Fix CCD in case of multiple supports in motion direction

For example, an axis-aligned box under the influence of gravity landing
on a horizontal triangle could previously tunnel, because only one of
the supports of the box was considered to be the candidate point that
would collide first. Now all supports are considered as candidates.

Also fix CCD always pushing the fast body into the other body, which
works well for convex shapes but not for trimesh/concave shapes.

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