Fix solver contact normal for rotated child colliders #409
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Jondolf
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bugfix
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Objective
Fixes #407.
The solver rework caused a regression where contact normals didn't take the rotation of child colliders into account in the contact solver, leading to buggy collisions.
Solution
Transform the normal correctly. Also remove unnecessary transformations of the normals of the individual contact points in the contact solver, as they are not used anywhere.