added a physics mini sample

initial checkin here.  hopefully included all the necessary files.
still need to put the wingmesh and physics into their own single headers in the common include dir.
other minor fixes:
include guard for gjk.h
most things using vecmatquat.h (not the _minimal version)
mousewheel changes vlimit on hull sample
using 4x4 instead of axis angle - had 0 angle with bad axis causing prob on intel graphics even though it worked fine on nv.