Coins scammed or hacked aren't lost. Criminal buy and sell them. They remain part of the money supply.
There are permanently lost coins though. If halving goes on indefinitely as soon as in 30 years time we might have more coins lost than generated, because generation will be extremely low.
The point about criminals is that coin concentration is so extremely concentrated in the early years that hacking is strongly encouraged, and it also coincides with the community and software being the most immature. It's a rather unfortunate nature of things
You will NEVER be able to change the minting rate. Even 99% of miners can't do that. It would require a complete consensus of all users, all nodes, all merchants, all exchanges, and all miners. Doing it with less will cause a permanent fork in the network and the new fork probably not supported enough to survive. Say you make BTC generation 12.5 but MtGox accepts coins from the original fork 6.25 BTC rate. You now have a situation where two entities are calling themselves Bitcoin but they are completely incompatible.
Given non-miners gain nothing from a higher generation rate why would they update their clients just to make miners richer? If they don't upgrade their clients well they won't even be able to see the new blocks as valid. The miners who continue to mine the "old fork" will see tx rise and difficulty fall and become massively profitable.
Best case scenario is they most nodes simply ignore the "hard fork miners" and the fork just goes away. Worst case scenario is you end up in a situation where both forks have significant support and it likely will very damaging to Bitcoin. Can you imagine the noob confusion if they send Bitcoin to a merchant's address but the merchant does see them because the merchant is using the "other" Bitcoin?
This is something I've mentioned a couple times in other threads, but in reality you only need a big enough economic majority to get away with a fork. Obviously this won't happen if the main client developers don't agree, which is feasible now but ever less so as there are more diverse wallets and clients. Naming would go with the obvious winner. But yep, this would be immensely traumatic and can only be possible if it's decided soon. Maybe too late now.
As for the incentive, it's a long term one. If most people were strongly convinced that it would really make the system more viable, a small growth rate (say 1%) would be a perfectly fine price to pay even for hoarders. Effectively if the underlying economy grows more, because the system is perceived as better, then BTC valuation would over-perform for a good while. Lost of ifs and buts here though.
Note:
The topic is interesting for creation of new alt-coins. However Bitcoin is probably never going to change. Not something as fundamental as the minting rate. Changing it after the fact would be essentially a bait and switch and would lead to a loss of confidence. If miners can change the rate once they can change it again. What is to say someday miners won't act like the Fed and determine the appropriate mining rate in order to control economic expansion?
I agree, I also think it's mostly a matter of alt coins, but there are mechanisms things like fee enforcement that only need a couple of big pools to be strongly encouraged (or else your transaction might take forever to complete). And although I disagree that the mining rate is infeasibly hard to change, it would indeed be traumatic to show you can actually change it.
So yeah, a change in the mining rate probably merits its own coin, although achieving the traction bitcoin has as a newcomer would be a great achievement in itself and looks hardly possible. A number of improvements would be necessary to justify it.
I've seen Etlase2's proposal but it looks ungodly complex and relying on many things to be actually tested IRL. We probably wouldn't be through early testing stages in our whole lives. If anything I think a system with less arbitrary numbers than bitcoin would be better (for instance, without the halvings, or adjusting per block instead of dramatically every four years, ...).