From 264440dcdd7c8fa120568de8631629ec75df82be Mon Sep 17 00:00:00 2001
From: Mikko Mononen <memononen@gmail.com>
Date: Fri, 1 Oct 2010 12:31:50 +0000
Subject: [PATCH] Refactoring Mover. Moved path query handling to CrowdManager.
 Made mover a class and made member vars hidden.

---
 .../Bin/Recast.app/Contents/MacOS/Recast      | Bin 744364 -> 746828 bytes
 .../Xcode/Recast.xcodeproj/memon.pbxuser      | 939 +++++++++++++++---
 .../Recast.xcodeproj/memon.perspectivev3      |  48 +-
 RecastDemo/Include/CrowdManager.h             | 123 +--
 RecastDemo/Include/CrowdTool.h                |  29 +-
 RecastDemo/Source/CrowdManager.cpp            | 458 +++++----
 RecastDemo/Source/CrowdTool.cpp               | 277 ++----
 7 files changed, 1213 insertions(+), 661 deletions(-)

diff --git a/RecastDemo/Bin/Recast.app/Contents/MacOS/Recast b/RecastDemo/Bin/Recast.app/Contents/MacOS/Recast
index e4de541a2602d7b435248783be97b500501a9a19..877732974c58cbc367b054bcb2ea8dba1c755379 100755
GIT binary patch
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diff --git a/RecastDemo/Build/Xcode/Recast.xcodeproj/memon.pbxuser b/RecastDemo/Build/Xcode/Recast.xcodeproj/memon.pbxuser
index f59bf879..3c606799 100644
--- a/RecastDemo/Build/Xcode/Recast.xcodeproj/memon.pbxuser
+++ b/RecastDemo/Build/Xcode/Recast.xcodeproj/memon.pbxuser
@@ -24,9 +24,6 @@
 			6B920A121225B1C900D5B5AD /* DetourHashLookup.cpp:78 */,
 			6B920A141225B1CF00D5B5AD /* DetourHashLookup.cpp:131 */,
 			6BD66851124350F50021A7A4 /* NavMeshTesterTool.cpp:480 */,
-			6BBB03061247344B00533229 /* CrowdManager.cpp:592 */,
-			6BBB03361247383D00533229 /* CrowdManager.cpp:217 */,
-			6BA8CF5E1255D4AC00272A3B /* DetourDebugDraw.cpp:252 */,
 			6BA8CF601255D4C500272A3B /* Sample.cpp:45 */,
 		);
 		codeSenseManager = 6B8632AA0F78115100E2684A /* Code sense */;
@@ -268,6 +265,73 @@
 			6BA8CF7C1255D5FE00272A3B /* PBXTextBookmark */ = 6BA8CF7C1255D5FE00272A3B /* PBXTextBookmark */;
 			6BA8CF7D1255D5FE00272A3B /* PBXTextBookmark */ = 6BA8CF7D1255D5FE00272A3B /* PBXTextBookmark */;
 			6BA8CF7E1255D5FE00272A3B /* PBXTextBookmark */ = 6BA8CF7E1255D5FE00272A3B /* PBXTextBookmark */;
+			6BA8CF941255D97400272A3B /* PBXTextBookmark */ = 6BA8CF941255D97400272A3B /* PBXTextBookmark */;
+			6BA8CF951255D97400272A3B /* PBXTextBookmark */ = 6BA8CF951255D97400272A3B /* PBXTextBookmark */;
+			6BA8CF961255D97400272A3B /* PBXTextBookmark */ = 6BA8CF961255D97400272A3B /* PBXTextBookmark */;
+			6BA8CF971255D97400272A3B /* PBXTextBookmark */ = 6BA8CF971255D97400272A3B /* PBXTextBookmark */;
+			6BA8CF981255D97400272A3B /* PBXTextBookmark */ = 6BA8CF981255D97400272A3B /* PBXTextBookmark */;
+			6BA8CF991255D97400272A3B /* PBXTextBookmark */ = 6BA8CF991255D97400272A3B /* PBXTextBookmark */;
+			6BA8CF9A1255D97400272A3B /* PBXTextBookmark */ = 6BA8CF9A1255D97400272A3B /* PBXTextBookmark */;
+			6BA8CF9F1255D9F900272A3B /* PBXTextBookmark */ = 6BA8CF9F1255D9F900272A3B /* PBXTextBookmark */;
+			6BA8CFA01255D9F900272A3B /* XCBuildMessageTextBookmark */ = 6BA8CFA01255D9F900272A3B /* XCBuildMessageTextBookmark */;
+			6BA8CFA11255D9F900272A3B /* PBXTextBookmark */ = 6BA8CFA11255D9F900272A3B /* PBXTextBookmark */;
+			6BA8CFA81255DC6500272A3B /* PBXTextBookmark */ = 6BA8CFA81255DC6500272A3B /* PBXTextBookmark */;
+			6BA8CFA91255DC6500272A3B /* PBXTextBookmark */ = 6BA8CFA91255DC6500272A3B /* PBXTextBookmark */;
+			6BA8CFAA1255DC6500272A3B /* PBXTextBookmark */ = 6BA8CFAA1255DC6500272A3B /* PBXTextBookmark */;
+			6BA8CFAB1255DC6500272A3B /* PBXTextBookmark */ = 6BA8CFAB1255DC6500272A3B /* PBXTextBookmark */;
+			6BA8CFAC1255DC6500272A3B /* PBXTextBookmark */ = 6BA8CFAC1255DC6500272A3B /* PBXTextBookmark */;
+			6BA8CFB11255DD7C00272A3B /* PBXTextBookmark */ = 6BA8CFB11255DD7C00272A3B /* PBXTextBookmark */;
+			6BA8CFB21255DD7C00272A3B /* XCBuildMessageTextBookmark */ = 6BA8CFB21255DD7C00272A3B /* XCBuildMessageTextBookmark */;
+			6BA8CFB31255DD7C00272A3B /* PBXTextBookmark */ = 6BA8CFB31255DD7C00272A3B /* PBXTextBookmark */;
+			6BA8CFB81255DD8900272A3B /* PBXTextBookmark */ = 6BA8CFB81255DD8900272A3B /* PBXTextBookmark */;
+			6BA8CFBC1255DDC100272A3B /* PBXTextBookmark */ = 6BA8CFBC1255DDC100272A3B /* PBXTextBookmark */;
+			6BA8CFBD1255DDC100272A3B /* PBXTextBookmark */ = 6BA8CFBD1255DDC100272A3B /* PBXTextBookmark */;
+			6BA8CFBE1255DE0500272A3B /* PBXTextBookmark */ = 6BA8CFBE1255DE0500272A3B /* PBXTextBookmark */;
+			6BA8CFBF1255DE0500272A3B /* PBXTextBookmark */ = 6BA8CFBF1255DE0500272A3B /* PBXTextBookmark */;
+			6BA8CFC01255DE0500272A3B /* PBXTextBookmark */ = 6BA8CFC01255DE0500272A3B /* PBXTextBookmark */;
+			6BA8CFC11255DE1300272A3B /* PBXTextBookmark */ = 6BA8CFC11255DE1300272A3B /* PBXTextBookmark */;
+			6BA8CFC21255DE1300272A3B /* PBXTextBookmark */ = 6BA8CFC21255DE1300272A3B /* PBXTextBookmark */;
+			6BA8CFC31255DE1300272A3B /* PBXTextBookmark */ = 6BA8CFC31255DE1300272A3B /* PBXTextBookmark */;
+			6BA8CFC61255DE4C00272A3B /* PBXTextBookmark */ = 6BA8CFC61255DE4C00272A3B /* PBXTextBookmark */;
+			6BA8CFC71255DE4C00272A3B /* PBXTextBookmark */ = 6BA8CFC71255DE4C00272A3B /* PBXTextBookmark */;
+			6BA8CFC81255DE4C00272A3B /* PBXTextBookmark */ = 6BA8CFC81255DE4C00272A3B /* PBXTextBookmark */;
+			6BA8CFD61255E57A00272A3B /* PBXTextBookmark */ = 6BA8CFD61255E57A00272A3B /* PBXTextBookmark */;
+			6BA8CFD71255E57A00272A3B /* PBXTextBookmark */ = 6BA8CFD71255E57A00272A3B /* PBXTextBookmark */;
+			6BA8CFD81255E57A00272A3B /* PBXTextBookmark */ = 6BA8CFD81255E57A00272A3B /* PBXTextBookmark */;
+			6BA8CFD91255E57A00272A3B /* PBXTextBookmark */ = 6BA8CFD91255E57A00272A3B /* PBXTextBookmark */;
+			6BA8CFDA1255EB4E00272A3B /* PBXTextBookmark */ = 6BA8CFDA1255EB4E00272A3B /* PBXTextBookmark */;
+			6BA8CFDB1255EB4E00272A3B /* PBXTextBookmark */ = 6BA8CFDB1255EB4E00272A3B /* PBXTextBookmark */;
+			6BA8CFDC1255EB4E00272A3B /* PBXTextBookmark */ = 6BA8CFDC1255EB4E00272A3B /* PBXTextBookmark */;
+			6BA8CFDD1255F2B000272A3B /* PBXTextBookmark */ = 6BA8CFDD1255F2B000272A3B /* PBXTextBookmark */;
+			6BA8CFE61255F61B00272A3B /* PBXTextBookmark */ = 6BA8CFE61255F61B00272A3B /* PBXTextBookmark */;
+			6BA8CFE71255F61B00272A3B /* PBXTextBookmark */ = 6BA8CFE71255F61B00272A3B /* PBXTextBookmark */;
+			6BA8CFEE1255F6C400272A3B /* PBXTextBookmark */ = 6BA8CFEE1255F6C400272A3B /* PBXTextBookmark */;
+			6BA8CFF11255F6F200272A3B /* PBXTextBookmark */ = 6BA8CFF11255F6F200272A3B /* PBXTextBookmark */;
+			6BA8CFF31255F71600272A3B /* PBXTextBookmark */ = 6BA8CFF31255F71600272A3B /* PBXTextBookmark */;
+			6BA8CFF81255F77A00272A3B /* PBXTextBookmark */ = 6BA8CFF81255F77A00272A3B /* PBXTextBookmark */;
+			6BA8CFF91255F77A00272A3B /* PBXTextBookmark */ = 6BA8CFF91255F77A00272A3B /* PBXTextBookmark */;
+			6BA8CFFA1255F7EB00272A3B /* PBXTextBookmark */ = 6BA8CFFA1255F7EB00272A3B /* PBXTextBookmark */;
+			6BA8CFFD1255F8A600272A3B /* PBXTextBookmark */ = 6BA8CFFD1255F8A600272A3B /* PBXTextBookmark */;
+			6BA8CFFE1255F8A600272A3B /* PBXTextBookmark */ = 6BA8CFFE1255F8A600272A3B /* PBXTextBookmark */;
+			6BA8CFFF1255F8A600272A3B /* PBXTextBookmark */ = 6BA8CFFF1255F8A600272A3B /* PBXTextBookmark */;
+			6BA8D0021255F9C600272A3B /* PBXTextBookmark */ = 6BA8D0021255F9C600272A3B /* PBXTextBookmark */;
+			6BA8D0031255FA9400272A3B /* PBXTextBookmark */ = 6BA8D0031255FA9400272A3B /* PBXTextBookmark */;
+			6BA8D0101255FBC800272A3B /* PBXTextBookmark */ = 6BA8D0101255FBC800272A3B /* PBXTextBookmark */;
+			6BA8D0111255FBC800272A3B /* PBXTextBookmark */ = 6BA8D0111255FBC800272A3B /* PBXTextBookmark */;
+			6BA8D0121255FBC800272A3B /* XCBuildMessageTextBookmark */ = 6BA8D0121255FBC800272A3B /* XCBuildMessageTextBookmark */;
+			6BA8D0131255FBC800272A3B /* PBXTextBookmark */ = 6BA8D0131255FBC800272A3B /* PBXTextBookmark */;
+			6BA8D02F1255FF4600272A3B /* PBXTextBookmark */ = 6BA8D02F1255FF4600272A3B /* PBXTextBookmark */;
+			6BA8D0301255FF4600272A3B /* PBXTextBookmark */ = 6BA8D0301255FF4600272A3B /* PBXTextBookmark */;
+			6BA8D0311255FF4600272A3B /* PBXTextBookmark */ = 6BA8D0311255FF4600272A3B /* PBXTextBookmark */;
+			6BA8D0321255FF4600272A3B /* PBXTextBookmark */ = 6BA8D0321255FF4600272A3B /* PBXTextBookmark */;
+			6BA8D05D1256059E00272A3B /* PBXTextBookmark */ = 6BA8D05D1256059E00272A3B /* PBXTextBookmark */;
+			6BA8D05E1256059E00272A3B /* PBXTextBookmark */ = 6BA8D05E1256059E00272A3B /* PBXTextBookmark */;
+			6BA8D05F1256059E00272A3B /* PBXTextBookmark */ = 6BA8D05F1256059E00272A3B /* PBXTextBookmark */;
+			6BA8D0601256059E00272A3B /* PBXTextBookmark */ = 6BA8D0601256059E00272A3B /* PBXTextBookmark */;
+			6BA8D0641256095800272A3B /* PBXTextBookmark */ = 6BA8D0641256095800272A3B /* PBXTextBookmark */;
+			6BA8D0651256095800272A3B /* PBXTextBookmark */ = 6BA8D0651256095800272A3B /* PBXTextBookmark */;
+			6BA8D0661256095800272A3B /* PBXTextBookmark */ = 6BA8D0661256095800272A3B /* PBXTextBookmark */;
+			6BA8D06712560BD400272A3B /* PBXTextBookmark */ = 6BA8D06712560BD400272A3B /* PBXTextBookmark */;
 			6BAF3CB112116AD9008CFCDF = 6BAF3CB112116AD9008CFCDF /* PBXTextBookmark */;
 			6BAF3E781212869F008CFCDF = 6BAF3E781212869F008CFCDF /* PBXTextBookmark */;
 			6BAF404F12140B4E008CFCDF = 6BAF404F12140B4E008CFCDF /* PBXTextBookmark */;
@@ -351,9 +415,9 @@
 		ignoreCount = 0;
 		lineNumber = 1324;
 		location = Recast;
-		modificationTime = 307615228.447264;
+		modificationTime = 307623700.115019;
 		originalNumberOfMultipleMatches = 1;
-		state = 1;
+		state = 0;
 	};
 	6B1185F41006895B0018F96F /* DetourNode.cpp */ = {
 		uiCtxt = {
@@ -584,7 +648,7 @@
 		ignoreCount = 0;
 		lineNumber = 362;
 		location = Recast;
-		modificationTime = 307614937.160346;
+		modificationTime = 307623703.350588;
 		originalNumberOfMultipleMatches = 1;
 		state = 1;
 	};
@@ -871,7 +935,7 @@
 		ignoreCount = 0;
 		lineNumber = 78;
 		location = Recast;
-		modificationTime = 307614936.228447;
+		modificationTime = 307623700.11648;
 		originalNumberOfMultipleMatches = 0;
 		state = 2;
 	};
@@ -888,9 +952,9 @@
 		hitCount = 0;
 		ignoreCount = 0;
 		lineNumber = 131;
-		modificationTime = 307615228.447562;
+		modificationTime = 307623700.116675;
 		originalNumberOfMultipleMatches = 1;
-		state = 1;
+		state = 0;
 	};
 	6B920A521225C0AC00D5B5AD /* PBXTextBookmark */ = {
 		isa = PBXTextBookmark;
@@ -1084,7 +1148,7 @@
 		ignoreCount = 0;
 		lineNumber = 137;
 		location = Recast;
-		modificationTime = 307614937.177776;
+		modificationTime = 307623703.369916;
 		originalNumberOfMultipleMatches = 1;
 		state = 1;
 	};
@@ -1173,7 +1237,7 @@
 		fRef = 6BD667D8123D27EC0021A7A4 /* CrowdManager.h */;
 		name = "CrowdManager.h: 71";
 		rLen = 0;
-		rLoc = 2097;
+		rLoc = 1904;
 		rType = 0;
 		vrLen = 842;
 		vrLoc = 1492;
@@ -1203,7 +1267,7 @@
 		fRef = 6BD667D8123D27EC0021A7A4 /* CrowdManager.h */;
 		name = "CrowdManager.h: 50";
 		rLen = 0;
-		rLoc = 1466;
+		rLoc = 1273;
 		rType = 0;
 		vrLen = 689;
 		vrLoc = 1229;
@@ -1275,7 +1339,7 @@
 		fRef = 6BD667D8123D27EC0021A7A4 /* CrowdManager.h */;
 		name = "CrowdManager.h: 41";
 		rLen = 0;
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 		fRef = 6BD667D8123D27EC0021A7A4 /* CrowdManager.h */;
 		name = "CrowdManager.h: 43";
 		rLen = 0;
-		rLoc = 2342;
+		rLoc = 2149;
 		rType = 0;
 		vrLen = 719;
 		vrLoc = 1340;
@@ -2629,7 +3300,7 @@
 		ignoreCount = 0;
 		lineNumber = 279;
 		location = Recast;
-		modificationTime = 307614937.143502;
+		modificationTime = 307623703.336449;
 		originalNumberOfMultipleMatches = 1;
 		state = 1;
 	};
@@ -2642,9 +3313,9 @@
 	};
 	6BCF32351104CD05009445BF /* OffMeshConnectionTool.cpp */ = {
 		uiCtxt = {
-			sepNavIntBoundsRect = "{{0, 0}, {933, 2158}}";
-			sepNavSelRange = "{1458, 66}";
-			sepNavVisRange = "{1184, 621}";
+			sepNavIntBoundsRect = "{{0, 0}, {931, 2184}}";
+			sepNavSelRange = "{1807, 0}";
+			sepNavVisRange = "{1456, 855}";
 		};
 	};
 	6BD401FF1224278800995864 /* PerfTimer.h */ = {
@@ -2775,7 +3446,7 @@
 		ignoreCount = 0;
 		lineNumber = 541;
 		location = Recast;
-		modificationTime = 307614937.192084;
+		modificationTime = 307623703.377993;
 		originalNumberOfMultipleMatches = 1;
 		state = 1;
 	};
@@ -2789,16 +3460,16 @@
 	};
 	6BD667D8123D27EC0021A7A4 /* CrowdManager.h */ = {
 		uiCtxt = {
-			sepNavIntBoundsRect = "{{0, 0}, {933, 3614}}";
-			sepNavSelRange = "{5961, 0}";
-			sepNavVisRange = "{5630, 1085}";
+			sepNavIntBoundsRect = "{{0, 0}, {931, 3744}}";
+			sepNavSelRange = "{3761, 0}";
+			sepNavVisRange = "{3068, 1310}";
 		};
 	};
 	6BD667D9123D28100021A7A4 /* CrowdManager.cpp */ = {
 		uiCtxt = {
-			sepNavIntBoundsRect = "{{0, 0}, {933, 15795}}";
-			sepNavSelRange = "{22384, 0}";
-			sepNavVisRange = "{21977, 817}";
+			sepNavIntBoundsRect = "{{0, 0}, {931, 16185}}";
+			sepNavSelRange = "{24456, 0}";
+			sepNavVisRange = "{23710, 1017}";
 		};
 	};
 	6BD667FF123D2D230021A7A4 /* PBXTextBookmark */ = {
@@ -2845,7 +3516,7 @@
 		ignoreCount = 0;
 		lineNumber = 480;
 		location = Recast;
-		modificationTime = 307614937.213029;
+		modificationTime = 307623703.394133;
 		originalNumberOfMultipleMatches = 1;
 		state = 1;
 	};
@@ -3014,7 +3685,7 @@
 		fRef = 6BAF3C571211663A008CFCDF /* CrowdTool.h */;
 		name = "CrowdTool.h: 71";
 		rLen = 0;
-		rLoc = 1829;
+		rLoc = 1451;
 		rType = 0;
 		vrLen = 634;
 		vrLoc = 1388;
diff --git a/RecastDemo/Build/Xcode/Recast.xcodeproj/memon.perspectivev3 b/RecastDemo/Build/Xcode/Recast.xcodeproj/memon.perspectivev3
index ef64b9b7..b1ec8e9e 100644
--- a/RecastDemo/Build/Xcode/Recast.xcodeproj/memon.perspectivev3
+++ b/RecastDemo/Build/Xcode/Recast.xcodeproj/memon.perspectivev3
@@ -284,14 +284,13 @@
 							<key>PBXSmartGroupTreeModuleOutlineStateSelectionKey</key>
 							<array>
 								<array>
-									<integer>10</integer>
-									<integer>2</integer>
+									<integer>62</integer>
 									<integer>1</integer>
 									<integer>0</integer>
 								</array>
 							</array>
 							<key>PBXSmartGroupTreeModuleOutlineStateVisibleRectKey</key>
-							<string>{{0, 14}, {264, 607}}</string>
+							<string>{{0, 603}, {264, 660}}</string>
 						</dict>
 						<key>PBXTopSmartGroupGIDs</key>
 						<array/>
@@ -301,14 +300,14 @@
 					<key>GeometryConfiguration</key>
 					<dict>
 						<key>Frame</key>
-						<string>{{0, 0}, {281, 625}}</string>
+						<string>{{0, 0}, {281, 678}}</string>
 						<key>GroupTreeTableConfiguration</key>
 						<array>
 							<string>MainColumn</string>
 							<real>264</real>
 						</array>
 						<key>RubberWindowFrame</key>
-						<string>0 112 1280 666 0 0 1280 778 </string>
+						<string>0 59 1278 719 0 0 1280 778 </string>
 					</dict>
 					<key>Module</key>
 					<string>PBXSmartGroupTreeModule</string>
@@ -326,7 +325,7 @@
 								<key>PBXProjectModuleGUID</key>
 								<string>6B8632A30F78115100E2684A</string>
 								<key>PBXProjectModuleLabel</key>
-								<string>NavMeshTesterTool.cpp</string>
+								<string>CrowdManager.h</string>
 								<key>PBXSplitModuleInNavigatorKey</key>
 								<dict>
 									<key>Split0</key>
@@ -334,11 +333,11 @@
 										<key>PBXProjectModuleGUID</key>
 										<string>6B8632A40F78115100E2684A</string>
 										<key>PBXProjectModuleLabel</key>
-										<string>NavMeshTesterTool.cpp</string>
+										<string>CrowdManager.h</string>
 										<key>_historyCapacity</key>
 										<integer>0</integer>
 										<key>bookmark</key>
-										<string>6BA8CF7E1255D5FE00272A3B</string>
+										<string>6BA8D06712560BD400272A3B</string>
 										<key>history</key>
 										<array>
 											<string>6BBB4AA5115B4F3400CF791D</string>
@@ -415,21 +414,21 @@
 											<string>6BA8CECB1255C1A400272A3B</string>
 											<string>6BA8CECD1255C1A400272A3B</string>
 											<string>6BA8CEEF1255C4B700272A3B</string>
-											<string>6BA8CF221255CCD500272A3B</string>
-											<string>6BA8CF411255D16D00272A3B</string>
 											<string>6BA8CF4A1255D44700272A3B</string>
-											<string>6BA8CF4B1255D44700272A3B</string>
-											<string>6BA8CF4C1255D44700272A3B</string>
 											<string>6BA8CF4D1255D44700272A3B</string>
 											<string>6BA8CF501255D44700272A3B</string>
 											<string>6BA8CF511255D44700272A3B</string>
-											<string>6BA8CF591255D49B00272A3B</string>
 											<string>6BA8CF5B1255D49B00272A3B</string>
 											<string>6BA8CF6F1255D50700272A3B</string>
-											<string>6BA8CF7A1255D5FE00272A3B</string>
 											<string>6BA8CF7B1255D5FE00272A3B</string>
 											<string>6BA8CF7C1255D5FE00272A3B</string>
-											<string>6BA8CF7D1255D5FE00272A3B</string>
+											<string>6BA8CF941255D97400272A3B</string>
+											<string>6BA8CF951255D97400272A3B</string>
+											<string>6BA8CFA81255DC6500272A3B</string>
+											<string>6BA8CFBE1255DE0500272A3B</string>
+											<string>6BA8D05D1256059E00272A3B</string>
+											<string>6BA8D0641256095800272A3B</string>
+											<string>6BA8D0651256095800272A3B</string>
 										</array>
 									</dict>
 									<key>SplitCount</key>
@@ -443,18 +442,18 @@
 							<key>GeometryConfiguration</key>
 							<dict>
 								<key>Frame</key>
-								<string>{{0, 0}, {994, 408}}</string>
+								<string>{{0, 0}, {992, 597}}</string>
 								<key>RubberWindowFrame</key>
-								<string>0 112 1280 666 0 0 1280 778 </string>
+								<string>0 59 1278 719 0 0 1280 778 </string>
 							</dict>
 							<key>Module</key>
 							<string>PBXNavigatorGroup</string>
 							<key>Proportion</key>
-							<string>408pt</string>
+							<string>597pt</string>
 						</dict>
 						<dict>
 							<key>Proportion</key>
-							<string>212pt</string>
+							<string>76pt</string>
 							<key>Tabs</key>
 							<array>
 								<dict>
@@ -484,9 +483,9 @@
 									<key>GeometryConfiguration</key>
 									<dict>
 										<key>Frame</key>
-										<string>{{10, 27}, {994, 185}}</string>
+										<string>{{10, 27}, {992, 49}}</string>
 										<key>RubberWindowFrame</key>
-										<string>0 112 1280 666 0 0 1280 778 </string>
+										<string>0 59 1278 719 0 0 1280 778 </string>
 									</dict>
 									<key>Module</key>
 									<string>PBXProjectFindModule</string>
@@ -524,7 +523,7 @@
 									<key>GeometryConfiguration</key>
 									<dict>
 										<key>Frame</key>
-										<string>{{10, 27}, {994, 77}}</string>
+										<string>{{10, 27}, {992, 49}}</string>
 									</dict>
 									<key>Module</key>
 									<string>PBXBuildResultsModule</string>
@@ -533,7 +532,7 @@
 						</dict>
 					</array>
 					<key>Proportion</key>
-					<string>994pt</string>
+					<string>992pt</string>
 				</dict>
 			</array>
 			<key>Name</key>
@@ -743,13 +742,12 @@
 	<integer>5</integer>
 	<key>WindowOrderList</key>
 	<array>
-		<string>6BA8CF7F1255D5FE00272A3B</string>
 		<string>6BA8CF1C1255CC4F00272A3B</string>
 		<string>6BA8CF1D1255CC4F00272A3B</string>
 		<string>/Users/memon/Code/recastnavigation/RecastDemo/Build/Xcode/Recast.xcodeproj</string>
 	</array>
 	<key>WindowString</key>
-	<string>0 112 1280 666 0 0 1280 778 </string>
+	<string>0 59 1278 719 0 0 1280 778 </string>
 	<key>WindowToolsV3</key>
 	<array>
 		<dict>
diff --git a/RecastDemo/Include/CrowdManager.h b/RecastDemo/Include/CrowdManager.h
index 7ee7e2cc..1fc6a087 100644
--- a/RecastDemo/Include/CrowdManager.h
+++ b/RecastDemo/Include/CrowdManager.h
@@ -24,16 +24,6 @@
 #include "ValueHistory.h"
 
 
-/*enum AgentTargetState
-{
-	AGENT_TARGET_NONE = 0,
-	AGENT_TARGET_SET = 1,
-	AGENT_TARGET_ACQUIRED = 2,
-	AGENT_TARGET_WAITING_FOR_PATH = 3,
-	AGENT_TARGET_PATH = 4,
-	AGENT_TARGET_FAILED = 5,
-};*/
-
 class ProximityGrid
 {
 	int m_maxItems;
@@ -129,23 +119,11 @@ public:
 	int getPathResult(PathQueueRef ref, dtPolyRef* path, const int maxPath);
 };
 
-enum MoverState
-{
-	MOVER_INIT,
-	MOVER_OK,
-	MOVER_FAILED,
-};
+// TODO: Remove dynamics stuff from mover (velocity, new pos).
+// Mover should just store current location, target location and
+// path corridor, corners and collision segments.
 
-enum MoverTargetState
-{
-	MOVER_TARGET_NONE,
-	MOVER_TARGET_REQUESTING,
-	MOVER_TARGET_WAITING_FOR_PATH,
-	MOVER_TARGET_VALID,
-	MOVER_TARGET_FAILED,
-};
-
-struct Mover
+class Mover
 {
 	float m_pos[3];
 	float m_target[3];
@@ -154,24 +132,16 @@ struct Mover
 	float m_dvel[3];
 	float m_nvel[3];
 	float m_vel[3];
+	
 	float m_npos[3];
-	float m_disp[3];
 	
 	float m_pathOptimizationRange;
-	
-	float m_colradius;
+	float m_collisionQueryRange;
 
 	float m_localCenter[3];
 	float m_localSegs[AGENT_MAX_LOCALSEGS*6];
 	int m_localSegCount;
-	
-	unsigned char m_state;
 
-	float m_reqTarget[3];
-	unsigned char m_reqTargetState;
-	dtPolyRef m_reqTargetRef;
-	
-	PathQueueRef m_pathReqRef;
 	dtPolyRef m_path[AGENT_MAX_PATH];
 	int m_npath;
 	
@@ -180,38 +150,45 @@ struct Mover
 	dtPolyRef m_cornerPolys[AGENT_MAX_CORNERS];
 	int m_ncorners;
 	
-	void init(const float* p, const float r, const float h, const float cr, const float por);
+public:
+	Mover();
+	~Mover();
 	
-	void requestMoveTarget(const float* pos);
+	void init(dtPolyRef ref, const float* pos, const float radius, const float height,
+			  const float collisionQueryRange, const float pathOptimizationRange);
 	
-	void updatePathState(dtNavMeshQuery* navquery, const dtQueryFilter* filter, const float* ext,
-						 PathQueue* pathq);
-
 	void updateLocalNeighbourhood(dtNavMeshQuery* navquery, const dtQueryFilter* filter);
-
 	void updateCorners(dtNavMeshQuery* navquery, const dtQueryFilter* filter, float* opts = 0, float* opte = 0);
-
 	void integrate(const float maxAcc, const float dt);
-	
-	void updateLocation(dtNavMeshQuery* navquery, const dtQueryFilter* filter);
-
+	void updatePosition(dtNavMeshQuery* navquery, const dtQueryFilter* filter);
 	float getDistanceToGoal(const float range) const;
-
 	void calcSmoothSteerDirection(float* dvel);
 	void calcStraightSteerDirection(float* dvel);
-	
 	void appendLocalCollisionSegments(dtObstacleAvoidanceQuery* obstacleQuery);
 
-	void getBounds(float* bmin, float* bmax) const
-	{
-	   bmin[0] = m_pos[0] - m_radius;
-	   bmin[1] = m_pos[1];
-	   bmin[2] = m_pos[2] - m_radius;
-	   bmax[0] = m_pos[0] + m_radius;
-	   bmax[1] = m_pos[1] + m_height;
-	   bmax[2] = m_pos[2] + m_radius;
-	}
-				   
+	void setDesiredVelocity(const float* dvel);
+	void setNewVelocity(const float* nvel);
+	void setNewPos(const float* npos);
+
+	inline int getCornerCount() const { return m_ncorners; }
+	inline const float* getCornerPos(int i) const { return &m_cornerVerts[i*3]; }
+	
+	inline const float* getLocalCenter() const { return m_localCenter; }
+	inline int getLocalSegmentCount() const { return m_localSegCount; }
+	inline const float* getLocalSegment(int i) const { return &m_localSegs[i*6]; }
+	
+	inline const float* getPos() const { return m_pos; }
+	inline const float* getNewPos() const { return m_npos; }
+	inline const float* getVelocity() const { return m_vel; }
+	inline const float* getDesiredVelocity() const { return m_dvel; }
+	inline float getRadius() const { return m_radius; }
+	inline float getHeight() const { return m_height; }
+	inline float getCollisionQueryRange() const { return m_collisionQueryRange; }
+	
+	inline void setCorridor(const float* target, const dtPolyRef* path, int npath);
+	inline const float* getCorridorTarget() const { return m_target; }
+	inline const dtPolyRef* getCorridor() const { return m_path; }
+	inline int getCorridorCount() const { return m_npath; } 	
 };
 
 struct Agent
@@ -225,6 +202,7 @@ struct Agent
 	float var;
 	
 	float opts[3], opte[3];
+	float disp[3];
 	
 	float trail[AGENT_MAX_TRAIL*3];
 	int htrail;
@@ -248,9 +226,31 @@ class CrowdManager
 	PathQueue m_pathq;
 	ProximityGrid m_grid;
 	
+	float m_ext[3];
+	dtQueryFilter m_filter;
+
 	int m_totalTime;
 	int m_rvoTime;
 	int m_sampleCount;
+
+	enum MoveRequestState
+	{
+		MR_TARGET_REQUESTING,
+		MR_TARGET_WAITING_FOR_PATH,
+		MR_TARGET_VALID,
+		MR_TARGET_FAILED,
+	};
+	
+	struct MoveRequest
+	{
+		int idx;
+		dtPolyRef ref;
+		float pos[3];
+		unsigned char state;
+		PathQueueRef pathqRef;
+	};
+	MoveRequest m_moveRequests[MAX_AGENTS];
+	int m_moveRequestCount;
 	
 	int getNeighbours(const float* pos, const float height, const float range,
 					  const Agent* skip, Agent** result, const int maxResult);
@@ -262,14 +262,17 @@ public:
 	void reset();
 	const Agent* getAgent(const int idx);
 	const int getAgentCount() const;
-	int addAgent(const float* pos, const float radius, const float height);
+	int addAgent(const float* pos, const float radius, const float height, dtNavMeshQuery* navquery);
 	void removeAgent(const int idx);
-	void requestMoveTarget(const int idx, const float* pos);
+	bool requestMoveTarget(const int idx, dtPolyRef ref, const float* pos);
 	
 	int getActiveAgents(Agent** agents, const int maxAgents);
 	
 	void update(const float dt, unsigned int flags, dtNavMeshQuery* navquery);
 	
+	const dtQueryFilter* getFilter() const { return &m_filter; }
+	const float* getQueryExtents() const { return m_ext; }
+	
 	const dtObstacleAvoidanceDebugData* getVODebugData(const int idx) const { return m_vodebug[idx]; }	
 	inline int getTotalTime() const { return m_totalTime; }
 	inline int getRVOTime() const { return m_rvoTime; }
diff --git a/RecastDemo/Include/CrowdTool.h b/RecastDemo/Include/CrowdTool.h
index 6c60d364..7fee1b8d 100644
--- a/RecastDemo/Include/CrowdTool.h
+++ b/RecastDemo/Include/CrowdTool.h
@@ -27,40 +27,13 @@
 
 // Tool to create crowds.
 
-struct Isect
-{
-	float u;
-	int inside;
-};
-
-static const int FORM_MAX_ISECT = 32;
-static const int FORM_MAX_SEGS = 16;
-static const int FORM_MAX_POLYS = 32;
-
-struct FormationSeg
-{
-	float p[3], q[3];
-	Isect ints[FORM_MAX_ISECT];
-	int nints;
-};
-
-struct Formation
-{
-	FormationSeg segs[FORM_MAX_SEGS];
-	int nsegs;
-	dtPolyRef polys[FORM_MAX_POLYS];
-	int npolys;
-};
-
 class CrowdTool : public SampleTool
 {
 	Sample* m_sample;
 	unsigned char m_oldFlags;
 	
 	float m_targetPos[3];
-	bool m_targetPosSet;
-	
-	Formation m_form;
+	dtPolyRef m_targetRef;
 	
 	bool m_expandDebugDraw;
 	bool m_showLabels;
diff --git a/RecastDemo/Source/CrowdManager.cpp b/RecastDemo/Source/CrowdManager.cpp
index 7a5a90a2..c43b9edd 100644
--- a/RecastDemo/Source/CrowdManager.cpp
+++ b/RecastDemo/Source/CrowdManager.cpp
@@ -465,179 +465,55 @@ static int optimizePath(const float* pos, const float* next, const float maxLook
 	return npath;
 }
 
-void Mover::init(const float* p, const float r, const float h, const float cr, const float por)
+
+Mover::Mover()
 {
-	dtVcopy(m_pos, p);
-	dtVcopy(m_target, p);
-	m_radius = r;
-	m_height = h;
+}
+
+Mover::~Mover()
+{
+}
+
+void Mover::init(dtPolyRef ref, const float* pos, const float radius, const float height,
+				 const float collisionQueryRange, const float pathOptimizationRange)
+{
+	dtVcopy(m_pos, pos);
+	dtVcopy(m_target, pos);
+	m_radius = radius;
+	m_height = height;
+
+	m_path[0] = ref;
+	m_npath = 1;
 
 	dtVset(m_dvel, 0,0,0);
 	dtVset(m_nvel, 0,0,0);
 	dtVset(m_vel, 0,0,0);
 	dtVset(m_npos, 0,0,0);
-	dtVset(m_disp, 0,0,0);
 
-	m_pathOptimizationRange = por;
-	m_colradius = cr;
+	m_pathOptimizationRange = pathOptimizationRange;
+	m_collisionQueryRange = collisionQueryRange;
 
 	dtVset(m_localCenter, 0,0,0);
 	m_localSegCount = 0;
 
-	m_state = MOVER_INIT;
-
-	m_reqTargetState = MOVER_TARGET_NONE;
-	dtVset(m_reqTarget, 0,0,0);
-	m_reqTargetRef = 0;
-
-	m_pathReqRef = PATHQ_INVALID;
-	m_npath = 0;
-	
 	m_ncorners = 0;
 }
 
-void Mover::requestMoveTarget(const float* pos)
-{
-	dtVcopy(m_reqTarget, pos);
-	m_reqTargetRef = 0;
-	m_reqTargetState = MOVER_TARGET_REQUESTING;
-	m_pathReqRef = PATHQ_INVALID;
-}
-
-void Mover::updatePathState(dtNavMeshQuery* navquery, const dtQueryFilter* filter, const float* ext,
-							PathQueue* pathq)
-{
-	// Make sure that the first path polygon corresponds to the current agent location.
-	if (m_state == MOVER_INIT)
-	{
-		float nearest[3];
-		dtPolyRef ref = navquery->findNearestPoly(m_pos, ext, filter, nearest);
-		if (ref)
-		{
-			m_path[0] = ref;
-			m_npath = 1;
-			dtVcopy(m_pos, nearest);
-			dtVcopy(m_target, nearest);
-			m_state = MOVER_OK;
-		}
-		else
-		{
-			m_state = MOVER_FAILED;
-		}
-	}
-	
-	if (m_state == MOVER_FAILED)
-	{
-		return;
-	}
-	
-	if (m_reqTargetState == MOVER_TARGET_REQUESTING)
-	{
-		float nearest[3];
-		m_reqTargetRef = navquery->findNearestPoly(m_reqTarget, ext, filter, nearest);
-		if (m_reqTargetRef)
-		{
-			// Calculate request position.
-			// If there is a lot of latency between requests, it is possible to
-			// project the current position ahead and use raycast to find the actual
-			// location and path.
-			// Here we take the simple route and set the path to be just the current location.
-			float reqPos[3];
-			dtVcopy(reqPos, m_pos);		// The location of the request
-			dtPolyRef reqPath[8];		// The path to the request location
-			reqPath[0] = m_path[0];
-			int reqPathCount = 1;
-			
-			dtVcopy(m_reqTarget, nearest);
-			m_pathReqRef = pathq->request(reqPath[reqPathCount-1], m_reqTargetRef, reqPos, m_reqTarget, filter);
-			if (m_pathReqRef != PATHQ_INVALID)
-			{
-				dtVcopy(m_target, reqPos);
-				memcpy(m_path, reqPath, sizeof(dtPolyRef)*reqPathCount);
-				m_npath = reqPathCount;
-
-				m_reqTargetState = MOVER_TARGET_WAITING_FOR_PATH;
-			}
-		}
-		else
-		{
-			m_reqTargetState = MOVER_TARGET_FAILED;
-		}
-	}
-	
-	if (m_reqTargetState == MOVER_TARGET_WAITING_FOR_PATH)
-	{
-		// Poll path queue.
-		int state = pathq->getRequestState(m_pathReqRef);
-		if (state == PATHQ_STATE_INVALID)
-		{
-			m_pathReqRef = PATHQ_INVALID;
-			m_reqTargetState = MOVER_TARGET_FAILED;
-		}
-		else if (state == PATHQ_STATE_READY)
-		{
-			dtAssert(m_npath);
-			
-			// Merge new results and current path.
-			dtPolyRef res[AGENT_MAX_PATH];
-			int nres = 0;
-			nres = pathq->getPathResult(m_pathReqRef, res, AGENT_MAX_PATH);
-			
-			if (!nres)
-			{
-				m_reqTargetState = MOVER_TARGET_FAILED;
-			}
-			else
-			{
-				// The last ref in the old path should be the same as the first ref of new path.
-				if (m_path[m_npath-1] == res[0])
-				{
-					// Append new path
-					if (m_npath-1+nres > AGENT_MAX_PATH)
-						nres = AGENT_MAX_PATH-(m_npath-1);
-					memcpy(&m_path[m_npath-1], res, sizeof(dtPolyRef)*nres);
-					m_npath = m_npath-1 + nres;
-
-					dtVcopy(m_target, m_reqTarget);
-
-					// Check for partial path.
-					if (m_path[m_npath-1] != m_reqTargetRef)
-					{
-						// Partial path, constrain target position inside the last polygon.
-						float nearest[3];
-						if (navquery->closestPointOnPoly(m_path[m_npath-1], m_target, nearest))
-							dtVcopy(m_target, nearest);
-						else
-							m_reqTargetState = MOVER_TARGET_FAILED;
-					}
-				}
-				else
-				{
-					// Something went out of sync.
-					m_reqTargetState = MOVER_TARGET_FAILED;
-				}
-			}
-			
-			m_pathReqRef = PATHQ_INVALID;
-		}
-	}
-}
-
-
 void Mover::updateLocalNeighbourhood(dtNavMeshQuery* navquery, const dtQueryFilter* filter)
 {
 	if (!m_npath)
 		return;
 	
 	// Only update the neigbourhood after certain distance has been passed.
-	if (dtVdist2DSqr(m_pos, m_localCenter) < dtSqr(m_colradius*0.25f))
+	if (dtVdist2DSqr(m_pos, m_localCenter) < dtSqr(m_collisionQueryRange*0.25f))
 		return;
 	
 	dtVcopy(m_localCenter, m_pos);
 	static const int MAX_LOCALS = 32;
 	dtPolyRef locals[MAX_LOCALS];
 	
-	const int nlocals = navquery->findLocalNeighbourhood(m_path[0], m_pos, m_colradius, filter, locals, 0, MAX_LOCALS);
+	const int nlocals = navquery->findLocalNeighbourhood(m_path[0], m_pos, m_collisionQueryRange,
+														 filter, locals, 0, MAX_LOCALS);
 	
 	m_localSegCount = 0;
 	for (int j = 0; j < nlocals; ++j)
@@ -650,7 +526,7 @@ void Mover::updateLocalNeighbourhood(dtNavMeshQuery* navquery, const dtQueryFilt
 			// Skip too distant segments.
 			float tseg;
 			const float distSqr = dtDistancePtSegSqr2D(m_pos, s, s+3, tseg);
-			if (distSqr > dtSqr(m_colradius))
+			if (distSqr > dtSqr(m_collisionQueryRange))
 				continue;
 			if (m_localSegCount < AGENT_MAX_LOCALSEGS)
 			{
@@ -704,16 +580,16 @@ void Mover::updateCorners(dtNavMeshQuery* navquery, const dtQueryFilter* filter,
 	}
 }
 
-void Mover::updateLocation(dtNavMeshQuery* navquery, const dtQueryFilter* filter)
+void Mover::updatePosition(dtNavMeshQuery* navquery, const dtQueryFilter* filter)
 {
-	if (!m_npath)
-		return;
+	dtAssert(m_npath);
 	
 	// Move along navmesh and update new position.
 	float result[3];
-	dtPolyRef visited[16];
+	static const int MAX_VISITED = 16;
+	dtPolyRef visited[MAX_VISITED];
 	int nvisited = navquery->moveAlongSurface(m_path[0], m_pos, m_npos, filter,
-											  result, visited, 16);
+											  result, visited, MAX_VISITED);
 	m_npath = fixupCorridor(m_path, m_npath, AGENT_MAX_PATH, visited, nvisited);
 	
 	// Adjust agent height to stay on top of the navmesh.
@@ -800,14 +676,39 @@ void Mover::appendLocalCollisionSegments(dtObstacleAvoidanceQuery* obstacleQuery
 	}
 }
 
+void Mover::setNewPos(const float* npos)
+{
+	dtVcopy(m_npos, npos);
+}
+
+void Mover::setDesiredVelocity(const float* dvel)
+{
+	dtVcopy(m_dvel, dvel);
+}
+
+void Mover::setNewVelocity(const float* nvel)
+{
+	dtVcopy(m_nvel, nvel);
+}
+
+void Mover::setCorridor(const float* target, const dtPolyRef* path, int npath)
+{
+	dtAssert(npath > 0);
+	dtAssert(npath < AGENT_MAX_PATH);
+	dtVcopy(m_target, target);
+	memcpy(m_path, path, sizeof(dtPolyRef)*npath);
+	m_npath = npath;
+}
 
 
 CrowdManager::CrowdManager() :
 	m_obstacleQuery(0),
 	m_totalTime(0),
 	m_rvoTime(0),
-	m_sampleCount(0)
+	m_sampleCount(0),
+	m_moveRequestCount(0)
 {
+	dtVset(m_ext, 2,4,2);
 	
 	m_obstacleQuery = dtAllocObstacleAvoidanceQuery();
 	m_obstacleQuery->init(6, 10);
@@ -856,7 +757,7 @@ const Agent* CrowdManager::getAgent(const int idx)
 	return &m_agents[idx];
 }
 
-int CrowdManager::addAgent(const float* pos, const float radius, const float height)
+int CrowdManager::addAgent(const float* pos, const float radius, const float height, dtNavMeshQuery* navquery)
 {
 	// Find empty slot.
 	int idx = -1;
@@ -872,12 +773,20 @@ int CrowdManager::addAgent(const float* pos, const float radius, const float hei
 		return -1;
 	
 	Agent* ag = &m_agents[idx];
-//	memset(ag, 0, sizeof(Agent));
+
+	// Find nearest position on navmesh and place the agent there.
+	float nearest[3];
+	dtPolyRef ref = navquery->findNearestPoly(pos, m_ext, &m_filter, nearest);
+	if (!ref)
+	{
+		// Could not find a location on navmesh.
+		return -1;
+	}
 	
 	const float colRadius = radius * 7.5f;
 	const float pathOptRange = colRadius * 4;
 
-	ag->mover.init(pos, radius, height, colRadius, pathOptRange);
+	ag->mover.init(ref, nearest, radius, height, colRadius, pathOptRange);
 
 	ag->maxspeed = 0;
 	ag->t = 0;
@@ -888,7 +797,7 @@ int CrowdManager::addAgent(const float* pos, const float radius, const float hei
 	
 	// Init trail
 	for (int i = 0; i < AGENT_MAX_TRAIL; ++i)
-		dtVcopy(&ag->trail[i*3], ag->mover.m_pos);
+		dtVcopy(&ag->trail[i*3], ag->mover.getPos());
 	ag->htrail = 0;
 	
 	return idx;
@@ -900,10 +809,38 @@ void CrowdManager::removeAgent(const int idx)
 		memset(&m_agents[idx], 0, sizeof(Agent));
 }
 
-void CrowdManager::requestMoveTarget(const int idx, const float* pos)
+bool CrowdManager::requestMoveTarget(const int idx, dtPolyRef ref, const float* pos)
 {
-	Agent* ag = &m_agents[idx];
-	ag->mover.requestMoveTarget(pos);
+	if (idx < 0 || idx > MAX_AGENTS)
+		return false;
+	if (!ref)
+		return false;
+	
+	MoveRequest* req = 0;
+	// Check if there is existing request and update that instead.
+	for (int i = 0; i < m_moveRequestCount; ++i)
+	{
+		if (m_moveRequests[i].idx == idx)
+		{
+			req = &m_moveRequests[i];
+			break;
+		}
+	}
+	if (!req)
+	{
+		if (m_moveRequestCount >= MAX_AGENTS)
+			return false;
+		req = &m_moveRequests[m_moveRequestCount++];
+	}
+	
+	// Initialize request.
+	req->idx = idx;
+	req->ref = ref;
+	dtVcopy(req->pos, pos);
+	req->pathqRef = PATHQ_INVALID;
+	req->state = MR_TARGET_REQUESTING;
+
+	return true;
 }
 
 int CrowdManager::getActiveAgents(Agent** agents, const int maxAgents)
@@ -935,8 +872,8 @@ int CrowdManager::getNeighbours(const float* pos, const float height, const floa
 		if (ag == skip) continue;
 		
 		float diff[3];
-		dtVsub(diff, pos, ag->mover.m_pos);
-		if (fabsf(diff[1]) >= (height+ag->mover.m_height)/2.0f)
+		dtVsub(diff, pos, ag->mover.getPos());
+		if (fabsf(diff[1]) >= (height+ag->mover.getHeight())/2.0f)
 			continue;
 		diff[1] = 0;
 		const float distSqr = dtVlenSqr(diff);
@@ -960,9 +897,6 @@ void CrowdManager::update(const float dt, unsigned int flags, dtNavMeshQuery* na
 	
 	TimeVal startTime = getPerfTime();
 	
-	const float ext[3] = {2,4,2};
-	dtQueryFilter filter;
-	
 	Agent* agents[MAX_AGENTS];
 	Agent* neis[MAX_AGENTS];
 	int nagents = getActiveAgents(agents, MAX_AGENTS);
@@ -970,15 +904,134 @@ void CrowdManager::update(const float dt, unsigned int flags, dtNavMeshQuery* na
 	static const float MAX_ACC = 8.0f;
 	static const float MAX_SPEED = 3.5f;
 
+	// Update move requests.
+	for (int i = 0; i < m_moveRequestCount; ++i)
+	{
+		MoveRequest* req = &m_moveRequests[i];
+		Agent* ag = &m_agents[req->idx];
+
+		if (!ag->active)
+			req->state = MR_TARGET_FAILED;
+			
+		if (req->state == MR_TARGET_REQUESTING)
+		{
+			// Calculate request position.
+			// If there is a lot of latency between requests, it is possible to
+			// project the current position ahead and use raycast to find the actual
+			// location and path.
+			const dtPolyRef* cor = ag->mover.getCorridor();
+			const int ncor = ag->mover.getCorridorCount();
+			dtAssert(ncor);
+			
+			// Here we take the simple approach and set the path to be just the current location.
+			float reqPos[3];
+			dtVcopy(reqPos, ag->mover.getPos());	// The location of the request
+			dtPolyRef reqPath[8];					// The path to the request location
+			reqPath[0] = cor[0];
+			int reqPathCount = 1;
+			
+			req->pathqRef = m_pathq.request(reqPath[reqPathCount-1], req->ref, reqPos, req->pos, &m_filter);
+			if (req->pathqRef != PATHQ_INVALID)
+			{
+				ag->mover.setCorridor(reqPos, reqPath, reqPathCount);
+				req->state = MR_TARGET_WAITING_FOR_PATH;
+			}
+		}
+		else if (req->state == MR_TARGET_WAITING_FOR_PATH)
+		{
+			// Poll path queue.
+			int state = m_pathq.getRequestState(req->pathqRef);
+			if (state == PATHQ_STATE_INVALID)
+			{
+				req->pathqRef = PATHQ_INVALID;
+				req->state = MR_TARGET_FAILED;
+			}
+			else if (state == PATHQ_STATE_READY)
+			{
+				const dtPolyRef* cor = ag->mover.getCorridor();
+				const int ncor = ag->mover.getCorridorCount();
+				dtAssert(ncor);
+
+				// Apply results.
+				float targetPos[3];
+				dtVcopy(targetPos, req->pos);
+
+				bool valid = true;
+				dtPolyRef res[AGENT_MAX_PATH];
+				int nres = m_pathq.getPathResult(req->pathqRef, res, AGENT_MAX_PATH);
+				if (!nres)
+					valid = false;
+
+				// Merge result and existing path.
+				// The agent might have moved whilst the request is
+				// being processed, so the path may have changed.
+				// We assume that the end of the path is at the same location
+				// where the request was issued.
+				
+				// The last ref in the old path should be the same as
+				// the location where the request was issued..
+				if (valid && cor[ncor-1] != res[0])
+					valid = false;
+				
+				if (valid)
+				{
+					// Put the old path infront of the old path.
+					if (ncor > 1)
+					{
+						// Make space for the old path.
+						if ((ncor-1)+nres > AGENT_MAX_PATH)
+							nres = AGENT_MAX_PATH - (ncor-1);
+						memmove(res+ncor-1, res, sizeof(dtPolyRef)*nres);
+						// Copy old path in the beginning.
+						memcpy(res, cor, sizeof(dtPolyRef)*(ncor-1));
+						nres += ncor-1;
+					}
+					
+					// Check for partial path.
+					if (res[nres-1] != req->ref)
+					{
+						// Partial path, constrain target position inside the last polygon.
+						float nearest[3];
+						if (navquery->closestPointOnPoly(res[nres-1], targetPos, nearest))
+							dtVcopy(targetPos, nearest);
+						else
+							valid = false;
+					}
+				}
+				
+				if (valid)
+				{
+					ag->mover.setCorridor(targetPos, res, nres);
+					req->state = MR_TARGET_FAILED;
+				}
+				else
+				{
+					// Something went wrong.
+					req->state = MR_TARGET_FAILED;
+				}
+			}
+		}
+		
+		// Remove request.
+		if (req->state == MR_TARGET_VALID || req->state == MR_TARGET_FAILED)
+		{
+			m_moveRequestCount--;
+			if (i != m_moveRequestCount)
+				memcpy(&m_moveRequests[i], &m_moveRequests[m_moveRequestCount], sizeof(MoveRequest));
+			--i;
+		}
+	}
+	
 	m_pathq.update(navquery);
 	
 
+	// Register agents to proximity grid.
 	m_grid.clear();
 	for (int i = 0; i < nagents; ++i)
 	{
 		Agent* ag = agents[i];
-		const float* p = ag->mover.m_pos;
-		const float r = ag->mover.m_radius;
+		const float* p = ag->mover.getPos();
+		const float r = ag->mover.getRadius();
 		const float minx = p[0] - r;
 		const float miny = p[2] - r;
 		const float maxx = p[0] + r;
@@ -987,26 +1040,18 @@ void CrowdManager::update(const float dt, unsigned int flags, dtNavMeshQuery* na
 	}
 
 	
-	// Update target and agent navigation state.
-	// TODO: add queue for path queries.
-	for (int i = 0; i < nagents; ++i)
-	{
-		Agent* ag = agents[i];
-		ag->mover.updatePathState(navquery, &filter, ext, &m_pathq);
-	}
-	
 	// Get nearby navmesh segments to collide with.
 	for (int i = 0; i < nagents; ++i)
 	{
 		Agent* ag = agents[i];
-		ag->mover.updateLocalNeighbourhood(navquery, &filter);
+		ag->mover.updateLocalNeighbourhood(navquery, &m_filter);
 	}
 	
 	// Find next corner to steer to.
 	for (int i = 0; i < nagents; ++i)
 	{
 		Agent* ag = agents[i];
-		ag->mover.updateCorners(navquery, &filter, ag->opts, ag->opte);
+		ag->mover.updateCorners(navquery, &m_filter, ag->opts, ag->opte);
 	}
 	
 	// Calculate steering.
@@ -1025,7 +1070,7 @@ void CrowdManager::update(const float dt, unsigned int flags, dtNavMeshQuery* na
 		// Calculate steering speed.
 		
 		// Calculate speed scale, which tells the agent to slowdown at the end of the path.
-		const float slowDownRadius = ag->mover.m_radius*2;
+		const float slowDownRadius = ag->mover.getRadius()*2;	// TODO: make less hacky.
 		const float speedScale = ag->mover.getDistanceToGoal(slowDownRadius) / slowDownRadius;
 		
 		// Apply style.
@@ -1054,7 +1099,7 @@ void CrowdManager::update(const float dt, unsigned int flags, dtNavMeshQuery* na
 		}
 		
 		// Set the desired velocity.
-		dtVcopy(ag->mover.m_dvel, dvel);
+		ag->mover.setDesiredVelocity(dvel);
 	}
 	
 	// Velocity planning.
@@ -1064,18 +1109,22 @@ void CrowdManager::update(const float dt, unsigned int flags, dtNavMeshQuery* na
 	{
 		Agent* ag = agents[i];
 		
+		float nvel[3] = {0,0,0};
+		
 		if (flags & CROWDMAN_USE_VO)
 		{
 			m_obstacleQuery->reset();
 			
 			// Find neighbours and add them as obstacles.
-			const int nneis = getNeighbours(ag->mover.m_pos, ag->mover.m_height, ag->mover.m_colradius,
+			const int nneis = getNeighbours(ag->mover.getPos(), ag->mover.getHeight(),
+											ag->mover.getCollisionQueryRange(),
 											ag, neis, MAX_AGENTS);
 			for (int j = 0; j < nneis; ++j)
 			{
 				const Agent* nei = neis[j];
-				m_obstacleQuery->addCircle(nei->mover.m_pos, nei->mover.m_radius, nei->mover.m_vel, nei->mover.m_dvel,
-										   dtVdist2DSqr(ag->mover.m_pos, nei->mover.m_pos));
+				m_obstacleQuery->addCircle(nei->mover.getPos(), nei->mover.getRadius(),
+										   nei->mover.getVelocity(), nei->mover.getDesiredVelocity(),
+										   dtVdist2DSqr(ag->mover.getPos(), nei->mover.getPos()));
 			}
 
 			// Append neighbour segments as obstacles.
@@ -1083,27 +1132,32 @@ void CrowdManager::update(const float dt, unsigned int flags, dtNavMeshQuery* na
 
 			
 			bool adaptive = true;
-			
+
 			if (adaptive)
 			{
 				m_obstacleQuery->setSamplingGridSize(VO_ADAPTIVE_GRID_SIZE);
 				m_obstacleQuery->setSamplingGridDepth(VO_ADAPTIVE_GRID_DEPTH);
-				m_obstacleQuery->sampleVelocityAdaptive(ag->mover.m_pos, ag->mover.m_radius, ag->maxspeed,
-														ag->mover.m_vel, ag->mover.m_dvel, ag->mover.m_nvel,
-														m_vodebug[i]);
+				m_obstacleQuery->sampleVelocityAdaptive(ag->mover.getPos(), ag->mover.getRadius(), ag->maxspeed,
+														ag->mover.getVelocity(), ag->mover.getDesiredVelocity(),
+														nvel, m_vodebug[i]);
 			}
 			else
 			{
 				m_obstacleQuery->setSamplingGridSize(VO_GRID_SIZE);
-				m_obstacleQuery->sampleVelocity(ag->mover.m_pos, ag->mover.m_radius, ag->maxspeed,
-												ag->mover.m_vel, ag->mover.m_dvel, ag->mover.m_nvel,
-												m_vodebug[i]);
+				m_obstacleQuery->sampleVelocity(ag->mover.getPos(), ag->mover.getRadius(), ag->maxspeed,
+												ag->mover.getVelocity(), ag->mover.getDesiredVelocity(),
+												nvel, m_vodebug[i]);
 			}
 		}
 		else
 		{
-			dtVcopy(ag->mover.m_nvel, ag->mover.m_dvel);
+			// If not using velocity planning, new velocity is directly the desired velocity.
+			dtVcopy(nvel, ag->mover.getDesiredVelocity());
 		}
+		
+		ag->mover.setNewVelocity(nvel);
+		
+		
 	}
 	TimeVal rvoEndTime = getPerfTime();
 	
@@ -1121,7 +1175,7 @@ void CrowdManager::update(const float dt, unsigned int flags, dtNavMeshQuery* na
 		{
 			Agent* ag = agents[i];
 			
-			dtVset(ag->mover.m_disp, 0,0,0);
+			dtVset(ag->disp, 0,0,0);
 			
 			float w = 0;
 			
@@ -1131,22 +1185,22 @@ void CrowdManager::update(const float dt, unsigned int flags, dtNavMeshQuery* na
 				Agent* nei = agents[j];
 				
 				float diff[3];
-				dtVsub(diff, ag->mover.m_npos, nei->mover.m_npos);
+				dtVsub(diff, ag->mover.getNewPos(), nei->mover.getNewPos());
 				
-				if (fabsf(diff[1]) >= (ag->mover.m_height+nei->mover.m_height)/2.0f)
+				if (fabsf(diff[1]) >= (ag->mover.getHeight()+nei->mover.getHeight())/2.0f)
 					continue;
 				
 				diff[1] = 0;
 				
 				float dist = dtVlenSqr(diff);
-				if (dist > dtSqr(ag->mover.m_radius+nei->mover.m_radius))
+				if (dist > dtSqr(ag->mover.getRadius()+nei->mover.getRadius()))
 					continue;
 				dist = sqrtf(dist);
-				float pen = (ag->mover.m_radius+nei->mover.m_radius) - dist;
+				float pen = (ag->mover.getRadius()+nei->mover.getRadius()) - dist;
 				if (dist > 0.0001f)
 					pen = (1.0f/dist) * (pen*0.5f) * 0.7f;
 				
-				dtVmad(ag->mover.m_disp, ag->mover.m_disp, diff, pen);			
+				dtVmad(ag->disp, ag->disp, diff, pen);			
 				
 				w += 1.0f;
 			}
@@ -1154,14 +1208,16 @@ void CrowdManager::update(const float dt, unsigned int flags, dtNavMeshQuery* na
 			if (w > 0.0001f)
 			{
 				const float iw = 1.0f / w;
-				dtVscale(ag->mover.m_disp, ag->mover.m_disp, iw);
+				dtVscale(ag->disp, ag->disp, iw);
 			}
 		}
 		
 		for (int i = 0; i < nagents; ++i)
 		{
 			Agent* ag = agents[i];
-			dtVadd(ag->mover.m_npos, ag->mover.m_npos, ag->mover.m_disp);
+			float npos[3];
+			dtVadd(npos, ag->mover.getNewPos(), ag->disp);
+			ag->mover.setNewPos(npos);
 		}
 	}
 	
@@ -1169,7 +1225,7 @@ void CrowdManager::update(const float dt, unsigned int flags, dtNavMeshQuery* na
 	{
 		Agent* ag = agents[i];
 		// Move along navmesh.
-		ag->mover.updateLocation(navquery, &filter);
+		ag->mover.updatePosition(navquery, &m_filter);
 	}
 	
 	
@@ -1189,7 +1245,7 @@ void CrowdManager::update(const float dt, unsigned int flags, dtNavMeshQuery* na
 		
 		// Update agent movement trail.
 		ag->htrail = (ag->htrail + 1) % AGENT_MAX_TRAIL;
-		dtVcopy(&ag->trail[ag->htrail*3], ag->mover.m_pos);
+		dtVcopy(&ag->trail[ag->htrail*3], ag->mover.getPos());
 	}
 
 	m_sampleCount = ns;
diff --git a/RecastDemo/Source/CrowdTool.cpp b/RecastDemo/Source/CrowdTool.cpp
index 225f7a73..6e165977 100644
--- a/RecastDemo/Source/CrowdTool.cpp
+++ b/RecastDemo/Source/CrowdTool.cpp
@@ -77,104 +77,23 @@ static bool isectSegAABB(const float* sp, const float* sq,
 	return true;
 }
 
-static int insertIsect(float u, int inside, Isect* ints, int nints)
+static void getMoverBounds(const Mover* m, float* bmin, float* bmax)
 {
-	int i;
-	if (nints >= FORM_MAX_ISECT) return nints;
-	if (!nints || u >= ints[nints-1].u)
-	{
-		ints[nints].u = u;
-		ints[nints].inside = inside;
-		return nints+1;
-	}
-	for (i = 0; i < nints; ++i)
-		if (u <= ints[i].u) break;
-	if (nints-i > 0) memmove(ints+i+1,ints+i,sizeof(Isect)*(nints-i));
-	ints[i].u = u;
-	ints[i].inside = inside;
-	return nints+1;
-}
-
-static int removeAdjacent(Isect* ints, int nints)
-{
-	const float eps = 0.0001f;
-	if (nints < 2)
-		return nints;
-	for (int i = 0; i < nints-1; ++i)
-	{
-		if (fabsf(ints[i].u - ints[i+1].u) < eps) // && ints[i].inside != ints[i+1].inside)
-		{
-			nints -= 2;
-			for (int j = i; j < nints; ++j)
-				ints[j] = ints[j+2];
-//			if (nints-i > 0) memmove(ints+i,ints+i+2,sizeof(Isect)*(nints-i));
-			i--;
-		}
-	}
-	return nints;
-}
-
-static int getPolyVerts(const dtNavMesh* navMesh, dtPolyRef ref, float* verts)
-{
-	const dtMeshTile* tile = 0;
-	const dtPoly* poly = 0;
-	if (!navMesh->getTileAndPolyByRef(ref, &tile, &poly))
-		return 0;
-	for (int i = 0; i < (int)poly->vertCount; ++i)
-		dtVcopy(&verts[i*3], &tile->verts[poly->verts[i]*3]);
-	return poly->vertCount;
-}
-
-static void createFormation(Formation* form, const dtNavMesh* navmesh)
-{
-	float verts[DT_VERTS_PER_POLYGON*3];
-	for (int i = 0; i < form->nsegs; i++)
-	{
-		FormationSeg* seg = &form->segs[i];
-		seg->nints = 0;
-		
-		int startInside = 0;
-
-		for (int j = 0; j < form->npolys; ++j)
-		{
-			const int nverts = getPolyVerts(navmesh, form->polys[j], verts);
-			if (!nverts) continue;
-			
-			float tmin, tmax;
-			int smin, smax;
-			bool res = dtIntersectSegmentPoly2D(seg->p, seg->q, verts, nverts, tmin, tmax, smin, smax);
-
-			if (!res)
-				continue;
-			
-			if (tmin >= 0.0f && tmin <= 1.0f)
-				seg->nints = insertIsect(tmin, 1, seg->ints, seg->nints);
-			if (tmax >= 0.0f && tmax <= 1.0f)
-				seg->nints = insertIsect(tmax, -1, seg->ints, seg->nints);
-			if (tmin < 0.0f && tmax > 0.0f)
-				startInside++;
-		}
-		
-		seg->nints = removeAdjacent(seg->ints, seg->nints);
-	}
-	
-	// Calc winding
-	for (int i = 0; i < form->nsegs; ++i)
-	{
-		FormationSeg* seg = &form->segs[i];
-		int inside = 0;
-		for (int j = 0; j < seg->nints; ++j)
-		{
-			inside += seg->ints[j].inside;
-			seg->ints[j].inside = inside;
-		}
-	}
+	const float* p = m->getPos();
+	const float r = m->getRadius();
+	const float h = m->getHeight();
+	bmin[0] = p[0] - r;
+	bmin[1] = p[1];
+	bmin[2] = p[2] - r;
+	bmax[0] = p[0] + r;
+	bmax[1] = p[1] + h;
+	bmax[2] = p[2] + r;
 }
 
 CrowdTool::CrowdTool() :
 	m_sample(0),
 	m_oldFlags(0),
-	m_targetPosSet(0),
+	m_targetRef(0),
 	m_expandDebugDraw(false),
 	m_showLabels(true),
 	m_showCorners(false),
@@ -191,7 +110,6 @@ CrowdTool::CrowdTool() :
 	m_run(true),
 	m_mode(TOOLMODE_CREATE)
 {
-	memset(&m_form, 0, sizeof(Formation));
 }
 
 CrowdTool::~CrowdTool()
@@ -214,7 +132,7 @@ void CrowdTool::init(Sample* sample)
 
 void CrowdTool::reset()
 {
-	m_targetPosSet = false;
+	m_targetRef = 0;
 }
 
 void CrowdTool::handleMenu()
@@ -300,7 +218,7 @@ void CrowdTool::handleClick(const float* s, const float* p, bool shift)
 				const Agent* ag = m_crowd.getAgent(i);
 				if (!ag->active) continue;
 				float bmin[3], bmax[3];
-				ag->mover.getBounds(bmin, bmax);
+				getMoverBounds(&ag->mover, bmin, bmax);
 				float tmin, tmax;
 				if (isectSegAABB(s, p, bmin,bmax, tmin, tmax))
 				{
@@ -318,97 +236,28 @@ void CrowdTool::handleClick(const float* s, const float* p, bool shift)
 		}
 		else
 		{
-			bool single = true;
-
-			const dtNavMesh* navmesh = m_sample->getNavMesh();
+			// Add
 			dtNavMeshQuery* navquery = m_sample->getNavMeshQuery();
-			
-			if (single)
-			{
-				// Add
-				int idx = m_crowd.addAgent(p, m_sample->getAgentRadius(), m_sample->getAgentHeight());
-				if (idx != -1 && m_targetPosSet)
-					m_crowd.requestMoveTarget(idx, m_targetPos);
-			}
-			else
-			{
-				memset(&m_form, 0, sizeof(Formation));
-
-				const float ext[3] = {2,4,2};
-				dtQueryFilter filter;
-
-				const float r = m_sample->getAgentRadius();
-
-				float nearest[3];
-				dtPolyRef centerRef = navquery->findNearestPoly(p, ext, &filter, nearest);
-				if (centerRef)
-				{
-					const int rows = 6;
-					for (int i = 0; i < rows; ++i)
-					{
-						const float x0 = -r*2.5f*rows/2 + (i&1)*r;
-						const float x1 = r*2.5f*rows/2 + (i&1)*r;
-						const float z = (i-rows*0.5f)*r*2.5f;
-						dtVset(m_form.segs[m_form.nsegs].p, p[0]+x0, p[1]+2.0f, p[2]+z);
-						dtVset(m_form.segs[m_form.nsegs].q, p[0]+x1, p[1]+2.0f, p[2]+z);
-						m_form.nsegs++;
-					}
-					
-					m_form.npolys = navquery->findLocalNeighbourhood(centerRef, p, r*rows*2.5f, &filter, m_form.polys, 0, FORM_MAX_POLYS);
-					
-					createFormation(&m_form, navmesh);
-					
-					const int createCount = 25;
-					int num = 0;
-					
-					const float r = m_sample->getAgentRadius();
-					for (int i = 0; i < m_form.nsegs; ++i)
-					{
-						const FormationSeg* seg = &m_form.segs[i];
-						for (int j = 0; j < seg->nints-1; ++j)
-						{
-							if (seg->ints[j].inside == 0) continue;
-							const float u0 = seg->ints[j].u;
-							const float u1 = seg->ints[j+1].u;
-							float ia[3], ib[3];
-							dtVlerp(ia, seg->p,seg->q, u0);
-							dtVlerp(ib, seg->p,seg->q, u1);
-							
-							const float spacing = r*2.5f;
-							float delta[3];
-							dtVsub(delta, ib,ia);
-							float d = dtVlen(delta);
-							int np = (int)floorf(d/spacing);
-							for (int k = 0; k < np; ++k)
-							{
-								float pos[3];
-								dtVmad(pos, ia, delta, (float)(k+0.5f)/(float)np);
-
-								if (num < createCount)
-								{
-									num++;
-									int idx = m_crowd.addAgent(pos, m_sample->getAgentRadius(), m_sample->getAgentHeight());
-									if (idx != -1 && m_targetPosSet)
-										m_crowd.requestMoveTarget(idx, m_targetPos);
-								}
-							}
-						}
-					}
-				}
-			}
-			
+			int idx = m_crowd.addAgent(p, m_sample->getAgentRadius(), m_sample->getAgentHeight(), navquery);
+			if (idx != -1 && m_targetRef)
+				m_crowd.requestMoveTarget(idx, m_targetRef, m_targetPos);
 		}
 	}
 	else if (m_mode == TOOLMODE_MOVE)
 	{
-		dtVcopy(m_targetPos, p);
-		m_targetPosSet = true;
-		
-		for (int i = 0; i < m_crowd.getAgentCount(); ++i)
+		// Find nearest point on navmesh and set move request to that location.
+		dtNavMeshQuery* navquery = m_sample->getNavMeshQuery();
+		const dtQueryFilter* filter = m_crowd.getFilter();
+		const float* ext = m_crowd.getQueryExtents();
+		m_targetRef = navquery->findNearestPoly(p, ext, filter, m_targetPos);
+		if (m_targetRef)
 		{
-			const Agent* ag = m_crowd.getAgent(i);
-			if (!ag->active) continue;
-			m_crowd.requestMoveTarget(i, m_targetPos);
+			for (int i = 0; i < m_crowd.getAgentCount(); ++i)
+			{
+				const Agent* ag = m_crowd.getAgent(i);
+				if (!ag->active) continue;
+				m_crowd.requestMoveTarget(i, m_targetRef, m_targetPos);
+			}
 		}
 	}
 }
@@ -450,7 +299,7 @@ void CrowdTool::handleRender()
 	if (!nmesh)
 		return;
 	
-	if (m_targetPosSet)
+	if (m_targetRef)
 		duDebugDrawCross(&dd, m_targetPos[0],m_targetPos[1]+0.1f,m_targetPos[2], s, duRGBA(0,0,0,128), 2.0f);
 
 
@@ -459,17 +308,26 @@ void CrowdTool::handleRender()
 		const Agent* ag = m_crowd.getAgent(i);
 		if (!ag->active) continue;
 
+		const float height = ag->mover.getHeight();
+		const float radius = ag->mover.getRadius();
+		const float* pos = ag->mover.getPos();
+		const float* target = ag->mover.getCorridorTarget();
+		const float* vel = ag->mover.getVelocity();
+		const float* dvel = ag->mover.getDesiredVelocity();
+		
 		dd.depthMask(false);
 		
 		if (m_showPath)
 		{
-			for (int i = 0; i < ag->mover.m_npath; ++i)
-				duDebugDrawNavMeshPoly(&dd, *nmesh, ag->mover.m_path[i], duRGBA(0,0,0,64));
+			const dtPolyRef* cor = ag->mover.getCorridor();
+			const int ncor = ag->mover.getCorridorCount();			
+			for (int i = 0; i < ncor; ++i)
+				duDebugDrawNavMeshPoly(&dd, *nmesh, cor[i], duRGBA(0,0,0,64));
 		}
 		
 		dd.begin(DU_DRAW_LINES,3.0f);
 		float prev[3], preva = 1;
-		dtVcopy(prev, ag->mover.m_pos);
+		dtVcopy(prev, pos);
 		for (int j = 0; j < AGENT_MAX_TRAIL-1; ++j)
 		{
 			const int idx = (ag->htrail + AGENT_MAX_TRAIL-j) % AGENT_MAX_TRAIL;
@@ -484,22 +342,21 @@ void CrowdTool::handleRender()
 		
 		if (m_showTargets)
 		{
-			duDebugDrawArc(&dd, ag->mover.m_pos[0], ag->mover.m_pos[1], ag->mover.m_pos[2],
-								ag->mover.m_target[0], ag->mover.m_target[1], ag->mover.m_target[2], 0.25f,
-								0, 0.4f, duRGBA(0,0,0,128), 1.0f);
+			duDebugDrawArc(&dd, pos[0], pos[1], pos[2], target[0], target[1], target[2],
+						   0.25f, 0, 0.4f, duRGBA(0,0,0,128), 1.0f);
 		}
 
 		if (m_showCorners)
 		{
-			if (ag->mover.m_ncorners)
+			if (ag->mover.getCornerCount())
 			{
 				dd.begin(DU_DRAW_LINES, 2.0f);
-				for (int j = 0; j < ag->mover.m_ncorners; ++j)
+				for (int j = 0; j < ag->mover.getCornerCount(); ++j)
 				{
-					const float* va = j == 0 ? ag->mover.m_pos : &ag->mover.m_cornerVerts[(j-1)*3];
-					const float* vb = &ag->mover.m_cornerVerts[j*3];
-					dd.vertex(va[0],va[1]+ag->mover.m_radius,va[2], duRGBA(128,0,0,64));
-					dd.vertex(vb[0],vb[1]+ag->mover.m_radius,vb[2], duRGBA(128,0,0,64));
+					const float* va = j == 0 ? pos : ag->mover.getCornerPos(j-1);
+					const float* vb = ag->mover.getCornerPos(j);
+					dd.vertex(va[0],va[1]+radius,va[2], duRGBA(128,0,0,64));
+					dd.vertex(vb[0],vb[1]+radius,vb[2], duRGBA(128,0,0,64));
 				}
 				dd.end();
 
@@ -530,16 +387,17 @@ void CrowdTool::handleRender()
 		
 		if (m_showCollisionSegments)
 		{
-			const float off = ag->mover.m_radius;
-			duDebugDrawCross(&dd, ag->mover.m_localCenter[0],ag->mover.m_localCenter[1]+off,ag->mover.m_localCenter[2], s, duRGBA(192,0,128,255), 2.0f);
-			duDebugDrawCircle(&dd, ag->mover.m_localCenter[0],ag->mover.m_localCenter[1]+off,ag->mover.m_localCenter[2], ag->mover.m_colradius, duRGBA(192,0,128,128), 2.0f);
+			const float* center = ag->mover.getLocalCenter();
+			duDebugDrawCross(&dd, center[0],center[1]+radius,center[2], 0.2f, duRGBA(192,0,128,255), 2.0f);
+			duDebugDrawCircle(&dd, center[0],center[1]+radius,center[2], ag->mover.getCollisionQueryRange(),
+							  duRGBA(192,0,128,128), 2.0f);
 
 			dd.begin(DU_DRAW_LINES, 3.0f);
-			for (int j = 0; j < ag->mover.m_localSegCount; ++j)
+			for (int j = 0; j < ag->mover.getLocalSegmentCount(); ++j)
 			{
-				const float* s = &ag->mover.m_localSegs[j*6];
+				const float* s = ag->mover.getLocalSegment(j);
 				unsigned int col = duRGBA(192,0,128,192);
-				if (dtTriArea2D(ag->mover.m_pos, s, s+3) < 0.0f)
+				if (dtTriArea2D(pos, s, s+3) < 0.0f)
 					col = duDarkenCol(col);
 				
 				duAppendArrow(&dd, s[0],s[1]+0.2f,s[2], s[3],s[4]+0.2f,s[5], 0.0f, 0.3f, col);
@@ -560,9 +418,9 @@ void CrowdTool::handleRender()
 			// Draw detail about agent sela
 			const dtObstacleAvoidanceDebugData* debug = m_crowd.getVODebugData(i);
 
-			const float dx = ag->mover.m_pos[0];
-			const float dy = ag->mover.m_pos[1]+ag->mover.m_height;
-			const float dz = ag->mover.m_pos[2];
+			const float dx = pos[0];
+			const float dy = pos[1]+height;
+			const float dz = pos[2];
 			
 			dd.begin(DU_DRAW_QUADS);
 			for (int i = 0; i < debug->getSampleCount(); ++i)
@@ -582,13 +440,6 @@ void CrowdTool::handleRender()
 			
 		}
 
-		const float height = ag->mover.m_height;
-		const float radius = ag->mover.m_radius;
-		const float* pos = ag->mover.m_pos;
-		const float* vel = ag->mover.m_vel;
-		const float* dvel = ag->mover.m_dvel;
-
-		
 		duDebugDrawArrow(&dd, pos[0],pos[1]+height,pos[2],
 							  pos[0]+vel[0],pos[1]+height+vel[1],pos[2]+vel[2],
 							  0.0f, 0.4f, duRGBA(0,0,0,192), 2.0f);
@@ -611,7 +462,7 @@ void CrowdTool::handleRender()
 		{
 			const Agent* ag = m_crowd.getAgent(i);
 			if (!ag->active) continue;
-			const float* pos = ag->mover.m_pos;
+			const float* pos = ag->mover.getPos();
 			gridy = dtMax(gridy, pos[1]);
 		}
 		gridy += 1.0f;
@@ -729,7 +580,7 @@ void CrowdTool::handleRenderOverlay(double* proj, double* model, int* view)
 	GLdouble x, y, z;
 	
 	// Draw start and end point labels
-	if (m_targetPosSet && gluProject((GLdouble)m_targetPos[0], (GLdouble)m_targetPos[1], (GLdouble)m_targetPos[2],
+	if (m_targetRef && gluProject((GLdouble)m_targetPos[0], (GLdouble)m_targetPos[1], (GLdouble)m_targetPos[2],
 								model, proj, view, &x, &y, &z))
 	{
 		imguiDrawText((int)x, (int)(y+25), IMGUI_ALIGN_CENTER, "TARGET", imguiRGBA(0,0,0,220));
@@ -742,8 +593,8 @@ void CrowdTool::handleRenderOverlay(double* proj, double* model, int* view)
 		{
 			const Agent* ag = m_crowd.getAgent(i);
 			if (!ag->active) continue;
-			const float* pos = ag->mover.m_pos;
-			const float h = ag->mover.m_height;
+			const float* pos = ag->mover.getPos();
+			const float h = ag->mover.getHeight();
 			if (gluProject((GLdouble)pos[0], (GLdouble)pos[1]+h, (GLdouble)pos[2],
 						   model, proj, view, &x, &y, &z))
 			{