Geometry To Collision Map
Now that geometry inputs for CD is reversible, out of the constructor, you can create CD methods by name with the factory, and a number of more cases added, tested, and fixed. I think it would be a good time to introduce a map for geometry to CollisionDetectionAlgorithms applied in PbdObjectCollision such that users need to provide it and get a decent default.
We just need to provide a map of geometry types (ideally not geometry strings) to CD strings. But make sure to provide it as a default parameter such that it can still be replaced since a number of geometries map to multiple CollisionDetection strategies.