part 4 - syncronizing changes from V2 into V3

[z3dev]

These are changes from V2, which need to come into V3. The BIG changes is the minkowski summation function.

Thanks again @jbroll

All Submissions:

• Have you followed the guidelines in our Contributing document?
• Have you checked to ensure there aren't other open Pull Requests for the same update/change?
• Does your submission pass tests?

[platypii]

looks good