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Added several new shape functionality for mesapd

Christoph Rettinger requested to merge mr_extended_mesapd_shape_functionality into master
  • Added ray-ellipsoid check
  • Added ellipsoid, box, cylindrical boundary for "is point contained inside" checks
  • Added some utility function for transformations between world frame and body frame coordinates

Most of it is in principle a port from the pe.

This MR will enable using those shapes in lbm-mesapd coupled simulations.

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