…dules based on acceleration and center of mass

…efault for getInstance

* API improvements
- shooter simulation addition
- shooter & intake simulation use more ergonomic builder API
- SimulationContext helps reduce spaghetti gluing simulation code into IO abstractions style codebase
- GameSpecificMessage data for rebuilt arena
- Mk5i swerve and molded spike tread COTS

* v0.4.0 new api and rebuilt

* game piece manager refactor

* gamepiece manager owns the game pieces for real now

* reasonably successful 3D sim using libbulletjme

* fixed swerve sim drift in 3D, added mesh loader for custom collision meshes, added hub mesh

* 3D field in a pretty good state

* threaded physics working!

* thread & non-threaded physics working consistently. thread physics takes ~20ms off of user code with 436 simulated fuel

* Testing revealed stability/consistency issues, switched to dt from wpilib code

* Jolt physics backend working. Still needs some work but it's getting there. Threaded is a bit of a pain but same thread works.

* changed collision map to V-HACD run on block cad field modle, simpler higher fidelity.
- also added outpost model but not incorporated yet
- soft body physics option for fuel, working quite well
- regular swerve sim has improved a lot
- added more config options to swerve relevant for 3D

* improvement in threaded Jolt physics. everything should be ready for use.

…endordep