Refactor: moved plan displaying to problemViewer class
Fixed a memory leak in motion planner
WIP: Plan viewer using the engine
WIP: Redefining renderer interface.
WIP: Plan viewer, using renderer to draw space limits
Implemented drawTriangles method in renderer
Centroid computation in Convex2dRegion
Draw space boundaries (fill only)
Properly display region limits (correct lining of boundaries)
Display obstacles
Draw planned path
Little fix to render
fixed clipping of windings parallel to object faces
Fixed a few bugs in bsp partition
Added tolerance to raytracing
Erased PFC documents, they don't belong here
Renamed search strategies (previously SearchEngine)
WIP: Templatizing motionPlanner2D
WIP: templatizing search strategies
WIP: Templatizing planner, builds but doesn't link
Missing inline implementation for breathfirst