Fix RayShape collision detection

One-way collision is disabled for both rigid bodies and character
bodies.

Kinematic margin is now applied to ray shapes to help getting consistent
results in slopes and flat surfaces.

Convex shapes don't return inverted normals when a segment test starts
inside (raycasting will be made consistent in a separate patch).

Ray shapes also discard contacts when fully contained inside a shape
and when the contact direction is inverted, so the behavior is
consistent with all shape types. Now they always separate only when
intersecting the top of a shape (for downward rays).

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