* Cleanup compact heightfield functions in RecastArea.cpp
* More improved variable names for RecastArea.cpp
* Improved variable names and documentation in rcOffsetPoly
* Don't normalize the miter bisector in rcOffsetPoly since this needs to be proportional to both segment normals.
* Moved vector normalization out of rcOffsetPoly into a helper function rcVsafeNormalize
* Rename local variables in rcOffsetPoly
* Rename BMiterX/Z to cornerMIterX/Z
* Also fixed some comment descriptions
* Added docstring for rcVsafeNormalize
* Improved clarity of a few comments
ikpil