Add Triangle::DistanceSq(Point). Fix various numerical stability issues with the GJK test. Add new unit tests for that.
Document GJK algorithm.
Move all GJK tests into GJKTests.cpp for easy sub-test suite run.
Optimize and clean up GJK two point simplex case.
Add support for printing out bools in assume() macro.
Finish GJK implementation cleanup, optimization and documentation.