Make the `HyperPlaneSurfaceSelector` more conservative.

Before, it excluded the boundary of the surface, now it is included.
As a consequence, collidion with the boundary might create redundent contacts.
Newton method: do not reject right away results outside of the distance function domain.
Newton method: forbid steps that are too far from the domain boundaries.

This prevents singularities on the jacobian.
Set the number of numerical iterations for bezie-vs-ball detection to 5.