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Changes in mesa_pd functionality for halfspaces

Christoph Rettinger requested to merge mr_mesapd_fixes into master

This fixes some problems with halfspace (=planes) in mesapd:

  • constructor provided a default normal which does not make sense the current implementation of sending shapes requires pack/unpack to be called on an actual object of the shape type, this requiring a default constructor.
  • the provided normal is not further checked if it is normalized, and thus now calls normalize to ensure this
  • the contains and ray-intersection still accounted for a possible half space rotation which according to the doc of the half space should not be the case. This is thus removed.
  • documentation fixed and improved in some points
Edited by Christoph Rettinger

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