EPA penetration depth step.
This function expects shapes that INCLUDE their convex radius.
The caller should wrap base shapes with AddConvexRadiusSupport before calling,
typically in the EPA fallback path. This matches Jolt's EPAPenetrationDepth.h pattern.
EPA penetration depth step. This function expects shapes that INCLUDE their convex radius. The caller should wrap base shapes with AddConvexRadiusSupport before calling, typically in the EPA fallback path. This matches Jolt's EPAPenetrationDepth.h pattern.