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revive contact smoothing implementation #276

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Run time

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Job	Run time
ubuntu-22.04 python3.8	8m 27s
macos-13 python3.8	13m 8s
macos-14 python3.8	5m 40s
ubuntu-22.04 python3.9	8m 2s
macos-13 python3.9	14m 3s
macos-14 python3.9	5m 45s
ubuntu-22.04 python3.10	8m 6s
macos-13 python3.10	11m 4s
macos-14 python3.10	6m 34s
ubuntu-22.04 python3.11	6m 48s
macos-13 python3.11	10m 30s
macos-14 python3.11	4m 27s
ubuntu-22.04 python3.12	8m 4s
macos-13 python3.12	11m 25s
macos-14 python3.12	4m 45s
	2h 6m 48s