Introduces `GjkHitInfo` to encapsulate collision results, including the simplex.
Refactors `is_collide` to return the `GjkHitInfo` struct, providing more detailed collision data. This prepares the codebase for integrating the EPA algorithm (as per the feature branch) which requires simplex information.
Simplifies the GJK algorithm by using a type alias for the vertex type, improving code readability and reducing redundancy. Removes unnecessary includes.
Removes the separate `Simplex` class and integrates its functionality directly into the `GjkAlgorithm`. This simplifies the code and reduces unnecessary overhead.
Updates tests to align with refactored implementation.
Adds GJK algorithm implementation for detecting collisions between mesh colliders.
Includes mesh collider definition and unit tests for basic collision detection.
Provides a foundation for more complex collision handling and physics interactions.
