Added complementBasis generation function to Geom

Will be used to create a coordinate system for cylinder-ray
intersection.
Cylinder test implementation in progress

Good heavens is it complicated.  I can't help but feel it's ill-
advised to try to shoehorn the procedural implementation into
Haskell.
Filled out parallel & perp cases (ray-cylinder)
final skewCase for ray-cylinder WIP
Cylinders up in the house

Ready to submit for CP2