Implement bounding volume intersections

[Jondolf]

Objective

#10946 added bounding volume types and an IntersectsVolume trait, but didn't actually implement intersections between bounding volumes.

This PR implements AABB-AABB, circle-circle / sphere-sphere, and AABB-circle / AABB-sphere intersections.

Solution

Implement IntersectsVolume for bounding volume pairs. I also added closest_point methods to return the closest point on the surface / inside of bounding volumes. This is used for AABB-circle / AABB-sphere intersections.

[IQuick143]

For consistency I'd change the < to <=, but other than that I haven't noticed any problems.

[NiseVoid]

This seems correct. Didn't check the tests tho. And closest_point on sphere/circle appears to be unused. It might be useful, but I also feel like maybe it should be on the primitive types instead.

[Jondolf]

For now, I moved the circle/sphere closest_points logic to the primitives (same for AABBs), but kept the methods on the bounding volumes too for consistency and convenience. I could also just remove the circle/sphere version since it's unused, or split it into a different PR, but I thought it'd be nice to have if AABBs have it anyway

[IQuick143]

Seems good.

Although I'm not super convinced about implementing closest point on the primitives, because closest point seems to demand transform information (translation + rotation), which is addressed here by assuming default identity transform.
It's not a huge deal, because the user can use this to implement the general case simply by inversely transforming the point and then transforming the result.

[Jondolf]

FWIW, Parry has "global" and local versions of a ton of methods, like aabb/local_aabb, project_point/project_local_point, support_point/local_support_point, and so on. Both can be useful.

The closest_point methods on the primitives currently correspond the most to project_local_point, but with the shape always treated as "solid" (the returned point can be inside the shape instead of always being at the perimeter/surface). In the future we might want a trait for this and to implement it for all primitives

[Jondolf]

Here's a video of the bounding volume intersections working: (gray is the bounding volume)

2024-01-20.23-07-29.mp4

I can add this as an example if that'd be useful. Should I do it in this PR or a follow-up?

[NiseVoid]

Should I do it in this PR or a follow-up?

I guess a follow up PR that showcases the intersection tests (including raycasting and later sphere/aabb casting) and bounding types makes sense?

[alice-i-cecile]

Looks good. Great docs, and thanks for including thorough tests.