Refactor BroadPhase to Build from Vertex Boxes Directly

[zfergus]

Description

• Moved the inclusion of the CCD library to a new position in CMakeLists.txt for better organization.
• Updated CPM version from 0.40.2 to 0.42.0 in CPM.cmake.
• Modified ccd_query_io.cmake to use the new CPMAddPackage syntax with options.
• Updated finite_diff.cmake to use the latest version of the finite-diff package (1.0.3).
• Adjusted libigl.cmake to use the new CPMAddPackage syntax with options.
• Updated scalable_ccd.cmake to use the new CPMAddPackage syntax with options.
• Refactored BroadPhase class methods in broad_phase.cpp and broad_phase.hpp to streamline the build process.
• Enhanced HashGrid class methods in hash_grid.cpp and hash_grid.hpp for better clarity and efficiency.
• Improved SpatialHash class methods in spatial_hash.cpp and spatial_hash.hpp to utilize precomputed AABBs.
• Added new methods to SweepAndPrune and SweepAndTiniestQueue classes for building from precomputed AABBs.
• Introduced a new function to suggest a good voxel size based on AABBs in voxel_size_heuristic.cpp and voxel_size_heuristic.hpp.
• Optimized edge_edge_mollifier.cpp with FMA operator in gradient calculations.
• Updated eigen_ext.tpp to improve error handling during matrix projections.
• Added a static method to create an empty interval in interval.hpp.

Type of change

• Enhancement (non-breaking change which improves existing functionality)

[codecov]

Codecov Report

❌ Patch coverage is 97.70115% with 2 lines in your changes missing coverage. Please review.
✅ Project coverage is 96.02%. Comparing base (21edcc2) to head (ec5a059).
⚠️ Report is 1 commits behind head on main.

Files with missing lines	Patch %	Lines
src/ipc/broad_phase/voxel_size_heuristic.cpp	92.30%	1 Missing ⚠️
src/ipc/utils/eigen_ext.tpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #187      +/-   ##
==========================================
- Coverage   96.18%   96.02%   -0.16%     
==========================================
  Files         105      105              
  Lines        8064     8100      +36     
==========================================
+ Hits         7756     7778      +22     
- Misses        308      322      +14     

Flag	Coverage Δ
unittests	96.02% <97.70%> (-0.16%)	⬇️

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[Copilot]

Pull Request Overview

This PR refactors the BroadPhase class hierarchy to build from pre-computed vertex AABBs directly rather than from vertex positions. The changes streamline the build process by eliminating redundant vertex box computation across different broad phase implementations.

Key changes:

• Added a new build() method overload that accepts precomputed std::vector<AABB> vertex boxes
• Refactored all broad phase implementations to use vertex boxes as the primary data source
• Updated CMake configuration files to use newer versions and improved syntax

Reviewed Changes

Copilot reviewed 26 out of 26 changed files in this pull request and generated 2 comments.

Show a summary per file

File	Description
tests/src/tests/broad_phase/test_broad_phase.cpp	Added test for new vertex box-based build functionality
src/ipc/utils/interval.hpp	Added empty interval factory method
src/ipc/utils/eigen_ext.tpp	Improved error handling in matrix projection functions
src/ipc/distance/edge_edge_mollifier.cpp	Optimized gradient calculation with FMA operation
src/ipc/ccd/narrow_phase_ccd.hpp	Added comprehensive documentation for CCD methods
src/ipc/candidates/candidates.hpp	Added documentation for public methods
src/ipc/broad_phase/*	Refactored all broad phase classes to build from vertex boxes
cmake/recipes/*	Updated to newer package versions and improved CPMAddPackage syntax
CMakeLists.txt	Reorganized CCD library inclusion for better organization

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