perf: Improve narrowphase and realistic solver performance

[eonarheim]

===:clipboard: PR Checklist :clipboard:===

• [x] :pushpin: issue exists in github for these changes
• [x] :microscope: existing tests still pass
• [x] :see_no_evil: code conforms to the style guide
• [x] :triangular_ruler: new tests written and passing / old tests updated with new scenario(s)
• [x] :page_facing_up: changelog entry added (or not needed)

==================

Closes #3006 thanks @ikudrickiy!

This PR implements a lot of low hanging fruit optimizations to the narrowphase and realistic solver.

Notably:

• Working in the local polygon space as much as possible speeds things up
• Add another pair filtering condition on the SparseHashGridCollisionProcessor which reduces pairs passed to narrowphase
• Switching to c-style loops where possible
• Caching component calls
• Removing allocations where it makes sense
• Optimize Side.fromDirection(direction: Vector): Side - thanks @ikudrickiy!

Also this fixes a bug in the new physics config merging, and re-arranged to better match the existing pattern

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