Investigate physics bugs and/or cost of using an alternative implementation

[McCallisterRomer]

~"Static entities get manipulated sometimes. They're also getting included in collision checks that should be elided earlier on. useGravity and isKinematic aren't always respected?"~ fixed

Certain bias/softness values on joints occasionaly failed asserts in DirectXMath.

Also general stability issues.

I've seen the 'NAN in barycentric protection' assert a few times. Reproducible in PhysicsTest scene when spawning capsules.

[McCallisterRomer]

For movement of static bodies: It appears this is due to position correction. Check the CollisionEventType generation for gaps.