m_impl.size()); }
+	int& operator[](int index) { return m_impl[index]; }
+	int operator[](int index) const { return m_impl[index]; }
 };
 
 /// A simple helper class used to delete an array when it goes out of scope.
diff --git a/thirdparty/recastnavigation/Recast/Source/Recast.cpp b/thirdparty/recastnavigation/Recast/Source/Recast.cpp
index 8308d1973ec..1b71710cdc8 100644
--- a/thirdparty/recastnavigation/Recast/Source/Recast.cpp
+++ b/thirdparty/recastnavigation/Recast/Source/Recast.cpp
@@ -23,11 +23,34 @@
 #include <stdlib.h>
 #include <stdio.h>
 #include <stdarg.h>
-#include <new>
 #include "Recast.h"
 #include "RecastAlloc.h"
 #include "RecastAssert.h"
 
+namespace
+{
+/// Allocates and constructs an object of the given type, returning a pointer.
+/// TODO: Support constructor args.
+/// @param[in]		hint	Hint to the allocator.
+template <typename T>
+T* rcNew(rcAllocHint hint) {
+	T* ptr = (T*)rcAlloc(sizeof(T), hint);
+	::new(rcNewTag(), (void*)ptr) T();
+	return ptr;
+}
+
+/// Destroys and frees an object allocated with rcNew.
+/// @param[in]     ptr    The object pointer to delete.
+template <typename T>
+void rcDelete(T* ptr) {
+	if (ptr) {
+		ptr->~T();
+		rcFree((void*)ptr);
+	}
+}
+}  // namespace
+
+
 float rcSqrt(float x)
 {
 	return sqrtf(x);
@@ -73,9 +96,8 @@ void rcContext::log(const rcLogCategory category, const char* format, ...)
 
 rcHeightfield* rcAllocHeightfield()
 {
-	return new (rcAlloc(sizeof(rcHeightfield), RC_ALLOC_PERM)) rcHeightfield;
+	return rcNew<rcHeightfield>(RC_ALLOC_PERM);
 }
-
 rcHeightfield::rcHeightfield()
 	: width()
 	, height()
@@ -104,84 +126,133 @@ rcHeightfield::~rcHeightfield()
 
 void rcFreeHeightField(rcHeightfield* hf)
 {
-	if (!hf) return;
-	hf->~rcHeightfield();
-	rcFree(hf);
+	rcDelete(hf);
 }
 
 rcCompactHeightfield* rcAllocCompactHeightfield()
 {
-	rcCompactHeightfield* chf = (rcCompactHeightfield*)rcAlloc(sizeof(rcCompactHeightfield), RC_ALLOC_PERM);
-	memset(chf, 0, sizeof(rcCompactHeightfield));
-	return chf;
+	return rcNew<rcCompactHeightfield>(RC_ALLOC_PERM);
 }
 
 void rcFreeCompactHeightfield(rcCompactHeightfield* chf)
 {
-	if (!chf) return;
-	rcFree(chf->cells);
-	rcFree(chf->spans);
-	rcFree(chf->dist);
-	rcFree(chf->areas);
-	rcFree(chf);
+	rcDelete(chf);
+}
+
+rcCompactHeightfield::rcCompactHeightfield()
+	: width(),
+	height(),
+	spanCount(),
+	walkableHeight(),
+	walkableClimb(),
+	borderSize(),
+	maxDistance(),
+	maxRegions(),
+	bmin(),
+	bmax(),
+	cs(),
+	ch(),
+	cells(),
+	spans(),
+	dist(),
+	areas()
+{
+}
+rcCompactHeightfield::~rcCompactHeightfield()
+{
+	rcFree(cells);
+	rcFree(spans);
+	rcFree(dist);
+	rcFree(areas);
 }
 
 rcHeightfieldLayerSet* rcAllocHeightfieldLayerSet()
 {
-	rcHeightfieldLayerSet* lset = (rcHeightfieldLayerSet*)rcAlloc(sizeof(rcHeightfieldLayerSet), RC_ALLOC_PERM);
-	memset(lset, 0, sizeof(rcHeightfieldLayerSet));
-	return lset;
+	return rcNew<rcHeightfieldLayerSet>(RC_ALLOC_PERM);
 }
-
 void rcFreeHeightfieldLayerSet(rcHeightfieldLayerSet* lset)
 {
-	if (!lset) return;
-	for (int i = 0; i < lset->nlayers; ++i)
+	rcDelete(lset);
+}
+
+rcHeightfieldLayerSet::rcHeightfieldLayerSet()
+	: layers(),	nlayers() {}
+rcHeightfieldLayerSet::~rcHeightfieldLayerSet()
+{
+	for (int i = 0; i < nlayers; ++i)
 	{
-		rcFree(lset->layers[i].heights);
-		rcFree(lset->layers[i].areas);
-		rcFree(lset->layers[i].cons);
+		rcFree(layers[i].heights);
+		rcFree(layers[i].areas);
+		rcFree(layers[i].cons);
 	}
-	rcFree(lset->layers);
-	rcFree(lset);
+	rcFree(layers);
 }
 
 
 rcContourSet* rcAllocContourSet()
 {
-	rcContourSet* cset = (rcContourSet*)rcAlloc(sizeof(rcContourSet), RC_ALLOC_PERM);
-	memset(cset, 0, sizeof(rcContourSet));
-	return cset;
+	return rcNew<rcContourSet>(RC_ALLOC_PERM);
 }
-
 void rcFreeContourSet(rcContourSet* cset)
 {
-	if (!cset) return;
-	for (int i = 0; i < cset->nconts; ++i)
-	{
-		rcFree(cset->conts[i].verts);
-		rcFree(cset->conts[i].rverts);
-	}
-	rcFree(cset->conts);
-	rcFree(cset);
+	rcDelete(cset);
 }
 
+rcContourSet::rcContourSet()
+	: conts(),
+	nconts(),
+	bmin(),
+	bmax(),
+	cs(),
+	ch(),
+	width(),
+	height(),
+	borderSize(),
+	maxError() {}
+rcContourSet::~rcContourSet()
+{
+	for (int i = 0; i < nconts; ++i)
+	{
+		rcFree(conts[i].verts);
+		rcFree(conts[i].rverts);
+	}
+	rcFree(conts);
+}
+
+
 rcPolyMesh* rcAllocPolyMesh()
 {
-	rcPolyMesh* pmesh = (rcPolyMesh*)rcAlloc(sizeof(rcPolyMesh), RC_ALLOC_PERM);
-	memset(pmesh, 0, sizeof(rcPolyMesh));
-	return pmesh;
+	return rcNew<rcPolyMesh>(RC_ALLOC_PERM);
 }
-
 void rcFreePolyMesh(rcPolyMesh* pmesh)
 {
-	if (!pmesh) return;
-	rcFree(pmesh->verts);
-	rcFree(pmesh->polys);
-	rcFree(pmesh->regs);
-	rcFree(pmesh->flags);
-	rcFree(pmesh->areas);
-	rcFree(pmesh);
+	rcDelete(pmesh);
+}
+
+rcPolyMesh::rcPolyMesh()
+	: verts(),
+	polys(),
+	regs(),
+	flags(),
+	areas(),
+	nverts(),
+	npolys(),
+	maxpolys(),
+	nvp(),
+	bmin(),
+	bmax(),
+	cs(),
+	ch(),
+	borderSize(),
+	maxEdgeError() {}
+
+rcPolyMesh::~rcPolyMesh()
+{
+	rcFree(verts);
+	rcFree(polys);
+	rcFree(regs);
+	rcFree(flags);
+	rcFree(areas);
 }
 
 rcPolyMeshDetail* rcAllocPolyMeshDetail()
diff --git a/thirdparty/recastnavigation/Recast/Source/RecastAlloc.cpp b/thirdparty/recastnavigation/Recast/Source/RecastAlloc.cpp
index 453b5fa6a60..bdc366116e9 100644
--- a/thirdparty/recastnavigation/Recast/Source/RecastAlloc.cpp
+++ b/thirdparty/recastnavigation/Recast/Source/RecastAlloc.cpp
@@ -58,29 +58,3 @@ void rcFree(void* ptr)
 	if (ptr)
 		sRecastFreeFunc(ptr);
 }
-
-/// @class rcIntArray
-///
-/// While it is possible to pre-allocate a specific array size during 
-/// construction or by using the #resize method, certain methods will 
-/// automatically resize the array as needed.
-///
-/// @warning The array memory is not initialized to zero when the size is 
-/// manually set during construction or when using #resize.
-
-/// @par
-///
-/// Using this method ensures the array is at least large enough to hold
-/// the specified number of elements.  This can improve performance by
-/// avoiding auto-resizing during use.
-void rcIntArray::doResize(int n)
-{
-	if (!m_cap) m_cap = n;
-	while (m_cap < n) m_cap *= 2;
-	int* newData = (int*)rcAlloc(m_cap*sizeof(int), RC_ALLOC_TEMP);
-	rcAssert(newData);
-	if (m_size && newData) memcpy(newData, m_data, m_size*sizeof(int));
-	rcFree(m_data);
-	m_data = newData;
-}
-
diff --git a/thirdparty/recastnavigation/Recast/Source/RecastContour.cpp b/thirdparty/recastnavigation/Recast/Source/RecastContour.cpp
index 277ab015018..6574c11b6b5 100644
--- a/thirdparty/recastnavigation/Recast/Source/RecastContour.cpp
+++ b/thirdparty/recastnavigation/Recast/Source/RecastContour.cpp
@@ -1009,7 +1009,7 @@ bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf,
 	if (cset.nconts > 0)
 	{
 		// Calculate winding of all polygons.
-		rcScopedDelete<char> winding((char*)rcAlloc(sizeof(char)*cset.nconts, RC_ALLOC_TEMP));
+		rcScopedDelete<signed char> winding((signed char*)rcAlloc(sizeof(signed char)*cset.nconts, RC_ALLOC_TEMP));
 		if (!winding)
 		{
 			ctx->log(RC_LOG_ERROR, "rcBuildContours: Out of memory 'hole' (%d).", cset.nconts);
diff --git a/thirdparty/recastnavigation/Recast/Source/RecastMeshDetail.cpp b/thirdparty/recastnavigation/Recast/Source/RecastMeshDetail.cpp
index f953132f74c..9a423cab8a6 100644
--- a/thirdparty/recastnavigation/Recast/Source/RecastMeshDetail.cpp
+++ b/thirdparty/recastnavigation/Recast/Source/RecastMeshDetail.cpp
@@ -557,15 +557,16 @@ static float polyMinExtent(const float* verts, const int nverts)
 inline int prev(int i, int n) { return i-1 >= 0 ? i-1 : n-1; }
 inline int next(int i, int n) { return i+1 < n ? i+1 : 0; }
 
-static void triangulateHull(const int /*nverts*/, const float* verts, const int nhull, const int* hull, rcIntArray& tris)
+static void triangulateHull(const int /*nverts*/, const float* verts, const int nhull, const int* hull, const int nin, rcIntArray& tris)
 {
 	int start = 0, left = 1, right = nhull-1;
 	
 	// Start from an ear with shortest perimeter.
 	// This tends to favor well formed triangles as starting point.
-	float dmin = 0;
+	float dmin = FLT_MAX;
 	for (int i = 0; i < nhull; i++)
 	{
+		if (hull[i] >= nin) continue; // Ears are triangles with original vertices as middle vertex while others are actually line segments on edges
 		int pi = prev(i, nhull);
 		int ni = next(i, nhull);
 		const float* pv = &verts[hull[pi]*3];
@@ -770,7 +771,7 @@ static bool buildPolyDetail(rcContext* ctx, const float* in, const int nin,
 	// If the polygon minimum extent is small (sliver or small triangle), do not try to add internal points.
 	if (minExtent < sampleDist*2)
 	{
-		triangulateHull(nverts, verts, nhull, hull, tris);
+		triangulateHull(nverts, verts, nhull, hull, nin, tris);
 		return true;
 	}
 	
@@ -778,7 +779,7 @@ static bool buildPolyDetail(rcContext* ctx, const float* in, const int nin,
 	// We're using the triangulateHull instead of delaunayHull as it tends to
 	// create a bit better triangulation for long thin triangles when there
 	// are no internal points.
-	triangulateHull(nverts, verts, nhull, hull, tris);
+	triangulateHull(nverts, verts, nhull, hull, nin, tris);
 	
 	if (tris.size() == 0)
 	{
@@ -1140,7 +1141,8 @@ static void getHeightData(rcContext* ctx, const rcCompactHeightfield& chf,
 static unsigned char getEdgeFlags(const float* va, const float* vb,
 								  const float* vpoly, const int npoly)
 {
-	// Return true if edge (va,vb) is part of the polygon.
+	// The flag returned by this function matches dtDetailTriEdgeFlags in Detour.
+	// Figure out if edge (va,vb) is part of the polygon boundary.
 	static const float thrSqr = rcSqr(0.001f);
 	for (int i = 0, j = npoly-1; i < npoly; j=i++)
 	{
diff --git a/thirdparty/recastnavigation/Recast/Source/RecastRegion.cpp b/thirdparty/recastnavigation/Recast/Source/RecastRegion.cpp
index 38a2bd6bfa4..e1fc0ee7887 100644
--- a/thirdparty/recastnavigation/Recast/Source/RecastRegion.cpp
+++ b/thirdparty/recastnavigation/Recast/Source/RecastRegion.cpp
@@ -25,8 +25,17 @@
 #include "Recast.h"
 #include "RecastAlloc.h"
 #include "RecastAssert.h"
-#include <new>
 
+namespace
+{
+struct LevelStackEntry
+{
+	LevelStackEntry(int x_, int y_, int index_) : x(x_), y(y_), index(index_) {}
+	int x;
+	int y;
+	int index;
+};
+}  // namespace
 
 static void calculateDistanceField(rcCompactHeightfield& chf, unsigned short* src, unsigned short& maxDist)
 {
@@ -245,17 +254,15 @@ static bool floodRegion(int x, int y, int i,
 						unsigned short level, unsigned short r,
 						rcCompactHeightfield& chf,
 						unsigned short* srcReg, unsigned short* srcDist,
-						rcIntArray& stack)
+						rcTempVector<LevelStackEntry>& stack)
 {
 	const int w = chf.width;
 	
 	const unsigned char area = chf.areas[i];
 	
 	// Flood fill mark region.
-	stack.resize(0);
-	stack.push((int)x);
-	stack.push((int)y);
-	stack.push((int)i);
+	stack.clear();
+	stack.push_back(LevelStackEntry(x, y, i));
 	srcReg[i] = r;
 	srcDist[i] = 0;
 	
@@ -264,9 +271,11 @@ static bool floodRegion(int x, int y, int i,
 	
 	while (stack.size() > 0)
 	{
-		int ci = stack.pop();
-		int cy = stack.pop();
-		int cx = stack.pop();
+		LevelStackEntry& back = stack.back();
+		int cx = back.x;
+		int cy = back.y;
+		int ci = back.index;
+		stack.pop_back();
 		
 		const rcCompactSpan& cs = chf.spans[ci];
 		
@@ -332,9 +341,7 @@ static bool floodRegion(int x, int y, int i,
 				{
 					srcReg[ai] = r;
 					srcDist[ai] = 0;
-					stack.push(ax);
-					stack.push(ay);
-					stack.push(ai);
+					stack.push_back(LevelStackEntry(ax, ay, ai));
 				}
 			}
 		}
@@ -343,12 +350,20 @@ static bool floodRegion(int x, int y, int i,
 	return count > 0;
 }
 
-static unsigned short* expandRegions(int maxIter, unsigned short level,
-									 rcCompactHeightfield& chf,
-									 unsigned short* srcReg, unsigned short* srcDist,
-									 unsigned short* dstReg, unsigned short* dstDist, 
-									 rcIntArray& stack,
-									 bool fillStack)
+// Struct to keep track of entries in the region table that have been changed.
+struct DirtyEntry
+{
+	DirtyEntry(int index_, unsigned short region_, unsigned short distance2_)
+		: index(index_), region(region_), distance2(distance2_) {}
+	int index;
+	unsigned short region;
+	unsigned short distance2;
+};
+static void expandRegions(int maxIter, unsigned short level,
+					      rcCompactHeightfield& chf,
+					      unsigned short* srcReg, unsigned short* srcDist,
+					      rcTempVector<LevelStackEntry>& stack,
+					      bool fillStack)
 {
 	const int w = chf.width;
 	const int h = chf.height;
@@ -356,7 +371,7 @@ static unsigned short* expandRegions(int maxIter, unsigned short level,
 	if (fillStack)
 	{
 		// Find cells revealed by the raised level.
-		stack.resize(0);
+		stack.clear();
 		for (int y = 0; y < h; ++y)
 		{
 			for (int x = 0; x < w; ++x)
@@ -366,9 +381,7 @@ static unsigned short* expandRegions(int maxIter, unsigned short level,
 				{
 					if (chf.dist[i] >= level && srcReg[i] == 0 && chf.areas[i] != RC_NULL_AREA)
 					{
-						stack.push(x);
-						stack.push(y);
-						stack.push(i);
+						stack.push_back(LevelStackEntry(x, y, i));
 					}
 				}
 			}
@@ -377,27 +390,26 @@ static unsigned short* expandRegions(int maxIter, unsigned short level,
 	else // use cells in the input stack
 	{
 		// mark all cells which already have a region
-		for (int j=0; j<stack.size(); j+=3)
+		for (int j=0; j<stack.size(); j++)
 		{
-			int i = stack[j+2];
+			int i = stack[j].index;
 			if (srcReg[i] != 0)
-				stack[j+2] = -1;
+				stack[j].index = -1;
 		}
 	}
 
+	rcTempVector<DirtyEntry> dirtyEntries;
 	int iter = 0;
 	while (stack.size() > 0)
 	{
 		int failed = 0;
+		dirtyEntries.clear();
 		
-		memcpy(dstReg, srcReg, sizeof(unsigned short)*chf.spanCount);
-		memcpy(dstDist, srcDist, sizeof(unsigned short)*chf.spanCount);
-		
-		for (int j = 0; j < stack.size(); j += 3)
+		for (int j = 0; j < stack.size(); j++)
 		{
-			int x = stack[j+0];
-			int y = stack[j+1];
-			int i = stack[j+2];
+			int x = stack[j].x;
+			int y = stack[j].y;
+			int i = stack[j].index;
 			if (i < 0)
 			{
 				failed++;
@@ -426,9 +438,8 @@ static unsigned short* expandRegions(int maxIter, unsigned short level,
 			}
 			if (r)
 			{
-				stack[j+2] = -1; // mark as used
-				dstReg[i] = r;
-				dstDist[i] = d2;
+				stack[j].index = -1; // mark as used
+				dirtyEntries.push_back(DirtyEntry(i, r, d2));
 			}
 			else
 			{
@@ -436,11 +447,14 @@ static unsigned short* expandRegions(int maxIter, unsigned short level,
 			}
 		}
 		
-		// rcSwap source and dest.
-		rcSwap(srcReg, dstReg);
-		rcSwap(srcDist, dstDist);
+		// Copy entries that differ between src and dst to keep them in sync.
+		for (int i = 0; i < dirtyEntries.size(); i++) {
+			int idx = dirtyEntries[i].index;
+			srcReg[idx] = dirtyEntries[i].region;
+			srcDist[idx] = dirtyEntries[i].distance2;
+		}
 		
-		if (failed*3 == stack.size())
+		if (failed == stack.size())
 			break;
 		
 		if (level > 0)
@@ -450,16 +464,14 @@ static unsigned short* expandRegions(int maxIter, unsigned short level,
 				break;
 		}
 	}
-	
-	return srcReg;
 }
 
 
 
 static void sortCellsByLevel(unsigned short startLevel,
 							  rcCompactHeightfield& chf,
-							  unsigned short* srcReg,
-							  unsigned int nbStacks, rcIntArray* stacks,
+							  const unsigned short* srcReg,
+							  unsigned int nbStacks, rcTempVector<LevelStackEntry>* stacks,
 							  unsigned short loglevelsPerStack) // the levels per stack (2 in our case) as a bit shift
 {
 	const int w = chf.width;
@@ -467,7 +479,7 @@ static void sortCellsByLevel(unsigned short startLevel,
 	startLevel = startLevel >> loglevelsPerStack;
 
 	for (unsigned int j=0; j<nbStacks; ++j)
-		stacks[j].resize(0);
+		stacks[j].clear();
 
 	// put all cells in the level range into the appropriate stacks
 	for (int y = 0; y < h; ++y)
@@ -487,26 +499,23 @@ static void sortCellsByLevel(unsigned short startLevel,
 				if (sId < 0)
 					sId = 0;
 
-				stacks[sId].push(x);
-				stacks[sId].push(y);
-				stacks[sId].push(i);
+				stacks[sId].push_back(LevelStackEntry(x, y, i));
 			}
 		}
 	}
 }
 
 
-static void appendStacks(rcIntArray& srcStack, rcIntArray& dstStack,
-						 unsigned short* srcReg)
+static void appendStacks(const rcTempVector<LevelStackEntry>& srcStack,
+						 rcTempVector<LevelStackEntry>& dstStack,
+						 const unsigned short* srcReg)
 {
-	for (int j=0; j<srcStack.size(); j+=3)
+	for (int j=0; j<srcStack.size(); j++)
 	{
-		int i = srcStack[j+2];
+		int i = srcStack[j].index;
 		if ((i < 0) || (srcReg[i] != 0))
 			continue;
-		dstStack.push(srcStack[j]);
-		dstStack.push(srcStack[j+1]);
-		dstStack.push(srcStack[j+2]);
+		dstStack.push_back(srcStack[j]);
 	}
 }
 
@@ -671,7 +680,7 @@ static bool isRegionConnectedToBorder(const rcRegion& reg)
 	return false;
 }
 
-static bool isSolidEdge(rcCompactHeightfield& chf, unsigned short* srcReg,
+static bool isSolidEdge(rcCompactHeightfield& chf, const unsigned short* srcReg,
 						int x, int y, int i, int dir)
 {
 	const rcCompactSpan& s = chf.spans[i];
@@ -690,7 +699,7 @@ static bool isSolidEdge(rcCompactHeightfield& chf, unsigned short* srcReg,
 
 static void walkContour(int x, int y, int i, int dir,
 						rcCompactHeightfield& chf,
-						unsigned short* srcReg,
+						const unsigned short* srcReg,
 						rcIntArray& cont)
 {
 	int startDir = dir;
@@ -786,16 +795,15 @@ static bool mergeAndFilterRegions(rcContext* ctx, int minRegionArea, int mergeRe
 	const int h = chf.height;
 	
 	const int nreg = maxRegionId+1;
-	rcRegion* regions = (rcRegion*)rcAlloc(sizeof(rcRegion)*nreg, RC_ALLOC_TEMP);
-	if (!regions)
-	{
+	rcTempVector<rcRegion> regions;
+	if (!regions.reserve(nreg)) {
 		ctx->log(RC_LOG_ERROR, "mergeAndFilterRegions: Out of memory 'regions' (%d).", nreg);
 		return false;
 	}
 
 	// Construct regions
 	for (int i = 0; i < nreg; ++i)
-		new(&regions[i]) rcRegion((unsigned short)i);
+		regions.push_back(rcRegion((unsigned short) i));
 	
 	// Find edge of a region and find connections around the contour.
 	for (int y = 0; y < h; ++y)
@@ -1021,11 +1029,6 @@ static bool mergeAndFilterRegions(rcContext* ctx, int minRegionArea, int mergeRe
 		if (regions[i].overlap)
 			overlaps.push(regions[i].id);
 
-	for (int i = 0; i < nreg; ++i)
-		regions[i].~rcRegion();
-	rcFree(regions);
-	
-	
 	return true;
 }
 
@@ -1041,22 +1044,21 @@ static void addUniqueConnection(rcRegion& reg, int n)
 static bool mergeAndFilterLayerRegions(rcContext* ctx, int minRegionArea,
 									   unsigned short& maxRegionId,
 									   rcCompactHeightfield& chf,
-									   unsigned short* srcReg, rcIntArray& /*overlaps*/)
+									   unsigned short* srcReg)
 {
 	const int w = chf.width;
 	const int h = chf.height;
 	
 	const int nreg = maxRegionId+1;
-	rcRegion* regions = (rcRegion*)rcAlloc(sizeof(rcRegion)*nreg, RC_ALLOC_TEMP);
-	if (!regions)
-	{
+	rcTempVector<rcRegion> regions;
+	
+	// Construct regions
+	if (!regions.reserve(nreg)) {
 		ctx->log(RC_LOG_ERROR, "mergeAndFilterLayerRegions: Out of memory 'regions' (%d).", nreg);
 		return false;
 	}
-	
-	// Construct regions
 	for (int i = 0; i < nreg; ++i)
-		new(&regions[i]) rcRegion((unsigned short)i);
+		regions.push_back(rcRegion((unsigned short) i));
 	
 	// Find region neighbours and overlapping regions.
 	rcIntArray lregs(32);
@@ -1234,10 +1236,6 @@ static bool mergeAndFilterLayerRegions(rcContext* ctx, int minRegionArea,
 			srcReg[i] = regions[srcReg[i]].id;
 	}
 	
-	for (int i = 0; i < nreg; ++i)
-		regions[i].~rcRegion();
-	rcFree(regions);
-	
 	return true;
 }
 
@@ -1391,9 +1389,9 @@ bool rcBuildRegionsMonotone(rcContext* ctx, rcCompactHeightfield& chf,
 		paintRectRegion(w-bw, w, 0, h, id|RC_BORDER_REG, chf, srcReg); id++;
 		paintRectRegion(0, w, 0, bh, id|RC_BORDER_REG, chf, srcReg); id++;
 		paintRectRegion(0, w, h-bh, h, id|RC_BORDER_REG, chf, srcReg); id++;
-		
-		chf.borderSize = borderSize;
 	}
+
+	chf.borderSize = borderSize;
 	
 	rcIntArray prev(256);
 
@@ -1535,7 +1533,7 @@ bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf,
 	const int w = chf.width;
 	const int h = chf.height;
 	
-	rcScopedDelete<unsigned short> buf((unsigned short*)rcAlloc(sizeof(unsigned short)*chf.spanCount*4, RC_ALLOC_TEMP));
+	rcScopedDelete<unsigned short> buf((unsigned short*)rcAlloc(sizeof(unsigned short)*chf.spanCount*2, RC_ALLOC_TEMP));
 	if (!buf)
 	{
 		ctx->log(RC_LOG_ERROR, "rcBuildRegions: Out of memory 'tmp' (%d).", chf.spanCount*4);
@@ -1546,17 +1544,15 @@ bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf,
 
 	const int LOG_NB_STACKS = 3;
 	const int NB_STACKS = 1 << LOG_NB_STACKS;
-	rcIntArray lvlStacks[NB_STACKS];
+	rcTempVector<LevelStackEntry> lvlStacks[NB_STACKS];
 	for (int i=0; i<NB_STACKS; ++i)
-		lvlStacks[i].resize(1024);
+		lvlStacks[i].reserve(256);
 
-	rcIntArray stack(1024);
-	rcIntArray visited(1024);
+	rcTempVector<LevelStackEntry> stack;
+	stack.reserve(256);
 	
 	unsigned short* srcReg = buf;
 	unsigned short* srcDist = buf+chf.spanCount;
-	unsigned short* dstReg = buf+chf.spanCount*2;
-	unsigned short* dstDist = buf+chf.spanCount*3;
 	
 	memset(srcReg, 0, sizeof(unsigned short)*chf.spanCount);
 	memset(srcDist, 0, sizeof(unsigned short)*chf.spanCount);
@@ -1581,9 +1577,9 @@ bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf,
 		paintRectRegion(w-bw, w, 0, h, regionId|RC_BORDER_REG, chf, srcReg); regionId++;
 		paintRectRegion(0, w, 0, bh, regionId|RC_BORDER_REG, chf, srcReg); regionId++;
 		paintRectRegion(0, w, h-bh, h, regionId|RC_BORDER_REG, chf, srcReg); regionId++;
-
-		chf.borderSize = borderSize;
 	}
+
+	chf.borderSize = borderSize;
 	
 	int sId = -1;
 	while (level > 0)
@@ -1604,22 +1600,19 @@ bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf,
 			rcScopedTimer timerExpand(ctx, RC_TIMER_BUILD_REGIONS_EXPAND);
 
 			// Expand current regions until no empty connected cells found.
-			if (expandRegions(expandIters, level, chf, srcReg, srcDist, dstReg, dstDist, lvlStacks[sId], false) != srcReg)
-			{
-				rcSwap(srcReg, dstReg);
-				rcSwap(srcDist, dstDist);
-			}
+			expandRegions(expandIters, level, chf, srcReg, srcDist, lvlStacks[sId], false);
 		}
 		
 		{
 			rcScopedTimer timerFloor(ctx, RC_TIMER_BUILD_REGIONS_FLOOD);
 
 			// Mark new regions with IDs.
-			for (int j = 0; j<lvlStacks[sId].size(); j += 3)
+			for (int j = 0; j<lvlStacks[sId].size(); j++)
 			{
-				int x = lvlStacks[sId][j];
-				int y = lvlStacks[sId][j+1];
-				int i = lvlStacks[sId][j+2];
+				LevelStackEntry current = lvlStacks[sId][j];
+				int x = current.x;
+				int y = current.y;
+				int i = current.index;
 				if (i >= 0 && srcReg[i] == 0)
 				{
 					if (floodRegion(x, y, i, level, regionId, chf, srcReg, srcDist, stack))
@@ -1638,11 +1631,7 @@ bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf,
 	}
 	
 	// Expand current regions until no empty connected cells found.
-	if (expandRegions(expandIters*8, 0, chf, srcReg, srcDist, dstReg, dstDist, stack, true) != srcReg)
-	{
-		rcSwap(srcReg, dstReg);
-		rcSwap(srcDist, dstDist);
-	}
+	expandRegions(expandIters*8, 0, chf, srcReg, srcDist, stack, true);
 	
 	ctx->stopTimer(RC_TIMER_BUILD_REGIONS_WATERSHED);
 	
@@ -1709,9 +1698,9 @@ bool rcBuildLayerRegions(rcContext* ctx, rcCompactHeightfield& chf,
 		paintRectRegion(w-bw, w, 0, h, id|RC_BORDER_REG, chf, srcReg); id++;
 		paintRectRegion(0, w, 0, bh, id|RC_BORDER_REG, chf, srcReg); id++;
 		paintRectRegion(0, w, h-bh, h, id|RC_BORDER_REG, chf, srcReg); id++;
-		
-		chf.borderSize = borderSize;
 	}
+
+	chf.borderSize = borderSize;
 	
 	rcIntArray prev(256);
 	
@@ -1809,9 +1798,8 @@ bool rcBuildLayerRegions(rcContext* ctx, rcCompactHeightfield& chf,
 		rcScopedTimer timerFilter(ctx, RC_TIMER_BUILD_REGIONS_FILTER);
 
 		// Merge monotone regions to layers and remove small regions.
-		rcIntArray overlaps;
 		chf.maxRegions = id;
-		if (!mergeAndFilterLayerRegions(ctx, minRegionArea, chf.maxRegions, chf, srcReg, overlaps))
+		if (!mergeAndFilterLayerRegions(ctx, minRegionArea, chf.maxRegions, chf, srcReg))
 			return false;
 	}