static TiledNavMesh BuildNavMesh(IObjModel level)
        {
            if (level == null) throw new ArgumentNullException("level");
            //var settings = new GenSettings();

            //var parameters = NavMeshGenerationSettings.Default; ;
            //parameters.AgentHeight = settings.MaxHeight;
            //parameters.AgentWidth = 1; //not really used, but set a default value anyway
            //parameters.MaxClimb = settings.MaxClimb;

            //return SharpNav.NavMesh.Generate(TriangleEnumerable.FromTriangle(level.GetTriangles(), 0, level.GetTriangles().Length), parameters);

            var settings = new GenSettings();
            int voxMaxHeight = (int)(settings.MaxHeight / settings.CellHeight);
            int voxMaxClimb = (int)(settings.MaxClimb / settings.CellHeight);
            int voxErodeRadius = (int)(settings.ErodeRadius / settings.CellSize);

            BBox3 bounds = level.GetBounds();

            var heightfield = new Heightfield(bounds, settings.CellSize, settings.CellHeight);

            /*AreaFlags[] areas = AreaFlagsGenerator.From(level.GetTriangles(), AreaFlags.Walkable)
                .MarkAboveHeight(5f, AreaFlags.Null)
                .MarkAboveSlope(0.95f, AreaFlags.Null)
                .ToArray();
            heightfield.RasterizeTrianglesWithAreas(level.GetTriangles(), areas);*/
            heightfield.RasterizeTriangles(level.GetTriangles());


            heightfield.FilterLedgeSpans(voxMaxHeight, voxMaxClimb);
            heightfield.FilterLowHangingWalkableObstacles(voxMaxClimb);
            heightfield.FilterWalkableLowHeightSpans(voxMaxHeight);

            var compactHeightfield = new CompactHeightfield(heightfield, voxMaxHeight, voxMaxClimb);

            compactHeightfield.Erode(voxErodeRadius);


            compactHeightfield.BuildDistanceField();

            compactHeightfield.BuildRegions(2, settings.MinRegionSize, settings.MergedRegionSize);

            var contourSet = new ContourSet(compactHeightfield, settings.MaxEdgeError, settings.MaxEdgeLength, 0);

            var polyMesh = new PolyMesh(contourSet, settings.VertsPerPoly);

            var polyMeshDetail = new PolyMeshDetail(polyMesh, compactHeightfield, settings.SampleDistance, settings.MaxSmapleError);

            var parameters = NavMeshGenerationSettings.Default;
            parameters.AgentHeight = settings.MaxHeight;
            parameters.AgentWidth = 1; //not really used, but set a default value anyway
            parameters.MaxClimb = settings.MaxClimb;

            var buildData = new NavMeshBuilder(polyMesh, polyMeshDetail, new OffMeshConnection[0], parameters);

            return new TiledNavMesh(buildData);
        }