feat: shape-cast naming changes

[sebcrozet]

This PR modifies many names related to shape-casting. It also adds the ability to specify a target distance for (linear) shape-casting.

• Renamed TOI to ShapeCastHit.
• Renamed TOIStatus to ShapeCastStatus.
• Rename RayIntersection::toi to RayIntersection::time_of_impact.
• More generally, all occurrences of the word toi have been replaced by time_of_impact
  for better clarity.
• Rename query::time_of_impact to query::cast_shapes. More generally, all the
  functions prefixed with time_of_impact_ (e.g. time_of_impact_ball_ball) are
  now prefixed with cast_shapes_ (e.g. cast_shapes_ball_ball).
• Rename QueryDispatcher::time_of_impact to QueryDispatcher::cast_shapes.
• The (linear) shape-casting functions like query::cast_shapes (previously named
  query::time_of_impact) now take a ShapeCastOptionsinstead of themax_toiandstop_at_penetrationarguments. ThisShapeCastOptionsincludes two new options:ShapeCastOptions::target_distancewhich will return a hit as soon as the moving shapes are closer than this distance; andcompute_impact_geometry_on_penetration which forces the calculation of proper witness points and normals even if the shapes are initially intersecting (toi == 0.0, time_of_impact == 0.0`).
• Rename query::nonlinear_time_of_impact to query::cast_shapes_nonlinear.
• Rename QueryDispatcher::nonlinear_time_of_impact to QueryDispatcher::cast_sahpes_nonlinear.
• Rename NonlinearTOIMode to NonlinearShapeCastMode, and NonlinearTOIMode::DirectionalTOI to
  NonlinearShapeCastMode::Directional.
• Rename TimeOfImpactStatus::Penetrating to ShapeCastStatus::PenetratingOrWithinTargetDist.