2D Trimesh seems broken about rapier HOT 3 CLOSED

Thank for the code for reproducing the bug. Triangle meshes have not been tested in 2D yet so more work will be needed to make them behave correctly in 2D.

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After downloading your reproduction repo and updating it to the latest version, it appears that the collision response issues have been fixed. Also, I am no longer able to trigger the panic with simd-stable.

Edit: Upon closer inspection, changing the Ball collider out with a Cuboid collider causes a panic. I will have to look into this more closely.

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After some digging, it seems like some of the issues are coming from cuboid_triangle_contact_generator.rs:

• The function call sat::triangle_cuboid_find_local_separating_normal_oneway in 2D tries to get a surface normal by taking a cross product.
• triangle::support_face appears to be unimplemented!().

@sebcrozet, was there a specific reason this function was left unimplemented? I just want to double check what your thoughts are before going ahead and trying to implement it.

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