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Improve trimesh vs convex collisions for concave trimeshes #51
This PR contains the Java port of the changes suggested and discussed in https://bitbucket.org/odedevs/ode/pull-requests/10/improve-convex-vs-trimesh-collisions/diff. The changes got merged into ODE's codebase some time ago and they complete the implementation of the convex vs trimesh collision detection by adding proper support for concave meshes and improved handling of internal edges.