EPA penetration depth step.
This function expects supports that INCLUDE their convex radius. The caller fills the support
structs in INCLUDE mode and folds any extra separation onto addRadius before calling, typically
in the EPA fallback path. This matches Jolt's EPAPenetrationDepth.h pattern.
EPA penetration depth step. This function expects supports that INCLUDE their convex radius. The caller fills the support structs in INCLUDE mode and folds any extra separation onto
addRadiusbefore calling, typically in the EPA fallback path. This matches Jolt's EPAPenetrationDepth.h pattern.