Implementation of Gilbert-Johnson-Keerthi Algorithm for Convex Shapes in VecGeom

The goal of this project is to implement the Gilbert-Johnson-Keerthi algorithm on convex objects in VecGeom along with a ray casting algorithm that is based on GJK. This would lead to simplifying and potentially optimizing the code base as well as paving the way for other uses in VecGeom, such as checking for illegal overlapping and detection of neighbor volumes for optimizing navigation. It will stand as a general utility in VecGeom available for all supported primitive solids.