improving path aesthetics at tile crossing: in the old code, when a new node is found a single 3D position is associated with it. This position is used regardless of arriving from a new tile. A minor issue on a normal navmesh, this produces many problems when crossing tiles. Points might be located on different borders altogether depending on where one arrived from first.
The new code assigns several (consecutive) dtNodes for polygons that lie on tile boundary. Each node gets its own point. since the nodes are packed together consecutively, it is easy to find the right node by reference even though there are several.
fix: multiple node allocation had a bug
moving from creating several nodes at once for the same ref to creating as needed based on ref and state (where state is currently used only for border poly to keep the arrival side).
bugfix: raycasts sometimes fail when the origin is near a boundary of a triangle with a slope. The fix of considers polygons to have a thickness for the purpose of finding closest nodes.
Merge branch 'master' of https://github.com/memononen/recastnavigation
Merge branch 'master' of https://github.com/memononen/recastnavigation
changed path planner to Theta*, changed the raycast function to emit a cost based on the actual traversal cost
Merge branch 'master' of https://github.com/axelrodR/recastnavigation
following mikko's comments on push #17. Interfaces changes, the most notable is adding a new raycast function and converted the existing to a thin wrapper.
following mikko's comments on push #17 (part 2). Interfaces changes, the most notable is adding option flags to initSlicedFindPath that can cancel the any-angle search
changed the NavMeshTesterTool so that pathFind and straightPath use the default options (i.e. not any-angle) while sliced path uses the any angle search.
changed the remarks and value of RAY_CAST_LIMIT_PROPORTIONS
bug fix: When building the detailed mesh, if getHeightData() can't find seeds using the region - fallback to the old code of finding seeds based on the vertices
Merge branch 'master' of https://github.com/axelrodR/recastnavigation
bug fix: returned path had duplicates of nodes
bug fix: finalizeSlicedFindPathPartial() did not handle the case of DT_NODE_PARENT_DETACHED at all.
changed the default options of the pathfinder to 0 (i.e. no raycasts), changed the the tester tool to display all points along the sliced path (a better default for non flat terrain).
Constrain the window's aspect ratio
Update to latest stb versions

Includes minor compile warning fix
Remove unused variable