Bug: cast_shapes_nonlinear fails to detect collision between cuboids

I've been using Parry3d for a couple months now to detect collisions without any issue. Yesterday I discovered an edge case where cast_shapes_nonlinear does not report a pretty obvious collision however... Unfortunately I'm not experienced enough with the code to properly debug this issue, it would be very much appreciated if someone who does could take a look.

### Description
`cast_shapes_nonlinear` incorrectly returns no collision between two cuboids that clearly intersect. The `contact` function correctly reports penetration between the same objects, confirming they do intersect.

### Reproduction
Repository with minimal reproduction case: https://github.com/kalmjasper/parry_collision_bug

Visualisation of the situation:

Steps:
1. Run the example code
2. Observe that the red cuboid visibly intersects with the static gray cuboid
3. Note that `cast_shapes_nonlinear` returns `None` (no collision)
4. While `contact` correctly reports penetration depth

### Environment
- parry3d version: 0.18.0