Normally, a JoinExpr would have empty "quals" only if it came from CROSS
JOIN syntax.  However, it's possible to get to this state by specifying
NATURAL JOIN between two tables with no common column names, and there
might be other ways too.  The code previously printed no ON clause if
"quals" was empty; that's right for CROSS JOIN but syntactically invalid
if it's some type of outer join.  Fix by printing ON TRUE in that case.

This got broken by commit 2ffa740b, which stopped using NATURAL JOIN
syntax in ruleutils output due to its brittleness in the face of
column renamings.  Back-patch to 9.3 where that commit appeared.

Per report from Tushar Ahuja.

Discussion: https://postgr.es/m/98b283cd-6dda-5d3f-f8ac-87db8c76a3da@enterprisedb.com