Recastnavigation: upstream the patches

[SomeoneSerge]

🚀 Feature

• Rebase https://github.com/erikwijmans/recastnavigation.git on upstream master or a recent release (PoC)
• Complete/rework/reopen Multi-goal shortest path recastnavigation/recastnavigation#369 in a way acceptable acceptable for the upstream
• Switch to upstream releases of recastnavigation with an (opt-out) option to use find_package/dependency injection instead of vendoring recastnavigation via git-submodules.

Motivation

Bootstrapping habitat-sim and its dependencies from source, building consistent and customizable package sets ("fixpoints"), including the ability to easily override versions of dependencies and consistently apply patches. I've a PoC at SomeoneSerge/dust3r.nix@47d9eea, and I'd love to upstream parts of it to Nixpkgs. This would only be accepted in Nixpkgs if it's clear that it'd feasible to maintain the package(s) in the long term.

Thanks

Pitch

Unless the features required by habitat-sim are accepted and merged in recastnavigation, upgrading to different versions of recastnavigation would always require manual rebasing and solving merge conflicts.

Alternatives

Additional context