Positional Immediate mode physics

• Collsion Constraints
  • figure out a good collision constraint and contact caching.
• Increase code quality
  • broad and narrow phase
• Separating Axis Tests and Contact point determination
  • [✓] sphere vs sphere, sphere vs capsule,
  • sphere vs hull (to improve.)
  • capsule vs capsule, capsule vs hull (to improve)
  • [✓] hull vs hull with gaussmap (done)
  • any vs triangle_mesh
• QuickHull
  • [✓] Initial tetrahedron
  • in the half edge linked list, dont link twins, so we save for loops iterations
  • Build horizon and other parts of quickhull algorithm (a lot of bookeeping)
  • figure out what to do if user sends points such that the centroid is not in the origin