Enhance EPA #549
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Enhance EPA #549
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jcarpent
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This allows to save/load primitive shapes so that C++ can be used to inspect collision problems and vice-versa.
Also add Serializer struct, can be usefull even on C++'s side
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This PR fixes/enhances EPA:
ConvexTo work on the PR, I had to serialize objects to visualize scenarios from python, hence the commits related to python serialization. The serialization code is borrowed from Pinocchio.