ENH: SampleSurfaceMesh and GeometryMath Speed Optimizations

[nyoungbq]

Fixes #962 Fixes #961 Updated Documentation

Version	Time	CPU	Iterations
Baseline	7232 ns	7231 ns	75982
Post-Cache	6249 ns	6249 ns	107611
branch-reduction	6234 ns	6234 ns	104425

Todo:

• [x] add caching routing
• [x] strip extraneous copies
• [x] extract all major tight loop constructions
• [x] extract extraneous if statements
• [x] consolidate calculations for coditionals in tight loops
• [x] Strip if from DoesRayIntersectBox
• [x] Strip if from IsPointInTriangle
• [x] Strip if from RayCrossesTriangle
• [x] Ray.hpp now uses a cached variant in the algorithm to avoid inserting Eigen (after discussion) while preserving API

[JDuffeyBQ]

Do you have the code that you used for the timings?

[nyoungbq]

Do you have the code that you used for the timings?

I slacked it to you because it uses hardcoding to get around additional library linkage