This reverts commit 4e67534b1e9dc1ab437244947555fb6a3f1a5b09.

This commit makes exceptions in SAPBroadphase, as the integration of static messages is describe...

Adt. Some holdouts + formatting

Excluding WheelInfo -> seems not to be documenting properly?

Additional documentation added with references to the paper Cannon is based on

Note, Ray may need more work

feat(body): add isTrigger option

Fix redundant increment of world.time

Change Mat3.reverse to use static array

Rename .computeAABB() to .updateAABB();

Port AABB tests

Add Mat3, Vec3, and some Quaternion tests

Add removeShape method to Body

This reverts commit 83050fac3bf1e5265720bbe5336dcd204359a1ba.

Add applyTorque method to Body

Make WheelInfo.frictionSlip default to a lower value

Set SplitSolver parameter type as GSSolver

replace some constants with configurable properties for raycast-vehicle

Use the static keyword for static methods

Wakeup a body if a force is applied to it

Performance: move the bailout threshold to 60fps instead of 30fps

Set Cylynder.type correctly when creating a Cylinder