Box3D's Inscribed Spheres Trick Slashes SAT Edge Testing

Speeding up the separating axis test using inscribed spheres

The separating axis test (SAT) is robust for contact manifolds but can be O(N³) for polytopes. Box3D already uses SIMD, feature caching, and contact recycling, yet large piles still bottleneck on edge pair tests. A new technique uses inscribed spheres to compute a cheap upper bound on separation for faces and edges. The key innovation: using the Gauss map edge arc to cull edges before the expensive pair test, drastically reducing candidate pairs.