contact refactoring
Refactoring contact points
first pass refactoring
Projection and clipping based on MSA instead of reference edge axis.
foo
cleanup
Merging
A cleanup/comment pass
Benchmarking changes
Make cpArbiter struct definition private
cpArbiter refactoring
Contact point generation refactoring
More contact point generation refactoring.
More contact point generation refactoring.
Debug drawing of contact points
Refactoring names and visibility
More refactoring
fat segment queries half working
Fat segment queries implemented
More renaming