Use true arc collision for segment<>arc

Using an approximation here results in different collision
results for segment<>arc than point<>arc, which
can cause odd behavior in the router.


(cherry picked from commit 5b3b0ff836)

Co-authored-by: Jon Evans <jon@craftyjon.com>

libs/kimath/src/geometry/shape_collisions.cpp

@@ -651,9 +651,8 @@ static inline bool Collide( const SHAPE_ARC& aA, const SHAPE_SEGMENT& aB, int aC
                                            aA.TypeName(),
                                            aB.TypeName() ) );
 
-    const SHAPE_LINE_CHAIN lc( aA );
-
-    bool rv = Collide( lc, aB, aClearance + aA.GetWidth() / 2, aActual, aLocation, aMTV );
+    bool rv = aA.Collide( aB.GetSeg(), aClearance + aA.GetWidth() / 2 + aB.GetWidth() / 2,
+                          aActual, aLocation );
 
     if( rv && aActual )
         *aActual = std::max( 0, *aActual - aA.GetWidth() / 2 );