Refactoring

clean up the code and unit tests
Add getPenetrationVector for AABB's
Add penetrationVector for AABB and Sphere
try sphere against aabb
Change cd to return positive value for penetration

when aabb aabb or aabb sphere collision occurs, return positive
values in penetration vector
let the physics engine determine which object to move in which
direction
get swept shapes intersection test working

check for a swept sphere (capsule) against and aabb
fix a bug in getDistanceBetweenLineAndVertex as well
Detect collisions between aabb and capsule

Right now, the collision is reported to PE, but it isn't correct
Need to correct it
Return correct penetration vector for swept shape

need to test this in physics engine
Get the physics engine to fix swept shapes

have the physics engine resolve swept shapes collisions
this also helped smooth out non-swept shape collisions
Merge branch 'collision_detection'