fix vertex id assignment

[iiiian]

Description

Fix vertex id assignment logic in SweepAndTiniestQueue.

Type of change

• Bug fix (non-breaking change which fixes an issue)

How Has This Been Tested?

The broadphase unit test now pass.

Test Configuration:

• OS and Version: Fedora 42
• Compiler and Version: gcc 15 + nvcc 13

Checklist

• I have followed the project style guide
• My code follows the clang-format style guidelines of this project
• I have performed a self-review of my code
• I have commented my code, particularly in hard-to-understand areas
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works
• New and existing unit tests pass locally with my changes

[zfergus]

If you want you can use the same logic as Scalable CCD:

Vertex Box: (i, -1, -1) -> (i, -i-1, -i-1)
Edge Box: (i, j, -1) -> (i, j, -i - 1)
Triangle Box: (i, j, k) -> (i, j, k) 

[zfergus]

const auto [vi, vj, vk] = vertex_boxes[i].vertex_ids;
assert(vi >= 0);
boxes->vertices[i].vertex_ids.x = vi;
boxes->vertices[i].vertex_ids.y = vj >= 0 ? vj : (-vi - 1);
boxes->vertices[i].vertex_ids.z = vk >= 0 ? vk : (-vi - 1);

[iiiian]

Can vi be 0? Maybe the assert should be assert(vi >= 0);

[zfergus]

Yes you are right

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 97.41%. Comparing base (d2cb640) to head (87ab705).
⚠️ Report is 1 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff           @@
##             main     #204   +/-   ##
=======================================
  Coverage   97.40%   97.41%           
=======================================
  Files         149      149           
  Lines       23748    23748           
  Branches      797      798    +1     
=======================================
+ Hits        23132    23133    +1     
+ Misses        616      615    -1     

Flag	Coverage Δ
unittests	97.41% <ø> (+<0.01%)	⬆️

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