Added a demo that lets you rotate a physics object and see how it collides with another object.
Something appears to be wrong with the original author's EPA algorithm implementation. For the case of having a triangle in the simplex it attempted to add two points and create a hexahedron. When this case occurs it causes some very large penetration depths with cones and cylinders. The shapes bounce around considerably. Building ReactPhysics3D from source shows that the original library also has the same issue but seems to manifest visually only with cones. Another problem with case 3 is that it allows a fall through from the case 4 version above. It attempts to fix a bad vertex with one that will always be NULL. This is very rare but causes a crash with a NullPointerException. For now I will be commenting out the code since interestingly enough it fixes the issues for the most part. This is not a proper fix and causes some shapes to bounce occasionally but much less than before. Since the fall though case is much more rare I don't what will happen.