Update for Directly Setting Body Position

Changed the main loop so kinematic bodies can have their position and rotation set directly.
Add Some Missing Type Definitions

Types added to a Quaternion function and some functions in ConvexPolyhedron.
Change SpacialHashBroadphase to use AABB instead of Sphere

AABBs are a better match for a grid based algoithm than the bounding sphere, AABB calculation is forced for static bodies when added also.