Fix build on Windows/MSVC

[aleokdev]

A couple of fixes for building in MSVC:

• Add math.h includes where M_PI constants are used, with the _USE_MATH_DEFINES compile definition
• Use target_compile_options instead of add_compile_definitions so that warnings on the yaml library don't affect the executable compilation
• Use FetchContent instead of find_package so that users don't need to have the yaml package installed
• Fix some conversions and warnings
• Avoid the usage of alternative operators