innerWallClockwise :: Float -> V2 Float -> [Point V2 Float] -> [V2 Float]

innerWallClockwise w acc (p : p' : p'' : ps) =

 let v = p' .-. p
  v' = p'' .-. p'
  d2v = v' .-. v
  phi = atan2 (v ^. _y) (v ^. _x)
  rho = atan2 (v' ^. _y) (v' ^. _x)
  theta = phi + rho
  d2vtheta = atan2 (d2v ^. _y) (d2v ^. _x)

  theta' = theta / 2 + if d2vtheta > 0 then pi / 2 else (-1) * pi / 2
  v''' = w *^ angle theta'
  v'''' = acc .+^ v'''
in
  if ps == [] then [v''''] else v'''' : (innerWallClockwise w (acc .+^ v') (p' : p'' : (head ps) : (tail ps)))

let path=[P (V2 0 0), P(V2 0 5), P(V2 5 5), P (V2 5 (-5)), P (V2 0 (-5))]

innerWallClockwise 1 (V2 0 5) path

=> [V2 0.70710677 4.2928934,V2 4.2928934 4.2928934,V2 4.2928934 (-4.2928934)]