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Cylinder contact points generation is adjusted to make it more stable when standing on triangle meshes. Point-Circle: Switched to simpler plane projection as it's done for Point-Face contact points. It solves some cases where discrepancies between the two points caused the cylinder to jump. Edge-Circle: Same as before, the case for edge has just been moved from Face-Circle to a specific method. Face-Circle: The previous method was clipping edges against the circle, and then tried to add contact points when there wasn't enough support and failed in some cases. Now using a different algorithm which adds proper contact points around the circle more consistently. First, by clipping edges against circle segments using Face-Face algorithm. Second, by clipping edges against the circle plane.