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Narrow-phase micro-optimizations: EPA reuse, manifold drain, loop hoists - #441

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Narrow-phase micro-optimizations: EPA reuse, manifold drain, loop hoists#441
marknefedov wants to merge 2 commits into
dimforge:masterfrom
marknefedov:narrow-phase-opts

GJK: accumulate support_scale squared, const-fold eps_tol

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