backtracking compares targets to previous sessions
also moved "ignore_discontinuities" parameter to component
deleted legacy comments
removed visible wall calculations
cross product, deleted compare_sq
added parameter to measure distance with b2TestOverlap
visibility is now ignoring discontinuities narrower than specified
extracted getting transformed shape vertices routine to body_helper
obstacle avoidance now checks if navigation candidates exist within discontinuities
this is to dispose of dropped too-narrow discontinuities and handle pathological case where we have identical angular distance and totally different linear distances
pathfinding now measures absolute distance between sensor and body