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Clean up Convex geometry (bug, documentation, API, and testing)
The Convex class had a bug -- bad computation of local AABB. That was the springboard that led to numerous changes. They include: 1. Correction of AABB calculation (with supporting unit tests). 2. Overhaul of Convex API - removed unused members (plane_normals, plane_dis, and edges) - renamed remaining members to be more consistent with mesh description. - modification of references to those members. 3. Added extensive doxygen documentation consistent with the new API. 4. Initial unit tests for Convex geometric properties (volume, center-of-mass, and inertia tensor). 5. Note issues in the code with TODOs and link to github issues. 6. Update Changelog.md to reflect the change in this PR.
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