TriangleMeshTriangleMeshDcd, add verification

- Verify penetration points are coplanar
- Verify penetration point is within the triangle
- Verify penetration depth and normal minimally resolves
penetration
TriangleMeshTriangleMeshDcdContact, fix assertIsCorrectNormalAndDepth

- Updated formatting on assert messages.
TriangleMeshTriangleMeshDcdContact, fix GCC unused warning
TriangleMeshTriangleMeshDcdContact, add documentation

- Add documentation
- Use anonymous namespace
- Rename functions
- Update assertion failure message
TriangleMeshTriangleMeshDcdContact, refactor to use Geometry functions

- Move coplanarity test to Geometry
- Use isPointInsideTriangle test
TriangleMeshTriangleMeshDcdContact, modify depth and normal validation

- Use more generous upper bound
Add setter for OctreeNode's Active status
Merge branch 'master' into feature/meshMeshCollision-runtimeVerification
GeometryTests, add basic isCoplanar test
TriMeshTriMeshContact, check intersections with doesIntersectTriTri

- Use doesIntersectTriangleTriangle instead of comparing distances
TriMeshTriMeshContact, improve message formatting
Merge branch 'feature/node-set-active' into 'master'

Add setter for OctreeNode's Active status

+1: Ryan Beasley, Julien Lenoir, Walter Schoen

Merged-on: https://www.assembla.com/code/OpenSurgSim/git/merge_requests/852123
GeometryTests, include array in header
Merge branch 'master' into feature/meshMeshCollision-runtimeVerification
Merge branch 'feature/meshMeshCollision-runtimeVerification' into 'master'

Add runtime verification of triangle-triangle depth

Merged-on: https://www.assembla.com/code/OpenSurgSim/git/merge_requests/837233