Cylinder/Triangle的碰撞函数返回错误结果。

需要对碰撞函数进行修正，使其正确计算Cylinder和Triangle的碰撞情况。

示例代码：

bool cylinderTriangleCollision(const Cylinder& cylinder, const Triangle& triangle) {
    // 计算Cylinder的底部圆盘和Triangle的碰撞情况
    Plane trianglePlane = triangle.getPlane();
    Circle bottomCircle(cylinder.axis.base, cylinder.radius);
    float bottomDistance = bottomCircle.distance(trianglePlane);
    if (bottomDistance > cylinder.axis.length) return false;
    // 计算Cylinder的顶部圆盘和Triangle的碰撞情况
    Circle topCircle(cylinder.axis.top(), cylinder.radius);
    float topDistance = topCircle.distance(trianglePlane);
    if (topDistance > cylinder.axis.length) return false;
    // 计算Cylinder侧面与Triangle的碰撞情况
    float radiusSquared = cylinder.radius * cylinder.radius;
    Vector3 cylinderDir = cylinder.axis.direction();
    Vector3 cylinderOffset = cylinder.axis.base - triangle.v1;
    Vector3 triangleNormal = trianglePlane.normal;
    Vector3 triangleOffset = triangleNormal * triangle.distanceToOrigin();
    Vector3 cross = crossProduct(cylinderDir, triangleNormal);
    float crossSquaredLength = cross.squaredLength();
    if (crossSquaredLength < 1e-6f) {
        // Cylinder的轴线方向与Triangle的法线平行
        // 判断Cylinder的两个圆盘是否与Triangle相交
        if (triangle.contains(bottomCircle.center) || triangle.contains(topCircle.center)) {
            return true;
        }
        // 判断Cylinder侧面是否与Triangle的三个边相交
        Vector3 cylinderX = cylinderDir.orthogonalVector();
        if (triangleLineSegmentIntersection(cylinder.axis.base, cylinderX, triangle.v1, triangle.v2)) return true;
        if (triangleLineSegmentIntersection(cylinder.axis.base, cylinderX, triangle.v2, triangle.v3)) return true;
        if (triangleLineSegmentIntersection(cylinder.axis.base, cylinderX, triangle.v3, triangle.v1)) return true;
        return false;
    }
    // 计算Cylinder侧面与Triangle三个顶点的距离的平方
    float a = crossSquaredLength;
    float b = 2.0f * dotProduct(cross, cylinderOffset);
    float c = cylinderOffset.squaredLength() - radiusSquared;
    float delta = b * b - 4.0f * a * c;
    if (delta < 0.0f) return false;
    float sqrtDelta = sqrtf(delta);
    float t1 = (-b - sqrtDelta) / (2.0f * a);
    float t2 = (-b + sqrtDelta) / (2.0f * a);
    if (t2 < 0.0f || t1 > cylinder.axis.length) return false;
    if (t1 < 0.0f && t2 > cylinder.axis.length) return true;
    return true;
}

注：上述示例代码中包含一些辅助函数，具体实现请参考相关文献。