Fix collision detection

[wi-re]

There was an issue in the collision detection code that seems to have been around for quite some time, i.e., even the previous template had the same bug (see the old collisionDetect.h function lines 225-241 that has been unchanged for seven years) as part of the SAT.

The bug manifests in collision points for vertices to faces being computed wrongly (edge-edge works) where the returned result appears to always be the closest vertex to the origin, which is true in some cases but in most it is not. This stems from the 'handleVertexToface' function that is given the vertices of one OBB (described via its transformation matrix) and the difference between the centers of masses of the objects. How this code is supposed to work, I am unsure.

A more correct implementation would be to take the collision normal (which we have access to anyways) and use this normal to project the distance between the vertices (not center of mass) of the colliding object with respect to the center of mass of the collided object and pick the vertex for which this projection is smallest. To implement this we need to change the signature of the function to now take the center of mass as argument, as well as the normal. Implementing the code then is straight forward.

Credit for finding this problem goves to a student https://github.com/TobiasEppacher

This student also developed a simple test case to debug this issue (not shared here as it would require sharing their exercise submission to debug with).

[wi-re]

Note that this code still needs to be cleaned up a bit as this was implemented on top of the pathfinder branch and contains those changes as well.