finish SAT optimization, calculate correct old sweep transform, remove unecessary static body transform update

include/bounce/common/math/quat.h

@@ -187,7 +187,7 @@ inline float b3Dot(const b3Quat& a, const b3Quat& b)
 	return a.x * b.x + a.y * b.y + a.z * b.z + a.w * b.w;
 }
 
-// Conjugate of a quaternion.
+// Conjugate of a quaternion (inverse if the quaternion is unit).
 inline b3Quat b3Conjugate(const b3Quat& q)
 {
 	return b3Quat(-q.x, -q.y, -q.z, q.w);

include/bounce/dynamics/body.h

@@ -267,8 +267,8 @@ private:
 	// Destroy all joints connected to the body.
 	void DestroyJoints();
 
-	void SynchronizeShapes();
 	void SynchronizeTransform();
+	void SynchronizeShapes();
 
 	// Check if this body should collide with another.
 	bool ShouldCollide(const b3Body* other) const;

include/bounce/dynamics/shapes/shape.h

@@ -139,6 +139,7 @@ protected:
 	friend class b3Body;
 	friend class b3Contact;
 	friend class b3ContactManager;
+	friend class b3MeshContact;
 	friend class b3ContactSolver;
 	friend class b3List1<b3Shape>;