Add scene queries to PhysicsWorld

Introduce spatial query methods to PhysicsWorld to enable raycasts,
geometric sweeps, and overlap checks in the physics scene.

 - Implement test, single and multi raycast query methods.
 - Implement test, single and multi sweep query methods.
 - Implement test and multi overlap query methods.
 - Introduce supporting QML value types (queryHit, locationHit)
   for structured result handling.

[ChangeLog][PhysicsWorld] Added raycast, sweep, and overlap query
methods, along with the queryHit and locationHit value types that
carry their results.

Fixes: QTBUG-149801
Change-Id: I43451ab89e47f5c6abd7a5c725db9bf5835bf7ef
Reviewed-by: Jonas Karlsson <jonas.karlsson@qt.io>
Reviewed-by: Andrei Yankovich <EndrIIMail@gmail.com>