Replaced minWallDistance logic with orientation logic.
Uses natural segment orientation to make oriented walls.
Replaced rectangle-based code with polygon-based code for map boundaries.
Fixed a few standards conformance compile-time errors.
Removed duplicate repulsion code and optimized collision pre-èconditions.
Removed more repulsion code as earlier code does the job.
Removed unused and obsolete functions.
Replace rectangle with polygon everywhere except network (buggy) and load_map.