added converting mesh of game object to Detour StatNavMesh (game object is defined by property "navmesh")

12 files changed, 444 insertions, 11 deletions

diff --git a/extern/recastnavigation/Detour/Include/DetourStatNavMeshBuilder.h b/extern/recastnavigation/Detour/Include/DetourStatNavMeshBuilder.h
index 3b8f7519b2f..03c79c429e7 100644
--- a/extern/recastnavigation/Detour/Include/DetourStatNavMeshBuilder.h
+++ b/extern/recastnavigation/Detour/Include/DetourStatNavMeshBuilder.h
@@ -26,4 +26,8 @@ bool dtCreateNavMeshData(const unsigned short* verts, const int nverts,
 						 const unsigned char* dtris, const int ndtris, 
 						 unsigned char** outData, int* outDataSize);
 
+int createBVTree(const unsigned short* verts, const int nverts,
+						const unsigned short* polys, const int npolys, const int nvp,
+						float cs, float ch, int nnodes, dtStatBVNode* nodes);
+
 #endif // DETOURSTATNAVMESHBUILDER_H
\ No newline at end of file
diff --git a/extern/recastnavigation/Detour/Source/DetourStatNavMeshBuilder.cpp b/extern/recastnavigation/Detour/Source/DetourStatNavMeshBuilder.cpp
index a2bfb94edbc..2ca455fb53d 100644
--- a/extern/recastnavigation/Detour/Source/DetourStatNavMeshBuilder.cpp
+++ b/extern/recastnavigation/Detour/Source/DetourStatNavMeshBuilder.cpp
@@ -160,7 +160,7 @@ static void subdivide(BVItem* items, int nitems, int imin, int imax, int& curNod
 	}
 }
 
-static int createBVTree(const unsigned short* verts, const int nverts,
+/*static*/ int createBVTree(const unsigned short* verts, const int nverts,
 						const unsigned short* polys, const int npolys, const int nvp,
 						float cs, float ch,
 						int nnodes, dtStatBVNode* nodes)
diff --git a/extern/recastnavigation/Recast/Include/Recast.h b/extern/recastnavigation/Recast/Include/Recast.h
index 5fe5447ab7c..f25ab47f8fa 100644
--- a/extern/recastnavigation/Recast/Include/Recast.h
+++ b/extern/recastnavigation/Recast/Include/Recast.h
@@ -496,5 +496,6 @@ bool rcBuildPolyMeshDetail(const rcPolyMesh& mesh, const rcCompactHeightfield& c
 
 bool rcMergePolyMeshDetails(rcPolyMeshDetail** meshes, const int nmeshes, rcPolyMeshDetail& mesh);
 
+bool buildMeshAdjacency(unsigned short* polys, const int npolys, const int nverts, const int vertsPerPoly);
 
 #endif // RECAST_H
diff --git a/extern/recastnavigation/Recast/Source/RecastMesh.cpp b/extern/recastnavigation/Recast/Source/RecastMesh.cpp
index 0bcca9314c6..45ed4a2fdc6 100644
--- a/extern/recastnavigation/Recast/Source/RecastMesh.cpp
+++ b/extern/recastnavigation/Recast/Source/RecastMesh.cpp
@@ -32,7 +32,7 @@ struct rcEdge
 	unsigned short poly[2];
 };
 
-static bool buildMeshAdjacency(unsigned short* polys, const int npolys,
+/*static */bool buildMeshAdjacency(unsigned short* polys, const int npolys,
 							   const int nverts, const int vertsPerPoly)
 {
 	// Based on code by Eric Lengyel from:
diff --git a/projectfiles_vc9/gameengine/converter/KX_converter.vcproj b/projectfiles_vc9/gameengine/converter/KX_converter.vcproj
index 474ecb36f46..8dc9b41b9bc 100644
--- a/projectfiles_vc9/gameengine/converter/KX_converter.vcproj
+++ b/projectfiles_vc9/gameengine/converter/KX_converter.vcproj
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="Windows-1252"?>

 <VisualStudioProject

 	ProjectType="Visual C++"

-	Version="9,00"

+	Version="9.00"

 	Name="KX_converter"

 	ProjectGUID="{F90BD995-FFA4-4B18-81E8-FA4322C939E8}"

 	RootNamespace="KX_converter"

@@ -119,7 +119,7 @@
 				Name="VCCLCompilerTool"

 				Optimization="2"

 				InlineFunctionExpansion="1"

-				AdditionalIncludeDirectories="..\..\..\..\build\msvc_9\intern\moto\include;..\..\..\..\build\msvc_9\intern\string\include;..\..\..\..\build\msvc_9\intern\guardedalloc\include;..\..\..\..\build\msvc_9\intern\soundsystem\include;..\..\..\..\build\msvc_9\extern\bullet\include;..\..\..\..\build\msvc_9\extern\glew\include;..\..\..\..\build\msvc_9\extern\solid\include;..\..\..\..\lib\windows\python\include\python3.1;..\..\..\source\blender;..\..\..\source\blender\imbuf;..\..\..\source\blender\blenlib;..\..\..\source\blender\include;..\..\..\source\blender\blenkernel;..\..\..\source\blender\makesdna;..\..\..\source\blender\blenloader;..\..\..\source\blender\makesrna;..\..\..\source\kernel\gen_system;..\..\..\source\gameengine\Ketsji;..\..\..\source\gameengine\physics;..\..\..\source\gameengine\rasterizer;..\..\..\source\gameengine\network;..\..\..\source\gameengine\gamelogic;..\..\..\source\gameengine\expressions;..\..\..\source\gameengine\physics\ode;..\..\..\source\gameengine\SceneGraph;..\..\..\source\gameengine\physics\sumo;..\..\..\source\gameengine\physics\BlOde;..\..\..\source\gameengine\physics\dummy;..\..\..\source\gameengine\BlenderRoutines;..\..\..\source\gameengine\ketsji\kxnetwork;..\..\..\source\gameengine\physics\common;..\..\..\source\gameengine\soundsystem\snd_openal;..\..\..\source\gameengine\rasterizer\ras_openglrasterizer;..\..\..\source\gameengine\physics\sumo\fuzzics\include;..\..\..\source\gameengine\soundsystem\snd_blenderwavecache;..\..\..\source\sumo\include;..\..\..\source\sumo\Fuzzics\include;..\..\..\source\gameengine\physics\bullet;..\..\..\source\blender\gpu;..\..\..\source\blender\windowmanager;..\..\..\intern\audaspace\intern;..\..\..\source\blender\ikplugin"

+				AdditionalIncludeDirectories="..\..\..\..\build\msvc_9\intern\moto\include;..\..\..\..\build\msvc_9\intern\string\include;..\..\..\..\build\msvc_9\intern\guardedalloc\include;..\..\..\..\build\msvc_9\intern\soundsystem\include;..\..\..\..\build\msvc_9\extern\bullet\include;..\..\..\..\build\msvc_9\extern\glew\include;..\..\..\..\build\msvc_9\extern\recastnavigation\Detour\Include;..\..\..\..\build\msvc_9\extern\recastnavigation\Recast\Include;..\..\..\..\build\msvc_9\extern\solid\include;..\..\..\..\lib\windows\python\include\python3.1;..\..\..\source\blender;..\..\..\source\blender\imbuf;..\..\..\source\blender\blenlib;..\..\..\source\blender\include;..\..\..\source\blender\blenkernel;..\..\..\source\blender\makesdna;..\..\..\source\blender\blenloader;..\..\..\source\blender\makesrna;..\..\..\source\kernel\gen_system;..\..\..\source\gameengine\Ketsji;..\..\..\source\gameengine\physics;..\..\..\source\gameengine\rasterizer;..\..\..\source\gameengine\network;..\..\..\source\gameengine\gamelogic;..\..\..\source\gameengine\expressions;..\..\..\source\gameengine\physics\ode;..\..\..\source\gameengine\SceneGraph;..\..\..\source\gameengine\physics\sumo;..\..\..\source\gameengine\physics\BlOde;..\..\..\source\gameengine\physics\dummy;..\..\..\source\gameengine\BlenderRoutines;..\..\..\source\gameengine\ketsji\kxnetwork;..\..\..\source\gameengine\physics\common;..\..\..\source\gameengine\soundsystem\snd_openal;..\..\..\source\gameengine\rasterizer\ras_openglrasterizer;..\..\..\source\gameengine\physics\sumo\fuzzics\include;..\..\..\source\gameengine\soundsystem\snd_blenderwavecache;..\..\..\source\sumo\include;..\..\..\source\sumo\Fuzzics\include;..\..\..\source\gameengine\physics\bullet;..\..\..\source\blender\gpu;..\..\..\source\blender\windowmanager;..\..\..\intern\audaspace\intern;..\..\..\source\blender\ikplugin"

 				PreprocessorDefinitions="NDEBUG,WIN32,_LIB,USE_SUMO_SOLID"

 				StringPooling="true"

 				RuntimeLibrary="0"

@@ -195,7 +195,7 @@
 			<Tool

 				Name="VCCLCompilerTool"

 				Optimization="0"

-				AdditionalIncludeDirectories="..\..\..\..\build\msvc_9\intern\moto\include;..\..\..\..\build\msvc_9\intern\string\include;..\..\..\..\build\msvc_9\intern\guardedalloc\include;..\..\..\..\build\msvc_9\intern\soundsystem\include;..\..\..\..\build\msvc_9\extern\bullet\include;..\..\..\..\build\msvc_9\extern\glew\include;..\..\..\..\build\msvc_9\extern\solid\include;..\..\..\..\lib\windows\python\include\python3.1;..\..\..\source\blender;..\..\..\source\blender\imbuf;..\..\..\source\blender\blenlib;..\..\..\source\blender\include;..\..\..\source\blender\blenkernel;..\..\..\source\blender\makesdna;..\..\..\source\blender\blenloader;..\..\..\source\blender\makesrna;..\..\..\source\kernel\gen_system;..\..\..\source\gameengine\Ketsji;..\..\..\source\gameengine\physics;..\..\..\source\gameengine\rasterizer;..\..\..\source\gameengine\network;..\..\..\source\gameengine\gamelogic;..\..\..\source\gameengine\expressions;..\..\..\source\gameengine\physics\ode;..\..\..\source\gameengine\SceneGraph;..\..\..\source\gameengine\physics\sumo;..\..\..\source\gameengine\physics\BlOde;..\..\..\source\gameengine\physics\dummy;..\..\..\source\gameengine\BlenderRoutines;..\..\..\source\gameengine\ketsji\kxnetwork;..\..\..\source\gameengine\physics\common;..\..\..\source\gameengine\soundsystem\snd_openal;..\..\..\source\gameengine\rasterizer\ras_openglrasterizer;..\..\..\source\gameengine\physics\sumo\fuzzics\include;..\..\..\source\gameengine\soundsystem\snd_blenderwavecache;..\..\..\source\sumo\include;..\..\..\source\sumo\Fuzzics\include;..\..\..\source\gameengine\physics\bullet;..\..\..\source\blender\gpu;..\..\..\source\blender\windowmanager;..\..\..\intern\audaspace\intern;..\..\..\source\blender\ikplugin"

+				AdditionalIncludeDirectories="..\..\..\..\build\msvc_9\intern\moto\include;..\..\..\..\build\msvc_9\intern\string\include;..\..\..\..\build\msvc_9\intern\guardedalloc\include;..\..\..\..\build\msvc_9\intern\soundsystem\include;..\..\..\..\build\msvc_9\extern\bullet\include;..\..\..\..\build\msvc_9\extern\glew\include;..\..\..\..\build\msvc_9\extern\recastnavigation\Detour\Include;..\..\..\..\build\msvc_9\extern\recastnavigation\Recast\Include;..\..\..\..\build\msvc_9\extern\solid\include;..\..\..\..\lib\windows\python\include\python3.1;..\..\..\source\blender;..\..\..\source\blender\imbuf;..\..\..\source\blender\blenlib;..\..\..\source\blender\include;..\..\..\source\blender\blenkernel;..\..\..\source\blender\makesdna;..\..\..\source\blender\blenloader;..\..\..\source\blender\makesrna;..\..\..\source\kernel\gen_system;..\..\..\source\gameengine\Ketsji;..\..\..\source\gameengine\physics;..\..\..\source\gameengine\rasterizer;..\..\..\source\gameengine\network;..\..\..\source\gameengine\gamelogic;..\..\..\source\gameengine\expressions;..\..\..\source\gameengine\physics\ode;..\..\..\source\gameengine\SceneGraph;..\..\..\source\gameengine\physics\sumo;..\..\..\source\gameengine\physics\BlOde;..\..\..\source\gameengine\physics\dummy;..\..\..\source\gameengine\BlenderRoutines;..\..\..\source\gameengine\ketsji\kxnetwork;..\..\..\source\gameengine\physics\common;..\..\..\source\gameengine\soundsystem\snd_openal;..\..\..\source\gameengine\rasterizer\ras_openglrasterizer;..\..\..\source\gameengine\physics\sumo\fuzzics\include;..\..\..\source\gameengine\soundsystem\snd_blenderwavecache;..\..\..\source\sumo\include;..\..\..\source\sumo\Fuzzics\include;..\..\..\source\gameengine\physics\bullet;..\..\..\source\blender\gpu;..\..\..\source\blender\windowmanager;..\..\..\intern\audaspace\intern;..\..\..\source\blender\ikplugin"

 				PreprocessorDefinitions="WIN32,_LIB,_DEBUG"

 				BasicRuntimeChecks="3"

 				RuntimeLibrary="1"

diff --git a/projectfiles_vc9/gameengine/ketsji/KX_ketsji.vcproj b/projectfiles_vc9/gameengine/ketsji/KX_ketsji.vcproj
index 77a2800335c..9e3316846e4 100644
--- a/projectfiles_vc9/gameengine/ketsji/KX_ketsji.vcproj
+++ b/projectfiles_vc9/gameengine/ketsji/KX_ketsji.vcproj
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="Windows-1252"?>

 <VisualStudioProject

 	ProjectType="Visual C++"

-	Version="9,00"

+	Version="9.00"

 	Name="KX_ketsji"

 	ProjectGUID="{E645CC32-4823-463E-82F0-46ADDE664018}"

 	RootNamespace="KX_ketsji"

@@ -194,7 +194,7 @@
 			<Tool

 				Name="VCCLCompilerTool"

 				Optimization="0"

-				AdditionalIncludeDirectories="..\..\..\..\build\msvc_9\intern\string\include;..\..\..\..\build\msvc_9\intern\moto\include;..\..\..\..\build\msvc_9\intern\soundsystem\include;..\..\..\..\build\msvc_9\intern\guardedalloc\include;..\..\..\..\build\msvc_9\extern\bullet\include;..\..\..\..\build\msvc_9\extern\solid\include;..\..\..\..\build\msvc_9\extern\glew\include;..\..\..\..\lib\windows\python\include\python3.1;..\..\..\..\lib\windows\sdl\include;..\..\..\source\blender\imbuf;..\..\..\source\blender\include;..\..\..\source\blender\blenlib;..\..\..\source\blender\python;..\..\..\source\blender\python\generic;..\..\..\source\blender\makesdna;..\..\..\source\blender\blenloader;..\..\..\source\blender\blenkernel;..\..\..\source\kernel\gen_system;..\..\..\source\gameengine\physics;..\..\..\source\gameengine\rasterizer;..\..\..\source\gameengine\network;..\..\..\source\gameengine\Converter;..\..\..\source\gameengine\gamelogic;..\..\..\source\gameengine\scenegraph;..\..\..\source\gameengine\expressions;..\..\..\source\gameengine\physics\sumo;..\..\..\source\gameengine\physics\dummy;..\..\..\source\gameengine\physics\BlOde;..\..\..\source\gameengine\ketsji\kxnetwork;..\..\..\source\gameengine\physics\common;..\..\..\source\gameengine\physics\sumo\include;..\..\..\source\gameengine\physics\common\dummy;..\..\..\source\gameengine\Rasterizer\RAS_OpenGLRasterizer;..\..\..\source\gameengine\physics\sumo\fuzzics\include;..\..\..\source\sumo\include;..\..\..\source\sumo\fuzzics\include;..\..\..\source\gameengine\physics\bullet;..\..\..\source\blender\python\api2_2x;..\..\..\source\blender\gpu;..\..\..\intern\audaspace\intern"

+				AdditionalIncludeDirectories="..\..\..\..\build\msvc_9\intern\string\include;..\..\..\..\build\msvc_9\intern\moto\include;..\..\..\..\build\msvc_9\intern\soundsystem\include;..\..\..\..\build\msvc_9\intern\guardedalloc\include;..\..\..\..\build\msvc_9\extern\bullet\include;..\..\..\..\build\msvc_9\extern\solid\include;..\..\..\..\build\msvc_9\extern\recastnavigation\Detour\Include;..\..\..\..\build\msvc_9\extern\recastnavigation\Recast\Include;..\..\..\..\build\msvc_9\extern\glew\include;..\..\..\..\lib\windows\python\include\python3.1;..\..\..\..\lib\windows\sdl\include;..\..\..\source\blender\imbuf;..\..\..\source\blender\include;..\..\..\source\blender\blenlib;..\..\..\source\blender\python;..\..\..\source\blender\python\generic;..\..\..\source\blender\makesdna;..\..\..\source\blender\blenloader;..\..\..\source\blender\blenkernel;..\..\..\source\kernel\gen_system;..\..\..\source\gameengine\physics;..\..\..\source\gameengine\rasterizer;..\..\..\source\gameengine\network;..\..\..\source\gameengine\Converter;..\..\..\source\gameengine\gamelogic;..\..\..\source\gameengine\scenegraph;..\..\..\source\gameengine\expressions;..\..\..\source\gameengine\physics\sumo;..\..\..\source\gameengine\physics\dummy;..\..\..\source\gameengine\physics\BlOde;..\..\..\source\gameengine\ketsji\kxnetwork;..\..\..\source\gameengine\physics\common;..\..\..\source\gameengine\physics\sumo\include;..\..\..\source\gameengine\physics\common\dummy;..\..\..\source\gameengine\Rasterizer\RAS_OpenGLRasterizer;..\..\..\source\gameengine\physics\sumo\fuzzics\include;..\..\..\source\sumo\include;..\..\..\source\sumo\fuzzics\include;..\..\..\source\gameengine\physics\bullet;..\..\..\source\blender\python\api2_2x;..\..\..\source\blender\gpu;..\..\..\intern\audaspace\intern"

 				PreprocessorDefinitions="JANCODEPANCO;WIN32;_LIB;EXP_PYTHON_EMBEDDING;_DEBUG;USE_SUMO_SOLID;WITH_GLEXT;GLEW_STATIC;WITH_FFMPEG"

 				BasicRuntimeChecks="3"

 				RuntimeLibrary="1"

@@ -271,7 +271,7 @@
 				Name="VCCLCompilerTool"

 				Optimization="2"

 				InlineFunctionExpansion="1"

-				AdditionalIncludeDirectories="..\..\..\..\build\msvc_9\intern\string\include;..\..\..\..\build\msvc_9\intern\moto\include;..\..\..\..\build\msvc_9\intern\soundsystem\include;..\..\..\..\build\msvc_9\intern\guardedalloc\include;..\..\..\..\build\msvc_9\extern\bullet\include;..\..\..\..\build\msvc_9\extern\solid\include;..\..\..\..\build\msvc_9\extern\glew\include;..\..\..\..\lib\windows\python\include\python3.1;..\..\..\..\lib\windows\sdl\include;..\..\..\source\blender\imbuf;..\..\..\source\blender\include;..\..\..\source\blender\blenlib;..\..\..\source\blender\python;..\..\..\source\blender\python\generic;..\..\..\source\blender\makesdna;..\..\..\source\blender\blenloader;..\..\..\source\blender\blenkernel;..\..\..\source\kernel\gen_system;..\..\..\source\gameengine\physics;..\..\..\source\gameengine\rasterizer;..\..\..\source\gameengine\network;..\..\..\source\gameengine\Converter;..\..\..\source\gameengine\gamelogic;..\..\..\source\gameengine\scenegraph;..\..\..\source\gameengine\expressions;..\..\..\source\gameengine\physics\sumo;..\..\..\source\gameengine\physics\dummy;..\..\..\source\gameengine\physics\BlOde;..\..\..\source\gameengine\ketsji\kxnetwork;..\..\..\source\gameengine\physics\common;..\..\..\source\gameengine\physics\sumo\include;..\..\..\source\gameengine\physics\common\dummy;..\..\..\source\gameengine\Rasterizer\RAS_OpenGLRasterizer;..\..\..\source\gameengine\physics\sumo\fuzzics\include;..\..\..\source\sumo\include;..\..\..\source\sumo\fuzzics\include;..\..\..\source\gameengine\physics\bullet;..\..\..\source\blender\python\api2_2x;..\..\..\source\blender\gpu;..\..\..\intern\audaspace\intern"

+				AdditionalIncludeDirectories="..\..\..\..\build\msvc_9\intern\string\include;..\..\..\..\build\msvc_9\intern\moto\include;..\..\..\..\build\msvc_9\intern\soundsystem\include;..\..\..\..\build\msvc_9\intern\guardedalloc\include;..\..\..\..\build\msvc_9\extern\bullet\include;..\..\..\..\build\msvc_9\extern\solid\include;..\..\..\..\build\msvc_9\extern\recastnavigation\Detour\Include;..\..\..\..\build\msvc_9\extern\recastnavigation\Recast\Include;..\..\..\..\build\msvc_9\extern\glew\include;..\..\..\..\lib\windows\python\include\python3.1;..\..\..\..\lib\windows\sdl\include;..\..\..\source\blender\imbuf;..\..\..\source\blender\include;..\..\..\source\blender\blenlib;..\..\..\source\blender\python;..\..\..\source\blender\python\generic;..\..\..\source\blender\makesdna;..\..\..\source\blender\blenloader;..\..\..\source\blender\blenkernel;..\..\..\source\kernel\gen_system;..\..\..\source\gameengine\physics;..\..\..\source\gameengine\rasterizer;..\..\..\source\gameengine\network;..\..\..\source\gameengine\Converter;..\..\..\source\gameengine\gamelogic;..\..\..\source\gameengine\scenegraph;..\..\..\source\gameengine\expressions;..\..\..\source\gameengine\physics\sumo;..\..\..\source\gameengine\physics\dummy;..\..\..\source\gameengine\physics\BlOde;..\..\..\source\gameengine\ketsji\kxnetwork;..\..\..\source\gameengine\physics\common;..\..\..\source\gameengine\physics\sumo\include;..\..\..\source\gameengine\physics\common\dummy;..\..\..\source\gameengine\Rasterizer\RAS_OpenGLRasterizer;..\..\..\source\gameengine\physics\sumo\fuzzics\include;..\..\..\source\sumo\include;..\..\..\source\sumo\fuzzics\include;..\..\..\source\gameengine\physics\bullet;..\..\..\source\blender\python\api2_2x;..\..\..\source\blender\gpu;..\..\..\intern\audaspace\intern"

 				PreprocessorDefinitions="NDEBUG;WIN32;_LIB;USE_SUMO_SOLID;WITH_GLEXT;GLEW_STATIC;WITH_FFMPEG"

 				StringPooling="true"

 				RuntimeLibrary="0"

@@ -552,6 +552,10 @@
 				>

 			</File>

 			<File

+				RelativePath="..\..\..\source\gameengine\Ketsji\KX_Pathfinder.cpp"

+				>

+			</File>

+			<File

 				RelativePath="..\..\..\source\gameengine\Ketsji\KX_PhysicsObjectWrapper.cpp"

 				>

 			</File>

@@ -857,6 +861,10 @@
 				>

 			</File>

 			<File

+				RelativePath="..\..\..\source\gameengine\Ketsji\KX_Pathfinder.h"

+				>

+			</File>

+			<File

 				RelativePath="..\..\..\source\gameengine\Ketsji\KX_PhysicsEngineEnums.h"

 				>

 			</File>

diff --git a/source/gameengine/Converter/BL_BlenderDataConversion.cpp b/source/gameengine/Converter/BL_BlenderDataConversion.cpp
index 4a2aa3695fa..09c7c8eeed9 100644
--- a/source/gameengine/Converter/BL_BlenderDataConversion.cpp
+++ b/source/gameengine/Converter/BL_BlenderDataConversion.cpp
@@ -172,6 +172,8 @@ extern "C" {
 #include "BL_ArmatureObject.h"
 #include "BL_DeformableGameObject.h"
 
+#include "KX_Pathfinder.h"
+
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -2669,6 +2671,25 @@ void BL_ConvertBlenderObjects(struct Main* maggie,
 
 	logicbrick_conversionlist->Release();
 	
+	//create navigation mesh
+	KX_Pathfinder* pathfinder = kxscene->GetPathfinder();
+	if (pathfinder)
+	{
+		for ( i=0;i<objectlist->GetCount();i++)
+		{
+			KX_GameObject* gameobj = static_cast<KX_GameObject*>(objectlist->GetValue(i));
+			struct Object* blenderobject = gameobj->GetBlenderObject();
+			if (blenderobject->type==OB_MESH && gameobj->GetProperty("navmesh") && gameobj->GetMeshCount()>0)
+			{
+				RAS_MeshObject* meshobj = gameobj->GetMesh(0);
+				pathfinder->createFromMesh(meshobj);
+				gameobj->SetVisible(0, 0);
+			}
+		}		
+	}
+	
+
+	
 	// Calculate the scene btree -
 	// too slow - commented out.
 	//kxscene->SetNodeTree(tf.MakeTree());
diff --git a/source/gameengine/Ketsji/KX_KetsjiEngine.cpp b/source/gameengine/Ketsji/KX_KetsjiEngine.cpp
index 71cd8b36045..52a3471f481 100644
--- a/source/gameengine/Ketsji/KX_KetsjiEngine.cpp
+++ b/source/gameengine/Ketsji/KX_KetsjiEngine.cpp
@@ -75,6 +75,8 @@
 #include "DNA_world_types.h"
 #include "DNA_scene_types.h"
 
+#include "KX_Pathfinder.h"
+
 // If define: little test for Nzc: guarded drawing. If the canvas is
 // not valid, skip rendering this frame.
 //#define NZC_GUARDED_OUTPUT
@@ -1323,6 +1325,9 @@ void KX_KetsjiEngine::RenderFrame(KX_Scene* scene, KX_Camera* cam)
 	
 	if (scene->GetPhysicsEnvironment())
 		scene->GetPhysicsEnvironment()->debugDrawWorld();
+
+	if (scene->GetPathfinder())
+		scene->GetPathfinder()->debugDraw();
 }
 /*
 To run once per scene
diff --git a/source/gameengine/Ketsji/KX_Pathfinder.cpp b/source/gameengine/Ketsji/KX_Pathfinder.cpp
new file mode 100644
index 00000000000..df9d9cb4869
--- /dev/null
+++ b/source/gameengine/Ketsji/KX_Pathfinder.cpp
@@ -0,0 +1,332 @@
+/**
+* $Id: 
+* ***** BEGIN GPL LICENSE BLOCK *****
+*
+* This program is free software; you can redistribute it and/or
+* modify it under the terms of the GNU General Public License
+* as published by the Free Software Foundation; either version 2
+* of the License, or (at your option) any later version.
+*
+* This program is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License
+* along with this program; if not, write to the Free Software Foundation,
+* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+*
+* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
+* All rights reserved.
+*
+* The Original Code is: all of this file.
+*
+* Contributor(s): none yet.
+*
+* ***** END GPL LICENSE BLOCK *****
+*/
+
+#include "KX_Pathfinder.h"
+#include "RAS_MeshObject.h"
+
+#include "DNA_mesh_types.h"
+#include "DNA_meshdata_types.h"
+extern "C" {
+#include "BKE_scene.h"
+#include "BKE_customdata.h"
+#include "BKE_cdderivedmesh.h"
+#include "BKE_DerivedMesh.h"
+}
+#include "KX_PythonInit.h"
+#include "Recast.h"
+#include "DetourStatNavMeshBuilder.h"
+
+static void calcMeshBounds(const float* vert, int nverts, float* bmin, float* bmax)
+{
+	bmin[0] = bmax[0] = vert[0];
+	bmin[1] = bmax[1] = vert[1];
+	bmin[2] = bmax[2] = vert[2];
+	for (int i=1; i<nverts; i++)
+	{
+		if (bmin[0]>vert[i+0]) bmin[0] = vert[i+0];
+		if (bmin[1]>vert[i+1]) bmin[1] = vert[i+1];
+		if (bmin[2]>vert[i+2]) bmin[2] = vert[i+2];
+
+		if (bmax[0]<vert[i+0]) bmax[0] = vert[i+0];
+		if (bmax[1]<vert[i+1]) bmax[2] = vert[i+1];
+		if (bmax[2]<vert[i+2]) bmax[1] = vert[i+2];
+	}
+}
+
+KX_Pathfinder::KX_Pathfinder()
+:	m_navMesh(NULL)
+{
+	
+}
+
+KX_Pathfinder::~KX_Pathfinder()
+{
+	if (m_navMesh)
+		delete m_navMesh;
+}
+
+bool KX_Pathfinder::buildVertIndArrays(RAS_MeshObject* meshobj, float *&vertices, int& nverts,
+									   unsigned short* &faces, int& npolys)
+{
+	if (!meshobj || meshobj->HasColliderPolygon()==false) 
+	{
+		return false;
+	}
+
+	DerivedMesh* dm = CDDM_from_mesh(meshobj->GetMesh(), NULL);
+
+	MVert *mvert = dm->getVertArray(dm);
+	MFace *mface = dm->getFaceArray(dm);
+	int numpolys = dm->getNumFaces(dm);
+	int numverts = dm->getNumVerts(dm);
+	int* index = (int*)dm->getFaceDataArray(dm, CD_ORIGINDEX);
+	MTFace *tface = (MTFace *)dm->getFaceDataArray(dm, CD_MTFACE);
+
+	vector<bool> vert_tag_array(numverts, false);
+	vector<size_t> vert_remap_array(numverts, 0);
+
+	// Tag verts we're using
+	for (int p2=0; p2<numpolys; p2++)
+	{
+		MFace* mf = &mface[p2];
+		RAS_Polygon* poly= meshobj->GetPolygon((index)? index[p2]: p2);
+		// only add polygons that have the collision flag set
+		if (poly->IsCollider())
+		{
+			if (vert_tag_array[mf->v1]==false)
+			{vert_tag_array[mf->v1]= true;vert_remap_array[mf->v1]= (size_t)nverts;nverts++;}
+			if (vert_tag_array[mf->v2]==false)
+			{vert_tag_array[mf->v2]= true;vert_remap_array[mf->v2]= (size_t)nverts;nverts++;}
+			if (vert_tag_array[mf->v3]==false)
+			{vert_tag_array[mf->v3]= true;vert_remap_array[mf->v3]= (size_t)nverts;nverts++;}
+			if (mf->v4 && vert_tag_array[mf->v4]==false)
+			{vert_tag_array[mf->v4]= true;vert_remap_array[mf->v4]= (size_t)nverts;nverts++;}
+			npolys += (mf->v4 ? 2:1); /* a quad or a tri */
+		}
+	}
+
+	if (nverts >= 0xffff)
+		return false;
+
+	vertices = new float[nverts*3];
+	faces = new unsigned short[npolys*3*2];
+	memset(faces,0xff,sizeof(unsigned short)*3*2*npolys);
+	float *bt= vertices;
+	unsigned short *tri_pt= faces;
+
+	for (int p2=0; p2<numpolys; p2++)
+	{
+		MFace* mf = &mface[p2];
+		MTFace* tf = (tface) ? &tface[p2] : NULL;
+		RAS_Polygon* poly= meshobj->GetPolygon((index)? index[p2]: p2);
+		// only add polygons that have the collisionflag set
+		if (poly->IsCollider())
+		{
+			MVert *v1= &mvert[mf->v1];
+			MVert *v2= &mvert[mf->v2];
+			MVert *v3= &mvert[mf->v3];
+
+			// the face indicies
+			tri_pt[0]= vert_remap_array[mf->v1];
+			tri_pt[1]= vert_remap_array[mf->v2];
+			tri_pt[2]= vert_remap_array[mf->v3];
+			tri_pt= tri_pt+6;
+
+			// the vertex location
+			if (vert_tag_array[mf->v1]==true) { /* *** v1 *** */
+				vert_tag_array[mf->v1]= false;
+				*bt++ = v1->co[0];
+				*bt++ = v1->co[1];
+				*bt++ = v1->co[2];
+			}
+			if (vert_tag_array[mf->v2]==true) { /* *** v2 *** */
+				vert_tag_array[mf->v2]= false;
+				*bt++ = v2->co[0];
+				*bt++ = v2->co[1];
+				*bt++ = v2->co[2];
+			}
+			if (vert_tag_array[mf->v3]==true) { /* *** v3 *** */
+				vert_tag_array[mf->v3]= false;
+				*bt++ = v3->co[0];	
+				*bt++ = v3->co[1];
+				*bt++ = v3->co[2];
+			}
+
+			if (mf->v4)
+			{
+				MVert *v4= &mvert[mf->v4];
+
+				tri_pt[0]= vert_remap_array[mf->v1];
+				tri_pt[1]= vert_remap_array[mf->v3];
+				tri_pt[2]= vert_remap_array[mf->v4];
+				tri_pt= tri_pt+3;
+
+				// the vertex location
+				if (vert_tag_array[mf->v4]==true) { /* *** v4 *** */
+					vert_tag_array[mf->v4]= false;
+					*bt++ = v4->co[0];
+					*bt++ = v4->co[1];	
+					*bt++ = v4->co[2];
+				}
+			}
+		}
+	}
+
+	dm->release(dm);
+	dm = NULL;
+	const int vertsPerPoly = 3;
+	buildMeshAdjacency(faces, npolys, nverts, vertsPerPoly);
+	return true;
+}
+
+bool KX_Pathfinder::createFromMesh(RAS_MeshObject* meshobj)
+{
+	float* vertices = NULL;
+	unsigned short* faces = NULL;
+	int nverts = 0, npolys = 0;	
+	if (!buildVertIndArrays(meshobj, vertices, nverts, faces, npolys))
+		return false;
+	
+	
+	int ndtris = npolys;
+	int uniqueDetailVerts = 0;
+	float cs = 0.2f;
+
+	if (!nverts || !npolys)
+		return false;
+
+	float bmin[3], bmax[3];
+	calcMeshBounds(vertices, nverts, bmin, bmax);
+
+	// Calculate data size
+	const int headerSize = sizeof(dtStatNavMeshHeader);
+	const int vertsSize = sizeof(float)*3*nverts;
+	const int polysSize = sizeof(dtStatPoly)*npolys;
+	const int nodesSize = sizeof(dtStatBVNode)*npolys*2;
+	const int detailMeshesSize = sizeof(dtStatPolyDetail)*npolys;
+	const int detailVertsSize = sizeof(float)*3*uniqueDetailVerts;
+	const int detailTrisSize = sizeof(unsigned char)*4*ndtris;
+
+	const int dataSize = headerSize + vertsSize + polysSize + nodesSize +
+		detailMeshesSize + detailVertsSize + detailTrisSize;
+	unsigned char* data = new unsigned char[dataSize];
+	if (!data)
+		return false;
+	memset(data, 0, dataSize);
+
+	unsigned char* d = data;
+	dtStatNavMeshHeader* header = (dtStatNavMeshHeader*)d; d += headerSize;
+	float* navVerts = (float*)d; d += vertsSize;
+	dtStatPoly* navPolys = (dtStatPoly*)d; d += polysSize;
+	dtStatBVNode* navNodes = (dtStatBVNode*)d; d += nodesSize;
+	dtStatPolyDetail* navDMeshes = (dtStatPolyDetail*)d; d += detailMeshesSize;
+	float* navDVerts = (float*)d; d += detailVertsSize;
+	unsigned char* navDTris = (unsigned char*)d; d += detailTrisSize;
+
+	// Store header
+	header->magic = DT_STAT_NAVMESH_MAGIC;
+	header->version = DT_STAT_NAVMESH_VERSION;
+	header->npolys = npolys;
+	header->nverts = nverts;
+	header->cs = cs;
+	header->bmin[0] = bmin[0];
+	header->bmin[1] = bmin[1];
+	header->bmin[2] = bmin[2];
+	header->bmax[0] = bmax[0];
+	header->bmax[1] = bmax[1];
+	header->bmax[2] = bmax[2];
+	header->ndmeshes = npolys;
+	header->ndverts = uniqueDetailVerts;
+	header->ndtris = ndtris;
+
+	memcpy(navVerts, vertices, nverts*3*sizeof(float));
+
+	// Store polygons
+	const int nvp = 3;
+	const unsigned short* src = faces;
+	for (int i = 0; i < npolys; ++i)
+	{
+		dtStatPoly* p = &navPolys[i];
+		p->nv = 0;
+		for (int j = 0; j < nvp; ++j)
+		{
+			p->v[j] = src[j];
+			p->n[j] = src[nvp+j]+1;
+			p->nv++;
+		}
+		src += nvp*2;
+	}
+
+	//quantize vertex pos to creating BVTree 
+	unsigned short* vertsi = new unsigned short[3*nverts];
+	float* vf = vertices;
+	unsigned short* vi = vertsi;
+	float ics = 1.f/cs;
+	for (int i=0; i<nverts*3; i++)
+	{
+		vi[i] = static_cast<unsigned short>(vf[i]*ics);
+	}
+	header->nnodes = createBVTree(vertsi, nverts, faces, npolys, nvp,
+								cs, cs, npolys*2, navNodes);
+	
+	//create fake detail meshes
+	unsigned short vbase = 0;
+	for (int i = 0; i < npolys; ++i)
+	{
+		dtStatPolyDetail& dtl = navDMeshes[i];
+		dtl.vbase = 0;
+		dtl.nverts = 0;
+		dtl.tbase = i;
+		dtl.ntris = 1;
+	}
+	// setup triangles.
+	unsigned char* tri = navDTris;
+	const unsigned short* face = faces;
+	for(size_t i=0; i<ndtris; i++)
+	{
+		for (size_t j=0; j<3; j++)
+			tri[4*i+j] = j;
+	}
+
+	m_navMesh = new dtStatNavMesh;
+	m_navMesh->init(data, dataSize, true);
+
+	delete [] vertices;
+	delete [] faces;
+	
+	return true;
+}
+
+void KX_Pathfinder::debugDraw()
+{
+	if (!m_navMesh)
+		return;
+	MT_Vector3 color(0.f, 0.f, 0.f);
+
+	for (int i = 0; i < m_navMesh->getPolyDetailCount(); ++i)
+	{
+		const dtStatPoly* p = m_navMesh->getPoly(i);
+		const dtStatPolyDetail* pd = m_navMesh->getPolyDetail(i);
+
+		for (int j = 0; j < pd->ntris; ++j)
+		{
+			const unsigned char* t = m_navMesh->getDetailTri(pd->tbase+j);
+			MT_Vector3 tri[3];
+			for (int k = 0; k < 3; ++k)
+			{
+				if (t[k] < p->nv)
+					tri[k].setValue(m_navMesh->getVertex(p->v[t[k]]));
+				else
+					tri[k].setValue(m_navMesh->getDetailVertex(pd->vbase+(t[k]-p->nv)));
+			}
+
+			for (int k=0; k<3; k++)
+				KX_RasterizerDrawDebugLine(tri[k], tri[(k+1)%3], color);
+		}
+	}
+}
diff --git a/source/gameengine/Ketsji/KX_Pathfinder.h b/source/gameengine/Ketsji/KX_Pathfinder.h
new file mode 100644
index 00000000000..587f5af2b4f
--- /dev/null
+++ b/source/gameengine/Ketsji/KX_Pathfinder.h
@@ -0,0 +1,51 @@
+/**
+* $Id: 
+*
+* ***** BEGIN GPL LICENSE BLOCK *****
+*
+* This program is free software; you can redistribute it and/or
+* modify it under the terms of the GNU General Public License
+* as published by the Free Software Foundation; either version 2
+* of the License, or (at your option) any later version.
+*
+* This program is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License
+* along with this program; if not, write to the Free Software Foundation,
+* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+*
+* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
+* All rights reserved.
+*
+* The Original Code is: all of this file.
+*
+* Contributor(s): none yet.
+*
+* ***** END GPL LICENSE BLOCK *****
+*/
+#ifndef __KX_PATHFINDER
+#define __KX_PATHFINDER
+#include "DetourStatNavMesh.h"
+#include <vector>
+
+class RAS_MeshObject;
+
+class KX_Pathfinder
+{
+public:
+	KX_Pathfinder();
+	~KX_Pathfinder();
+	bool createFromMesh(RAS_MeshObject* meshobj);
+	void debugDraw();
+protected:
+	bool buildVertIndArrays(RAS_MeshObject* meshobj, float *&vertices, int& nverts,
+							unsigned short *&faces, int& npolys);
+
+	dtStatNavMesh* m_navMesh;
+};
+
+#endif //__KX_PATHFINDER
+
diff --git a/source/gameengine/Ketsji/KX_Scene.cpp b/source/gameengine/Ketsji/KX_Scene.cpp
index ebd0fa5c525..4f2884ee751 100644
--- a/source/gameengine/Ketsji/KX_Scene.cpp
+++ b/source/gameengine/Ketsji/KX_Scene.cpp
@@ -94,7 +94,7 @@
 #endif
 
 #include "KX_Light.h"
-
+#include "KX_Pathfinder.h"
 #include <stdio.h>
 
 void* KX_SceneReplicationFunc(SG_IObject* node,void* gameobj,void* scene)
@@ -150,7 +150,8 @@ KX_Scene::KX_Scene(class SCA_IInputDevice* keyboarddevice,
 	m_networkDeviceInterface(ndi),
 	m_active_camera(NULL),
 	m_ueberExecutionPriority(0),
-	m_blenderScene(scene)
+	m_blenderScene(scene),
+	m_pathfinder(NULL)
 {
 	m_suspendedtime = 0.0;
 	m_suspendeddelta = 0.0;
@@ -210,6 +211,8 @@ KX_Scene::KX_Scene(class SCA_IInputDevice* keyboarddevice,
 	m_rootnode = NULL;
 
 	m_bucketmanager=new RAS_BucketManager();
+
+	m_pathfinder = new KX_Pathfinder();
 	
 #ifndef DISABLE_PYTHON
 	m_attr_dict = PyDict_New(); /* new ref */
@@ -265,6 +268,11 @@ KX_Scene::~KX_Scene()
 		delete m_bucketmanager;
 	}
 
+	if (m_pathfinder)
+	{
+		delete m_pathfinder;
+	}
+
 #ifndef DISABLE_PYTHON
 	PyDict_Clear(m_attr_dict);
 	Py_DECREF(m_attr_dict);
diff --git a/source/gameengine/Ketsji/KX_Scene.h b/source/gameengine/Ketsji/KX_Scene.h
index 4755eee6a6b..e19d846f0ad 100644
--- a/source/gameengine/Ketsji/KX_Scene.h
+++ b/source/gameengine/Ketsji/KX_Scene.h
@@ -83,6 +83,7 @@ class SCA_JoystickManager;
 class btCollisionShape;
 class KX_BlenderSceneConverter;
 struct KX_ClientObjectInfo;
+class KX_Pathfinder;
 
 /* for ID freeing */
 #define IS_TAGGED(_id) ((_id) && (((ID *)_id)->flag & LIB_DOIT))
@@ -276,6 +277,8 @@ protected:
 	struct Scene* m_blenderScene;
 
 	RAS_2DFilterManager m_filtermanager;
+
+	KX_Pathfinder*		m_pathfinder;
 public:	
 	KX_Scene(class SCA_IInputDevice* keyboarddevice,
 		class SCA_IInputDevice* mousedevice,
@@ -611,7 +614,7 @@ public:
 	//	m_bucketmanager->PrintStats(verbose_level)
 	//}
 
-
+	KX_Pathfinder *GetPathfinder() {return m_pathfinder; };
 };
 
 typedef std::vector<KX_Scene*> KX_SceneList;