Merge pull request #21677 from chacha21:rectangle_intersection

Merge pull request #21677 from chacha21:rectangle_intersection

* better accuracy of _rotatedRectangleIntersection

instead of just migrating to double-precision (which would work), some computations are scaled by a factor that depends on the length of the smallest vectors.
There is a better accuracy even with floats, so this is certainly better for very sensitive cases

* Update intersection.cpp

use L2SQR norm to tune the numeric scale

* Update intersection.cpp

adapt samePointEps with L2 norm

* Update intersection.cpp

move comment

* Update intersection.cpp

fix wrong numericalScalingFactor usage

* added tests

* fixed warnings returned by buildbot

* modifications suggested by reviewer

renaming numericalScaleFctor to normalizationScale
refactor some computations
more "const"

* modifications as suggested by reviewer