that resembles VERY closely to what I'm doing in the current version of my bot. Although Michael made the choice to narrow the walkfaces a bit possibly for forcing the bots into a more precise navigation.
I can notice he also merges the adjacent walkfaces into larger squares, which for sure leads to much less overhead for pathfinding, but on the counterpart restricts the tactical analysis of danger points on a certain area to the corners of the square and the passage points between two areas (for example, *not all* of an open area represented by a single square is potentially dangerous - a sniper may be able to cover only a half of it).
I would have liked to see videos of bots walking on narrow ledges and difficult passages... I agree with him when he says "navigation is hell".
*edit* out of curiousity, it seems that even the storage in the .nav files is very similar... it looks like a dump of the raw corner coordinates in Vector data
I think I must be able to write a tool that will convert RACC nav files into CSbot nav files and back