diff --git a/HierarchicalPathfinding/Include/Graph.h b/HierarchicalPathfinding/Include/Graph.h
index e6cfa7b..7c505f7 100755
--- a/HierarchicalPathfinding/Include/Graph.h
+++ b/HierarchicalPathfinding/Include/Graph.h
@@ -1,10 +1,11 @@
-#ifndef	__GRAPH_H__
-#define	__GRAPH_H__
+#ifndef	GRAPH_H
+#define	GRAPH_H
 
 #include "DetourCommon.h"
 #include "DetourAlloc.h"
 #include <vector>
 #include <map>
+#include <cstring>
 
 
 const int maxInternalPath = 256;
@@ -16,50 +17,49 @@ class Graph{
 
 typedef unsigned int dtPolyRef;
 
-public:
-	
-	struct IntraEdge
-	{
-		int startPosId;
-		int endPosId;
-		int nPath;
-		float cost;
-		dtPolyRef path[maxInternalPath];
-	};
-
-	struct Edge
-	{
-		dtPolyRef targetNodeId;
-		int idPos;
-		int idPoly;
-		float pos[3];
-	};
-
-	struct Node
-	{
-		dtPolyRef idNode;
-		dtPolyRef idParent;
-
-		Edge *edges;
-		unsigned int numEdges;
-
-		IntraEdge *intraEdges;
-		unsigned int numIntraEdges;
-
+public:
+	
+	struct IntraEdge
+	{
+		int startPosId;
+		int endPosId;
+		int nPath;
+		float cost;
+		dtPolyRef path[maxInternalPath];
+	};
+
+	struct Edge
+	{
+		dtPolyRef targetNodeId;
+		int idPos;
+		int idPoly;
+		float pos[3];
+	};
+
+	struct Node
+	{
+		dtPolyRef idNode;
+		dtPolyRef idParent;
+
+		Edge *edges;
+		unsigned int numEdges;
+
+		IntraEdge *intraEdges;
+		unsigned int numIntraEdges;
+
 		void InitEdge(int maxEdgesPerNode)
 		{
 			numEdges = 0;
-			edges = 0;
 			edges = (Edge*)dtAlloc(sizeof(Edge)*maxEdgesPerNode, DT_ALLOC_PERM);
 			memset(edges, 0, sizeof(Edge)*maxEdgesPerNode);
-		}
-
+		}
+
 		void DestroyEdge()
 		{
 			dtFree(edges);
 			numEdges = 0;
-		}
-
+		}
+
 		void InitIntraEdge()
 		{
 			int maxIntraEdgesPerNode = numEdges * numEdges;
@@ -67,17 +67,16 @@ typedef unsigned int dtPolyRef;
 			if(maxIntraEdgesPerNode > 0)
 			{
 				numIntraEdges = 0;
-				intraEdges = 0;
 				intraEdges = (IntraEdge*)dtAlloc(sizeof(IntraEdge)*maxIntraEdgesPerNode, DT_ALLOC_PERM);
 				memset(intraEdges, 0, sizeof(IntraEdge)*maxIntraEdgesPerNode);
 			}
-		}
-
+		}
+
 		void DestroyIntraEdge()
 		{
 			dtFree(intraEdges);
 			numIntraEdges = 0;
-		}
+		}
 	};
 
 	Node* nodes;
@@ -125,7 +124,6 @@ typedef unsigned int dtPolyRef;
 	void Init(int numMaxNodes)
 	{
 		numNodes = 0;
-		nodes = 0;
 		nodes = (Node*)dtAlloc(sizeof(Node)*numMaxNodes, DT_ALLOC_PERM);
 		memset(nodes, 0, sizeof(Node)*numMaxNodes);
 	}
@@ -143,4 +141,4 @@ typedef unsigned int dtPolyRef;
 	}
 };
 
-#endif	// __GRAPH_H__
\ No newline at end of file
+#endif	// GRAPH_H