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Const and preallocation based optimizations and cleanup #6

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Const and preallocation based optimizations and cleanup #6

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SJamieson
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These should be pretty safe to merge, but the changes do make quite a few functions const and makes some variables mutable --- let me know if you'd prefer I drop those changes and focus only on convexHullsOfCurves

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I have confirmed that the default 10-agent simulation still runs fine with these changes

@SJamieson SJamieson mentioned this pull request Apr 5, 2023
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