Add shapecasts + raycasts

[metalgearsloth]

Actual raycasts. Need this for AI LIDAR experiment.

[eoineoineoin]

Coincidentally, I started to take a look at the raycast end of this recently (https://github.com/eoineoineoin/RobustToolbox/commits/eoin/2024.09.xx.raycasts/) - I took a slightly different approach of putting a castray() function on the shapes interface which is a bit clearer IMO (though, that strategy doesn't work for shapecasts).

If you want to run with this, that's fine, I'll leave it - I still had to finish some functions, had a bunch of todos, polish, and tests to do, but I did notice a few issues with the SharedPhysicsSystem.Queries.cs which would also be good to include.

[metalgearsloth]

I'm porting the new C code from box2d.

[Tornado-Technology]

Holy shit, it's pretty cool!

[Djungelskog2]

I dont know what this means in reality but does this mean we might actually get stuff related to not being able to interact/see stuff in the dark? (not invalidating the darkness via a right click)

[metalgearsloth]

So atm I wouldn't use shapecasts for a character controller til erin does his sample but the raycasts work fine as is.