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SDF internals, ray consensus, improved intersections performance #172

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Run time

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Job	Run time
test-python (3.9)	1m 11s
lint-python	19s
lint-rust	17s
test-python (3.10)	1m 16s
test-python (3.11)	1m 6s
test-python (3.12)	1m 19s
test-rust	15s
deploy	0s
	5m 43s