general support function transformation

working on transforming the supportmap function in a general sense, rather than writinng specific ones for class "shape" etc, etc
This should enable the contact patch adjustment to work without modifying the pose of one of the operands.
contact patch now generic

method no longer depends on shape, resides in gjk.h header file now.
wraps lambda with another lambda in order to repose the collidable supportmap function in order to find additional contact points.