AI Efficiency

Currently the main algorithms used by the AI are rather heavy. This is also mainly because we compute a lot of convex hulls so #10 (closed) should help. But it is also because when finding merges we check against every other viable object in the game. Realistically we can usually only merge to close objects so there is a lot of time being wasted here. A radial plane sweep might be a good approach to find the object actually relevant to check against. Alternatively once we can directly compute the merge lines this should already be a lot more efficient by just checking is those intersect anything (might be faster even due to no overhead).