ENH: Change Enter/Exit Criteria in PbdTissueVolumeNeedleContact, Simplify some bits, Multi contact more applicable example of a kidney under a tissue with a trocar.

• This changes the puncture function so PbdNeedleCH is not needed.
• This changes the puncture function so you can only puncture from above a triangle (using previous state).
• This changes the unpuncture function so you do not remove an embedding constraint unless you exit the plane of the triangle with that constraint.
• This adds a sphere vs point on line culling function which is great for straight needles. Speedy.
• This changes the example such that there are two simulated tissues. The organ and the skin surface. A kidney is punctured underneath with a trocar.

This only introduces example changes.