Sync Logan's rBC3 SC WR

[malleoz]

This synchronizes Logan's rBC3 shortcut world record by implementing:

• Addressing floating point imprecision in quaternion multiplication due to missing parentheses
• Adding a missing KCL collision check condition for the edge collision check scenario
• Fixes forgetting to retrieve the closest collision entry after a new lookup is performed (we were essentially using stale data)
• Handle slipdrifts (partially?)