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Build Rust

Polygon obstacle plumbing, obstacles fix #268

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Run time

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Job	Run time
Rust Native - Windows x86_64 (CasADi)	4m 0s
Rust Native - macOS x86_64 (CasADi)	2m 25s
Rust Native - macOS arm64 (CasADi)	2m 19s
Rust Native - Linux x86_64 (CasADi)	1m 31s
	10m 15s