[REQ] Improve mesh_query_ray functions, add groups to mesh build

[StafaH]

Description

The mesh query ray function can be improved by using ordered traversal, this will be more efficient and should increase performance in most scenarios. Additionally, creating an any-hit variant of the mesh_query_ray is useful for downstream applications for rendering such as shadows, that want to immediately stop traversal when a ray hit has been detected.

Extending group-aware BVH construction to meshes will be useful for creating multi-mesh BVHs for applications such as multi-world deformable objects. Having one mesh rather than many meshes is important for performance