Add SurfaceGeom::triangle_at; rewrite point/vector conversion on top of it
#2453
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I need to use it from the `geometry` module. I expect that long-term, `approx` and `geometry` will get merged, and this code will turn into an internal implementation detail again. But for now, I don't want to rearchitect the whole module structure, before I have a better grasp on what the new geometry system is going to look like. So just making it public is the more pragmatic choice.
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This is a first substantial step towards realizing #2118.