Sphere Box collision detection issue

[ilia-glushchenko]

Steps to reproduce:

1. Create multiple sphere and box objects
2. Such that they are all resting on the same plane
3. Spheres would roll inside the boxes and get launch out of it

Excepted: Sphere Box collision detection should prevent such penetrations from happening

[ilia-glushchenko]

Something goes wrong with GJK.

[ilia-glushchenko]

Reproducible with the following scene setup case:

    pegasus::mechanics::Body sphere;
    sphere.linearMotion.position = { 0, -4, 3 };
    sphere.linearMotion.velocity = { 0, 0, -1 };
    demo.MakeSphere(sphere, 1, pegasus::scene::Primitive::Type::DYNAMIC);

    pegasus::mechanics::Body box;
    box.linearMotion.position = { 0, -4, 0 };
    demo.MakeBox(box, { 1, 0, 0 }, { 0, 1, 0 }, { 0, 0, 1 }, pegasus::scene::Primitive::Type::DYNAMIC);