Add Unit Test to Box Capsule Dcd Contact

The unit test highlights the bug in BoxCapsuleDcdContact, ie the
penetration point location is in the wrong place for the second object
(the capsule). This test currently fails, as it should.
Fix Box Capsule Dcd Contact

The box capsule dcd contact was giving the incorrect penetration point
for the capsule, ie was adding the penetration when it should have been
subtracting it. This fix also behaves better as it finds one contact
between the box and capsule instead of two. This could result in
competing contacts that pull the objects in different directions to
resolve penetration, and in practice resulted in jumpy behavior.
Cleanup Box Capsule Dcd contact, address bugs

* Fixed bug in BoxCapsuleDcdContactCalcuation where the distance was not
  correct when the capsule axis was on the box center, also cleaned up
  the code and reduced the amount of duplicate calculations. Hopefully,
  it is more clear.
* Added two new unit tests for BoxCapsuleDcdContact when the capsule top
  and bottom are on the box center.
* Remove the clamp function as it can be replaced with a little bit of
  Eigen code.
* Move doesIntersectBoxCapsule to Geometry.h and add appropriated
  unittests
* Replace all of the makeRotationQuaternions that are zero rotations
  with Quaternion::Identity for clarity in
  BoxCapsuleContactCalculationTests
Rename centre to center in the CapsuleShape

Rename the fucntions bottomCentre and topCentre to bottomCenter and
topCenter in the CapsuleShape.
Merge branch 'master' into fix/box-capsule-contact-2
Fix whitespace formating in BoxCapsuleDcdContact
Merge branch 'fix/box-capsule-contact-2' into 'master'

Fix Box Capsule Dcd Contact

Merged-on: https://www.assembla.com/code/OpenSurgSim/git/merge_requests/1003493