fix turning point check in findStraightPath #736
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This commit try to prevent inappropriate turning point by accepting the candidate
leftorrightpoint as the newportalLeftorportalRightif any 2 among 3 related points are overlapped. These 3 related points can be either:portalLeft,left,portalApexor
portalRight,right,portalApex.Detailed reason for this commit is discussed in issue#735.