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Several fixes related to safety implementation

Andrei Gheata requested to merge safety_fixes into surface_model
  • Moved GetExtent functionality to frames
  • Adopted enhanced common Vector2D instead of custom one
  • Changed global safety calculation to use validity for frame safeties
  • Changed triangular/quad frames to use 2D points + normals
  • Implemented triangle/quad safety and improved Inside
  • Rebased on the current master

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