More fuzz testing by Andreas Seltenreich exposed that the planner did not
cope well with chains of lateral references.  If relation X references Y
laterally, and Y references Z laterally, then we will have to scan X on the
inside of a nestloop with Z, so for all intents and purposes X is laterally
dependent on Z too.  The planner did not understand this and would generate
intermediate joins that could not be used.  While that was usually harmless
except for wasting some planning cycles, under the right circumstances it
would lead to "failed to build any N-way joins" or "could not devise a
query plan" planner failures.

To fix that, convert the existing per-relation lateral_relids and
lateral_referencers relid sets into their transitive closures; that is,
they now show all relations on which a rel is directly or indirectly
laterally dependent.  This not only fixes the chained-reference problem
but allows some of the relevant tests to be made substantially simpler
and faster, since they can be reduced to simple bitmap manipulations
instead of searches of the LateralJoinInfo list.

Also, when a PlaceHolderVar that is due to be evaluated at a join contains
lateral references, we should treat those references as indirect lateral
dependencies of each of the join's base relations.  This prevents us from
trying to join any individual base relations to the lateral reference
source before the join is formed, which again cannot work.

Andreas' testing also exposed another oversight in the "dangerous
PlaceHolderVar" test added in commit 85e5e222.  Simply rejecting
unsafe join paths in joinpath.c is insufficient, because in some cases
we will end up rejecting *all* possible paths for a particular join, again
leading to "could not devise a query plan" failures.  The restriction has
to be known also to join_is_legal and its cohort functions, so that they
will not select a join for which that will happen.  I chose to move the
supporting logic into joinrels.c where the latter functions are.

Back-patch to 9.3 where LATERAL support was introduced.