btVoronoiSimplexSolver::inSimplex can return when first 'found=true' is set instead of going through all points, since found is never set to false in any other condition.

PersistentManifold replaceContactPoint set the same values for m_appliedImpluse; remove redunant set.

src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp

@@ -294,7 +294,10 @@ bool btVoronoiSimplexSolver::inSimplex(const btVector3& w)
 #else
 		if (m_simplexVectorW[i] == w)
 #endif
+		{
 			found = true;
+         break;
+		}
 	}
 
 	//check in case lastW is already removed