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[do not merge]: all collision pairs#290

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pdziekan wants to merge 19 commits intoigfuw:masterfrom
pdziekan:kernel_eff_fix_no_linear_sampling
Open

[do not merge]: all collision pairs#290
pdziekan wants to merge 19 commits intoigfuw:masterfrom
pdziekan:kernel_eff_fix_no_linear_sampling

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