Spatial decomposition (dynamic tree) for static geometry

[ashoulson]

Dynamic objects may not be worth it with rollback, but static objects probably are. Eventually we could even precompute this.

Don't need it right away, long-term optimization idea.

[ashoulson]

Attempted to do this in the revamp branch, but performance improvement wasn't satisfactory for the increased code complexity, increased memory usage, and decreased reliability.

[ashoulson]

Could probably do a BVH implementation for collision resolution only (in current time) while leaving queries to just use AABBs.