Improve convergence of epa algorithm in case it's stuck

[Ughuuu]

Improves converges by checking if it's stuck. In such a case return a result, as a better solution will not be found, and most likely they are intersecting but not within the EPS.

Also decrease max iterations from 10000 to 100. It usually converges in 4-5 iterations, no need to ever do as many. Also we never really want a precision that big, we are ok with a lower precision most times.

• Fixes https://github.com/dimforge/parry/issues/205

Possibly fixes:

• https://github.com/dimforge/parry/issues/157

[Ughuuu]

With this fix it actually returns a contact (didn't know how to draw the intersection better):

Also it does so in 5 iterations and returns a collision, instead of doing 10000 iterations and returning None.

[Vrixyz]

Thanks! I'd like to add a test for this scenario, would a setup like https://github.com/dimforge/rapier/pull/531 be the correct candidate ?

[Ughuuu]

Sure, thats what I used locally. I didn't put the effort to migrate that sample to the parry repo, but probably that would be next step.

[Vrixyz]

:tada: yay! I'd like to add a changelog line before merging though