Cylinder contact points generation is adjusted to make it more stable
when standing on triangle meshes.
Point-Circle:
Switched to simpler plane projection as it's done for Point-Face contact
points. It solves some cases where discrepancies between the two points
caused the cylinder to jump.
Edge-Circle:
Same as before, the case for edge has just been moved from Face-Circle
to a specific method.
Face-Circle:
The previous method was clipping edges against the circle, and then
tried to add contact points when there wasn't enough support and failed
in some cases.
Now using a different algorithm which adds proper contact points around
the circle more consistently.
First, by clipping edges against circle segments using Face-Face
algorithm.
Second, by clipping edges against the circle plane.
6d0898bf4c