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From what I've seen and tested Google will consider %20 to be the same as space character. Moreover it will convert spaces in URL to %20 in SERP.
According to RFCs URL should not contain spaces or any other characters that may be incorrectly interpreted (for example <.> but there are others). Such characters should be represented as '%' followed by hex code of the character (20 in case of space).
I wonder if Google would consider those three links to be the same?