moved collision tests into a new physics engine module
committing temporary robot commands because they are becomming a hassle to work around
slight refactoring
made normalize_angle() stronger
function descriptor comment
notes
added more functions to linalg2_util
added polygon bounding circles and fast nearness checks to avoid running all collision tests on every simulation step
implemented line segment intersection calculation and other progress towards proximity sensor functionality
added LineSegment model and utilized it for detector_line in sensors