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Support multi-contact with meshes in nativeccd. Contacts are pruned t… #2576

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Job	Run time
ubuntu-22.04-gcc-12	1m 24s
ubuntu-22.04-gcc-11	12m 49s
ubuntu-22.04-gcc-10	13m 16s
ubuntu-22.04-gcc-9	14m 6s
ubuntu-22.04-clang-14	14m 7s
ubuntu-22.04-clang-13	14m 48s
ubuntu-20.04-clang-12	13m 32s
ubuntu-20.04-clang-11	13m 26s
ubuntu-20.04-clang-10	14m 12s
macos-13	18m 44s
windows-2022	13m 39s
	2h 24m 3s