Migrate library to typescript, use es6 modules by default

[mauriciopoppe]

Breaking change

• The default output is an es6 module.

[codecov]

Codecov Report

Attention: Patch coverage is 93.10345% with 4 lines in your changes missing coverage. Please review.

Project coverage is 89.37%. Comparing base (2012ad0) to head (62dc682).

Files	Patch %	Lines
src/QuickHull.ts	88.88%	3 Missing ⚠️
src/VertexList.ts	83.33%	1 Missing ⚠️

Additional details and impacted files

@@           Coverage Diff           @@
##           master      #31   +/-   ##
=======================================
  Coverage   89.36%   89.37%           
=======================================
  Files           6        6           
  Lines         536      527    -9     
  Branches      100       99    -1     
=======================================
- Hits          479      471    -8     
- Misses         52       56    +4     
+ Partials        5        0    -5     

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