[feature] investigate parry3d for 3d, triangular-mesh geometry

[drobnyjt]

Is your feature request related to a problem? Please describe.
Right now, the only 3D geometry type in RustBCA is the Sphere; this obviously does not cover all use cases of a BCA.

Proposed solution
parry3d has the following functions for TriMesh:

• contains_local_point()
• distance_to_local_point()
• project_point()

I believe these three functions alone capture all the necessary calculations for RustBCA's Geometry trait. If parry3d is implemented, it would also allow:

• Heightmaps
• Compound shapes
• Cylinders, Balls, Cones

Alternative solution(s)
I've tried rolling my own, but to be honest 3D geometry is not my strong suit, and I am not convinced I can quickly write error-free code in this domain.

[drobnyjt]

Investigation nearly complete...

[drobnyjt]

Yeah, I think I will prioritize adding parry3d in the next release. All that's left is to write some unit tests to ensure the geometry is working, and potentially some assertions to check watertightness of meshes (if possible in rust - if not, trimesh in python can externally).