[Physics] Bepu integration

[Eideren]

PR Details

Adds support for Bepu Physics as an alternative physics engine, we'll keep the current one but will move our focus towards this new one instead.

Motivation

Unified ecosystem, improved performance, flexibility and debugging experience compared to Bullet's physics engine.

Types of changes

• Docs change / refactoring / dependency upgrade
• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to change)

Checklist

• My change requires a change to the documentation.
• I have added tests to cover my changes.
• All new and existing tests passed.
• I have built and run the editor to try this change out.

WIP

• Navigation - @Doprez is taking care of that part
• Replace car asset
• Add license above all files
• Check that physics does not occur between input sampling and update ... ensures that update receives the most up to date inputs
• Deal with the last few outstanding warnings
• Split softbodies into a future PR
• Ask if Norbo is available to check some areas that could be improved
• Scaling / sharing issue with hulls
• Check if gizmos for hull are working properly
• Gizmos for box collider seem to ignore local pos ?
• Constraints detach from colliders after changing mass
• Access to physics tick
• Basic gizmos for constrained bodies and axis of constraints
• show/hide gizmos at runtime through a simple component
• Body teleportation
• Index of collider hit in intersection structure
• Wait for Freeze and explosive memory growth when newing a ConvexHull with specific input bepu/bepuphysics2#325

Post release

• Query mesh material index from physics tests
• Ragdoll utilities
• Ignore contact between specific objects, contact response utilities
• Wider support of the different mesh formats (ExtractBepuMesh)

A huge thanks goes to @Nicogo1705 and @Doprez for working on this. As well as @RossNordby for Bepu and dealing with our nonsense.

N.B.: PR #2127 and #2120 were cherry-picked to support this PR.

COMMIT HISTORY HAS BEEN PRESERVED, DO NOT SQUASH OR REBASE - JUST MERGE

[Eideren]

@delustra # 2 should be fixed, let me know if that's not the case :)

[Eideren]

Issue #1 has been dealt with

[delustra]

feature request: I have a bodycomponent, which consists of many collider boxes. When I do raytracing to that bodycomponent, I want to get information which exact small collider box was hit within bodycomponent.