Support Circle-Polygon Multi Contact Collisions

[eonarheim]

Context

Currently collisions with circles only support 1 contact, this can lead to some unexpected results when Polygon-Polygon and Polygon-Line support multi contact collisions

In the image, we would like to see contact points on the intersection with the polygon features, not the furthest hull point on the circle

Proposal

Update the CollisionJumpTable.ts CollideCirclePolygonto support multiple contacts using a different algorithm

[github-actions[bot]]

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