0f08c65a1ebb6c42d56b0ad25b6c38a9faa5377f
Add ConvexHull struct storing vertices with a support function that returns the farthest point in a given direction, enabling GJK/EPA collision detection. Update all Collider match arms across the physics crate (collision, raycast, integrator, solver) to handle the new variant. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
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