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Concave Collisions

Had basically this idea (though it looked better in my head) the other day and it turned out to be tricker to deal with all these concave colisions than I had thought. Luckilly I'm waiting on work stuff so I had time to bang this out in between stuff. Also turnso out that RBD Packed Objects work better with the bullet solver than the RBD solver. Makes no sense, but ok.
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