Safety Factor for Pathing Environment

[AskewParity]

🚀 Feature

Automatically shrink environment bounds so that we don't get DQed from pathing.

Motivation

At the moment, it is possible to generate a path out of bounds. It could be because we check for inbounds by points.

Proposed Solutions

There are some solutions,

1. Check by lines
2. Shrink the fly area
   • There is Environment::scale that doesn't do this correctly. We should shrink the flight area such that there is a consistent distance between the old and new edges.
   • Additionally, this adds for some safety buffer if our plane drifts in flight.