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[#1091][#862] Re-implement Collision Groups (#1131)

Closes #1091
Closes #862

## Changes:

- Implement collision group proposal in #1091
- Wire into collider infrastructure
- Add unit tests 
- Update visual tests

![blocks](https://user-images.githubusercontent.com/612071/56842198-c8fdd580-6858-11e9-9dab-b9dbda132ea7.gif)

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