works, needs rebase
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.