Back out of gjkIntersect when convergence fails due to algorithm osci… #2283

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Job	Run time
ubuntu-22.04-gcc-12	14m 1s
ubuntu-22.04-gcc-11	13m 23s
ubuntu-22.04-gcc-10	13m 16s
ubuntu-22.04-gcc-9	12m 54s
ubuntu-22.04-clang-14	14m 22s
ubuntu-22.04-clang-13	14m 16s
ubuntu-20.04-clang-12	14m 6s
ubuntu-20.04-clang-11	14m 41s
ubuntu-20.04-clang-10	14m 27s
macos-12	11m 21s
windows-2022	13m 35s
	2h 30m 22s