Add narrow phase collision detection for capsule-box interaction.
Add narrow phase collision detection for capsule-box interaction.

- this type of collision can result in 0, 1, or 2 contacts

rserban/chrono,projectchrono/chrono,amelmquist/chrono,dariomangoni/chrono,rserban/chrono,Milad-Rakhsha/chrono,PedroTrujilloV/chrono,jcmadsen/chrono,rserban/chrono,armanpazouki/chrono,Bryan-Peterson/chrono,hsu/chrono,jcmadsen/chrono,dariomangoni/chrono,projectchrono/chrono,amelmquist/chrono,projectchrono/chrono,Milad-Rakhsha/chrono,Milad-Rakhsha/chrono,Bryan-Peterson/chrono,amelmquist/chrono,andrewseidl/chrono,amelmquist/chrono,projectchrono/chrono,PedroTrujilloV/chrono,Bryan-Peterson/chrono,PedroTrujilloV/chrono,dariomangoni/chrono,rserban/chrono,armanpazouki/chrono,Milad-Rakhsha/chrono,Milad-Rakhsha/chrono,tjolsen/chrono,jcmadsen/chrono,Milad-Rakhsha/chrono,hsu/chrono,armanpazouki/chrono,jcmadsen/chrono,andrewseidl/chrono,hsu/chrono,projectchrono/chrono,dariomangoni/chrono,rserban/chrono,jcmadsen/chrono,projectchrono/chrono,hsu/chrono,armanpazouki/chrono,Bryan-Peterson/chrono,amelmquist/chrono,jcmadsen/chrono,armanpazouki/chrono,amelmquist/chrono,tjolsen/chrono,PedroTrujilloV/chrono,tjolsen/chrono,tjolsen/chrono,andrewseidl/chrono,PedroTrujilloV/chrono,dariomangoni/chrono,rserban/chrono,jcmadsen/chrono,Bryan-Peterson/chrono,andrewseidl/chrono,hsu/chrono,andrewseidl/chrono,dariomangoni/chrono,armanpazouki/chrono,tjolsen/chrono,rserban/chrono