Nesterov-accelerated GJK

[AlexanderFabisch]

• https://lmontaut.github.io/nesterov-gjk.github.io/
• Code: https://github.com/humanoid-path-planner/hpp-fcl/blob/devel/src/narrowphase/gjk.cpp
• https://hal.science/hal-04070039v1/document

[AlexanderFabisch]

@MaartenBehn