Fix applyTorque world matrix mismatch

[Doliman100]

Fix issue #3560.

PhysObj:ApplyTorqueCenter replaced with PhysObj:AddAngleVelocity since it accepts a local space input and doesn't convert it to world space internally. No more world matrix mismatch problem. Here is a full inlined code of both functions for comparison. As you can see, there is no difference but an ApplyTorqueCenter input is world space and an AddAngleVelocity input is local space. Another small difference is ApplyTorqueCenter multiplies a local space input by inv_rot_inertia and AddAngleVelocity doesn't, but this can be easily fixed in Lua.

void CPhysicsObject::ApplyTorqueCenter(const AngularImpulse &torqueImpulse) {
  if (!IsMoveable())
    return;
  IVP_U_Float_Point ivpTorque;
  ConvertAngularImpulseToIVP(torqueImpulse, ivpTorque);
  IVP_Core *core = m_pObject->get_core();

  // the difference; ivpAngularVelocity = ivpTorque * m_world_f_core * inv_rot_inertia
  const IVP_U_Matrix *m_world_f_core = core->get_m_world_f_core_PSI();
  IVP_U_Float_Point angular_impulse_cs;
  m_world_f_core->vimult3(&ivpTorque, &angular_impulse_cs);
  IVP_U_Float_Point ivpAngularVelocity;
  ivpAngularVelocity.set_pairwise_mult(&angular_impulse_cs, core->get_inv_rot_inertia());

  core->rot_speed_change.add(&ivpAngularVelocity);
  Wake();
  ClampVelocity();
}

void CPhysicsObject::AddVelocity(const AngularImpulse *angularVelocity) {
  if (!IsMoveable())
    return;
  IVP_Core *core = m_pObject->get_core();
  Wake();
  IVP_U_Float_Point ivpAngularVelocity;
  ConvertAngularImpulseToIVP(*angularVelocity, ivpAngularVelocity);

  core->rot_speed_change.add(&ivpAngularVelocity);
  ClampVelocity();
}

I tested it with the default tickrate and -tickrate 33, it works fine in both cases. The sample chip code is located at the initial issue message. After applying this fix, the sample works in an opposite way. Now the bad case provides right behavior and the good case provides wrong behavior.