feat: add deformable polylines/meshes

[sebcrozet]

This adds support for:

• Deformable polylines and deformable meshes which can have vertices updated at each frame.
• Automatic approximate "cage" tetrahedrization. This calculates a terahedrization of an arbitrary mesh where that tetrahedrization is a volume that encloses the mesh rather than exact tetrahedrons calculated from the actual mesh triangles.
• Parallelize composite/shape colllision detection.