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Lima/vecgeom 206 - new tube kernel SafetyKernel()

Guilherme Lima requested to merge lima/vecgeom-206 into master

Combined tube's SafetyToIn() and SafetyToOut() into SafetyKernel(), reducing code duplication.

I am suggesting similar SafetyKernel()'s for all other shapes. The SafetyToIn() and SafetyToOut() can probably be promoted to ShapeImplementationHelper.

Comments/suggestions are welcome.

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