diff --git a/RecastDemo/Source/InputGeom.cpp b/RecastDemo/Source/InputGeom.cpp
index 5f8ccb7c..55f901c9 100644
--- a/RecastDemo/Source/InputGeom.cpp
+++ b/RecastDemo/Source/InputGeom.cpp
@@ -16,23 +16,22 @@
 // 3. This notice may not be removed or altered from any source distribution.
 //
 
-#include <math.h>
-#include <stdio.h>
-#include <ctype.h>
-#include <string.h>
-#include <algorithm>
-#include "Recast.h"
 #include "InputGeom.h"
+
 #include "ChunkyTriMesh.h"
-#include "MeshLoaderObj.h"
 #include "DebugDraw.h"
-#include "RecastDebugDraw.h"
-#include "DetourNavMesh.h"
+#include "MeshLoaderObj.h"
+#include "Recast.h"
 #include "Sample.h"
 
-static bool intersectSegmentTriangle(const float* sp, const float* sq,
-									 const float* a, const float* b, const float* c,
-									 float &t)
+#include <ctype.h>
+#include <math.h>
+#include <stdio.h>
+#include <string.h>
+
+#include <algorithm>
+
+static bool intersectSegmentTriangle(const float* sp, const float* sq, const float* a, const float* b, const float* c, float& t)
 {
 	float v;
 	float w;
@@ -54,22 +53,37 @@ static bool intersectSegmentTriangle(const float* sp, const float* sq,
 	// Compute denominator d. If d <= 0, segment is parallel to or points
 	// away from triangle, so exit early
 	float d = rcVdot(qp, norm);
-	if (d <= 0.0f) { return false; }
+	if (d <= 0.0f)
+	{
+		return false;
+	}
 
 	// Compute intersection t value of pq with plane of triangle. A ray
 	// intersects iff 0 <= t. Segment intersects iff 0 <= t <= 1. Delay
 	// dividing by d until intersection has been found to pierce triangle
 	rcVsub(ap, sp, a);
 	t = rcVdot(ap, norm);
-	if (t < 0.0f) { return false; }
-	if (t > d) { return false; } // For segment; exclude this code line for a ray test
+	if (t < 0.0f)
+	{
+		return false;
+	}
+	if (t > d)
+	{
+		return false;
+	}  // For segment; exclude this code line for a ray test
 
 	// Compute barycentric coordinate components and test if within bounds
 	rcVcross(e, qp, ap);
 	v = rcVdot(ac, e);
-	if (v < 0.0f || v > d) { return false; }
+	if (v < 0.0f || v > d)
+	{
+		return false;
+	}
 	w = -rcVdot(ab, e);
-	if (w < 0.0f || v + w > d) { return false; }
+	if (w < 0.0f || v + w > d)
+	{
+		return false;
+	}
 
 	// Segment/ray intersects triangle. Perform delayed division
 	t /= d;
@@ -89,24 +103,30 @@ static char* parseRow(char* buf, char* bufEnd, char* row, int len)
 		// multirow
 		switch (c)
 		{
-			case '\n':
-				if (start) { break; }
+		case '\n':
+			if (start)
+			{
+				break;
+			}
+			done = true;
+			break;
+		case '\r':
+			break;
+		case '\t':
+		case ' ':
+			if (start)
+			{
+				break;
+			}
+			// else falls through
+		default:
+			start = false;
+			row[n++] = c;
+			if (n >= len - 1)
+			{
 				done = true;
-				break;
-			case '\r':
-				break;
-			case '\t':
-			case ' ':
-				if (start) { break; }
-				// else falls through
-			default:
-				start = false;
-				row[n++] = c;
-				if (n >= len-1)
-				{
-					done = true;
-				}
-				break;
+			}
+			break;
 		}
 	}
 	row[n] = '\0';
@@ -117,8 +137,10 @@ bool InputGeom::loadMesh(rcContext* ctx, const std::string& filepath)
 {
 	if (m_mesh)
 	{
-		delete m_chunkyMesh; m_chunkyMesh = nullptr;
-		delete m_mesh; m_mesh = nullptr;
+		delete m_chunkyMesh;
+		m_chunkyMesh = nullptr;
+		delete m_mesh;
+		m_mesh = nullptr;
 	}
 	m_offMeshConCount = 0;
 	m_volumeCount = 0;
@@ -155,7 +177,10 @@ bool InputGeom::loadMesh(rcContext* ctx, const std::string& filepath)
 bool InputGeom::loadGeomSet(rcContext* ctx, const std::string& filepath)
 {
 	FILE* fp = fopen(filepath.c_str(), "rb");
-	if (!fp) { return false; }
+	if (!fp)
+	{
+		return false;
+	}
 
 	if (fseek(fp, 0, SEEK_END) != 0)
 	{
@@ -191,7 +216,8 @@ bool InputGeom::loadGeomSet(rcContext* ctx, const std::string& filepath)
 	m_offMeshConCount = 0;
 	m_volumeCount = 0;
 
-	delete m_mesh; m_mesh = nullptr;
+	delete m_mesh;
+	m_mesh = nullptr;
 
 	char* src = buf;
 	char* srcEnd = buf + bufSize;
@@ -206,12 +232,14 @@ bool InputGeom::loadGeomSet(rcContext* ctx, const std::string& filepath)
 			// File name.
 			const char* name = row + 1;
 			// Skip white spaces
-			for (;*name && isspace(*name); ++name) {}
+			for (; *name && isspace(*name); ++name)
+			{
+			}
 			if (*name)
 			{
 				if (!loadMesh(ctx, name))
 				{
-					delete [] buf;
+					delete[] buf;
 					return false;
 				}
 			}
@@ -226,8 +254,19 @@ bool InputGeom::loadGeomSet(rcContext* ctx, const std::string& filepath)
 				int area;
 				int flags;
 				float rad;
-				sscanf(row + 1, "%f %f %f  %f %f %f %f %d %d %d",
-					   &v[0], &v[1], &v[2], &v[3], &v[4], &v[5], &rad, &bidir, &area, &flags);
+				sscanf(
+					row + 1,
+					"%f %f %f  %f %f %f %f %d %d %d",
+					&v[0],
+					&v[1],
+					&v[2],
+					&v[3],
+					&v[4],
+					&v[5],
+					&rad,
+					&bidir,
+					&area,
+					&flags);
 				m_offMeshConRads[m_offMeshConCount] = rad;
 				m_offMeshConDirs[m_offMeshConCount] = (unsigned char)bidir;
 				m_offMeshConAreas[m_offMeshConCount] = (unsigned char)area;
@@ -254,7 +293,8 @@ bool InputGeom::loadGeomSet(rcContext* ctx, const std::string& filepath)
 		{
 			// Settings
 			m_hasBuildSettings = true;
-			sscanf(row + 1,
+			sscanf(
+				row + 1,
 				"%f %f %f %f %f %f %f %f %f %f %f %f %f %d %f %f %f %f %f %f %f",
 				&m_buildSettings.cellSize,
 				&m_buildSettings.cellHeight,
@@ -280,14 +320,17 @@ bool InputGeom::loadGeomSet(rcContext* ctx, const std::string& filepath)
 		}
 	}
 
-	delete [] buf;
+	delete[] buf;
 	return true;
 }
 
 bool InputGeom::load(rcContext* ctx, const std::string& filepath)
 {
 	size_t extensionPos = filepath.find_last_of('.');
-	if (extensionPos == std::string::npos) { return false; }
+	if (extensionPos == std::string::npos)
+	{
+		return false;
+	}
 
 	std::string extension = filepath.substr(extensionPos);
 	std::transform(extension.begin(), extension.end(), extension.begin(), tolower);
@@ -306,7 +349,10 @@ bool InputGeom::load(rcContext* ctx, const std::string& filepath)
 
 bool InputGeom::saveGeomSet(const BuildSettings* settings)
 {
-	if (!m_mesh) { return false; }
+	if (!m_mesh)
+	{
+		return false;
+	}
 
 	// Change extension
 	std::string filepath = m_mesh->getFileName();
@@ -319,7 +365,10 @@ bool InputGeom::saveGeomSet(const BuildSettings* settings)
 	filepath += ".gset";
 
 	FILE* fp = fopen(filepath.c_str(), "w");
-	if (!fp) { return false; }
+	if (!fp)
+	{
+		return false;
+	}
 
 	// Store mesh filename.
 	fprintf(fp, "f %s\n", m_mesh->getFileName().c_str());
@@ -327,7 +376,8 @@ bool InputGeom::saveGeomSet(const BuildSettings* settings)
 	// Store settings if any
 	if (settings)
 	{
-		fprintf(fp,
+		fprintf(
+			fp,
 			"s %f %f %f %f %f %f %f %f %f %f %f %f %f %d %f %f %f %f %f %f %f\n",
 			settings->cellSize,
 			settings->cellHeight,
@@ -360,9 +410,7 @@ bool InputGeom::saveGeomSet(const BuildSettings* settings)
 		const int bidir = m_offMeshConDirs[i];
 		const int area = m_offMeshConAreas[i];
 		const int flags = m_offMeshConFlags[i];
-		fprintf(fp,
-			"c %f %f %f  %f %f %f  %f %d %d %d\n",
-			v[0], v[1], v[2], v[3], v[4], v[5], rad, bidir, area, flags);
+		fprintf(fp, "c %f %f %f  %f %f %f  %f %d %d %d\n", v[0], v[1], v[2], v[3], v[4], v[5], rad, bidir, area, flags);
 	}
 
 	// Convex volumes
@@ -381,22 +429,11 @@ bool InputGeom::saveGeomSet(const BuildSettings* settings)
 	return true;
 }
 
-static bool isectSegAABB(
-	const float* sp,
-	const float* sq,
-	const float* amin,
-	const float* amax,
-	float& tmin,
-	float& tmax)
+static bool isectSegAABB(const float* sp, const float* sq, const float* amin, const float* amax, float& tmin, float& tmax)
 {
 	static const float EPS = 1e-6f;
 
-	float d[]
-	{
-		sq[0] - sp[0],
-		sq[1] - sp[1],
-		sq[2] - sp[2]
-	};
+	float d[]{sq[0] - sp[0], sq[1] - sp[1], sq[2] - sp[2]};
 	tmin = 0.0;
 	tmax = 1.0f;
 
@@ -414,10 +451,24 @@ static bool isectSegAABB(
 			const float ood = 1.0f / d[i];
 			float t1 = (amin[i] - sp[i]) * ood;
 			float t2 = (amax[i] - sp[i]) * ood;
-			if (t1 > t2) { float tmp = t1; t1 = t2; t2 = tmp; }
-			if (t1 > tmin) { tmin = t1; }
-			if (t2 < tmax) { tmax = t2; }
-			if (tmin > tmax) { return false; }
+			if (t1 > t2)
+			{
+				float tmp = t1;
+				t1 = t2;
+				t2 = tmp;
+			}
+			if (t1 > tmin)
+			{
+				tmin = t1;
+			}
+			if (t2 < tmax)
+			{
+				tmax = t2;
+			}
+			if (tmin > tmax)
+			{
+				return false;
+			}
 		}
 	}
 
@@ -429,22 +480,20 @@ bool InputGeom::raycastMesh(float* src, float* dst, float& tmin)
 	// Prune hit ray.
 	float btmin;
 	float btmax;
-	if (!isectSegAABB(src, dst, m_meshBMin, m_meshBMax, btmin, btmax)) { return false; }
+	if (!isectSegAABB(src, dst, m_meshBMin, m_meshBMax, btmin, btmax))
+	{
+		return false;
+	}
 
-	float p[]
-	{
-		p[0] = src[0] + (dst[0] - src[0]) * btmin,
-		p[1] = src[2] + (dst[2] - src[2]) * btmin
-	};
-	float q[]
-	{
-		src[0] + (dst[0] - src[0]) * btmax,
-		src[2] + (dst[2] - src[2]) * btmax
-	};
+	float p[]{p[0] = src[0] + (dst[0] - src[0]) * btmin, p[1] = src[2] + (dst[2] - src[2]) * btmin};
+	float q[]{src[0] + (dst[0] - src[0]) * btmax, src[2] + (dst[2] - src[2]) * btmax};
 
 	int cid[512];
 	const int ncid = m_chunkyMesh->GetChunksOverlappingSegment(p, q, cid, 512);
-	if (!ncid) { return false; }
+	if (!ncid)
+	{
+		return false;
+	}
 
 	tmin = 1.0f;
 	bool hit = false;
@@ -459,11 +508,7 @@ bool InputGeom::raycastMesh(float* src, float* dst, float& tmin)
 		for (int j = 0; j < ntris * 3; j += 3)
 		{
 			float t = 1;
-			if (intersectSegmentTriangle(
-				src, dst,
-				&verts[tris[j] * 3],
-				&verts[tris[j + 1] * 3],
-				&verts[tris[j + 2] * 3], t))
+			if (intersectSegmentTriangle(src, dst, &verts[tris[j] * 3], &verts[tris[j + 1] * 3], &verts[tris[j + 2] * 3], t))
 			{
 				if (t < tmin)
 				{
@@ -485,7 +530,10 @@ void InputGeom::addOffMeshConnection(
 	unsigned char area,
 	unsigned short flags)
 {
-	if (m_offMeshConCount >= MAX_OFFMESH_CONNECTIONS) { return; }
+	if (m_offMeshConCount >= MAX_OFFMESH_CONNECTIONS)
+	{
+		return;
+	}
 	float* v = &m_offMeshConVerts[m_offMeshConCount * 3 * 2];
 	m_offMeshConRads[m_offMeshConCount] = rad;
 	m_offMeshConDirs[m_offMeshConCount] = bidir;
@@ -532,22 +580,19 @@ void InputGeom::drawOffMeshConnections(duDebugDraw* dd, bool hilight)
 
 		if (hilight)
 		{
-			duAppendArc(dd, v[0], v[1], v[2], v[3], v[4], v[5], 0.25f,
-						(m_offMeshConDirs[i]&1) ? 0.6f : 0.0f, 0.6f, conColor);
+			duAppendArc(dd, v[0], v[1], v[2], v[3], v[4], v[5], 0.25f, (m_offMeshConDirs[i] & 1) ? 0.6f : 0.0f, 0.6f, conColor);
 		}
 	}
 	dd->end();
 	dd->depthMask(true);
 }
 
-void InputGeom::addConvexVolume(
-	const float* verts,
-	const int nverts,
-	const float minh,
-	const float maxh,
-	unsigned char area)
+void InputGeom::addConvexVolume(const float* verts, const int nverts, const float minh, const float maxh, unsigned char area)
 {
-	if (m_volumeCount >= MAX_VOLUMES) { return; }
+	if (m_volumeCount >= MAX_VOLUMES)
+	{
+		return;
+	}
 	ConvexVolume* vol = &m_volumes[m_volumeCount++];
 	memset(vol, 0, sizeof(ConvexVolume));
 	memcpy(vol->verts, verts, sizeof(float) * 3 * nverts);
@@ -572,7 +617,7 @@ void InputGeom::drawConvexVolumes(struct duDebugDraw* dd, bool /*hilight*/)
 	{
 		const ConvexVolume* vol = &m_volumes[i];
 		unsigned int col = duTransCol(dd->areaToCol(vol->area), 32);
-		for (int j = 0, k = vol->nverts-1; j < vol->nverts; k = j++)
+		for (int j = 0, k = vol->nverts - 1; j < vol->nverts; k = j++)
 		{
 			const float* va = &vol->verts[k * 3];
 			const float* vb = &vol->verts[j * 3];
@@ -598,7 +643,7 @@ void InputGeom::drawConvexVolumes(struct duDebugDraw* dd, bool /*hilight*/)
 	{
 		const ConvexVolume* vol = &m_volumes[i];
 		unsigned int col = duTransCol(dd->areaToCol(vol->area), 220);
-		for (int j = 0, k = vol->nverts-1; j < vol->nverts; k = j++)
+		for (int j = 0, k = vol->nverts - 1; j < vol->nverts; k = j++)
 		{
 			const float* va = &vol->verts[k * 3];
 			const float* vb = &vol->verts[j * 3];