Update deps + minor feature additions and fixes

[sebcrozet]

This updates all the dependencies of ncollide to their latest versions. In addition this:

• Fix a bug in the 3D EPA implementation that could cause an assertion failure.
• Add a segment-segment closest point computation that allow specification of the epsilon used for detecting quasi-parallel cases.
• Add a RayCast implementation for 2D triangles.
• Fix all the calls to copysign after the update to simba 0.3.0.