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).
calculate off-mesh-connection height correctly
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.
Fix for broken raycasts, changes how findNearestPoly works, slight API change

- test case supports raycasts
- changes how findNearestPoly works directly over polygons
- API change: findNearestPoly has additional parameter
Merge branch 'master' of https://github.com/memononen/recastnavigation
Fixed pos-over-poly case for finding nearest polygon
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
Fix rcMergePolyMeshes() ignoring portals of input meshes.

Copy the portals from input meshes on border to the output mesh.
Fix for detail mesh height data generation

- if the new region based height data generation fails, use the old
flood fill based method
Merge pull request #16 from qiqian/master

calculate off-mesh-connection height correctly
Merge pull request #18 from jackpoz/rcMergePolyMeshes_portals_fix

Fix rcMergePolyMeshes() ignoring portals of input meshes.
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