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BVH Broad Phase and Collider Trees #2191

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Run time

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Job	Run time
Test Suite (ubuntu-latest)	5m 8s
Test Suite (macos-latest)	4m 53s
Check Minimal Features	2m 13s
Lints	2m 38s
Test Suite (windows-latest)	5m 1s
Check Documentation	2m 20s
	22m 13s