Added cast for shapes using `shapeCast` and by configuring the shape. It also provide API for each primitive shapes:
- `boxCast(halfExtends, position, rotation)`
- `capsuleCast(radius, heigh, axis, position, rotation)`
- `coneCast(radius, heigh, axis, position, rotation)`
- `cylinderCast(radius, heigh, axis, position, rotation)`
- `sphereCast(radius, position, rotation)`

There is also a private function `_shapecast(shape, collision, rotation)` if you wish to use your own shape (Ammo.btCollisionShape).
Include full comments and docs. Include assertion of `Ammo.ConcreteContactResultCallback` for every public function. No assertion on private function to reduce function calls.

Co-authored-by: Hermann Rolfes <[email protected]>