Implemented accurate bounding sphere to triangle
collision.  The old code had an implementation but
it missed tons of cases.

For 100,000 random points, the old way would process
that in about 12+ ms.  The new way does it in about
18+ ms... but the old way missed 643 collisions
(180 versus 823).

Plus, with the new way accurate contact normal and
contact point can be provided trivially... so it is.