Refactor spatial query APIs to accept config over a struct

[janhohenheim]

Context

Quoting @Jondolf:

It could just be something like

pub struct RayCastConfig {
    pub max_time_of_impact: Scalar,
    pub solid: bool,
    // We could split this I guess
    pub filter: SpatialQueryFilter,
}

and people wouldn't need to worry about configuring everything manually since it'd derive Default. In the ideal case, spatial queries can become more concise, like

spatial.cast_ray(origin, direction, default());

instead of

spatial.cast_ray(
    origin,
    direction,
    f32::MAX,
    true,
    default(),
);