[FEATURE] Speedup nonconvex collision detection (up to x30).#2818
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| if diag_a_sq > diag_b_sq: | ||
| i_ga, i_gb = i_gb, i_ga |
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The AABB-size swap here can undo the canonical type ordering established just above, so a smooth primitive (sphere/ellipsoid/capsule) may move to i_gb when it is larger than a nonconvex mesh. In this kernel we still call func_apply_smooth_refinement later, and the surrounding comment explicitly documents that running refinement on the mesh-as-A orientation sends smooth data through the type_b path with inverted correction. That means large-sphere vs small-mesh contacts can get wrong contact positions after this change, which can destabilize resting contacts and drift.
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