Improve physics tick performance

[AlmasB]

Some improvements include:

• using a type-based split of entities to reduce collision checks -- based on handlers we know which types can collide -- keep Map<Type, Array> and update on entity add / remove
• using a quadtree or similar spatial partition
• SAT code inline to avoid calls to newVec and free + use sin/cos LUT
• BoundingBoxComponent::isColliding should be split into full check and partial check (with pre-applied transform) to maximise performance