Add tests for sphere-cylinder and sphere-roundedcyl collision with MPR.
Add tests for sphere-cylinder and sphere-roundedcyl collision with MPR.

Note that both these tests have cases that fail.  These are currently commented out, but need to be investigated.

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