Merge pull request #1 from madrusec/master

Merge Madrusec's changes onto Galaxode Fork
Merge pull request #2 from madrusec/master

Pull changes for fixed pathfinding
Merge pull request #3 from madrusec/master

Searching State and Pathfinding refinements, Code clean up
Modified SelectBestPath() in PathFinderController

Shorted the code a bit, got ride of the "first" boolean and one of the
if blocks which had basically the same code inside. Also some minor
changes to variable name "backtracking" and some comment edits
Merge pull request #2 from galaxode/master

Pull request for SelectBestPath() changes in PathFinderController