Add signed distance computations

[zfergus]

Description

Add signed distance computations for point-plane, point-line, and line-line geometries

• Implemented point_plane_signed_distance, point_plane_signed_distance_gradient, and point_plane_signed_distance_hessian functions for computing signed distances from a point to a triangle's plane.
• Introduced point_line_signed_distance, point_line_signed_distance_gradient, and point_line_signed_distance_hessian functions for point-line distance calculations.
• Refactored existing normal computation functions to support point-line geometry.
• Added unit tests for signed distance calculations, including gradient and Hessian checks using finite differences.
• Updated CMake configuration to include new test files for signed distance computations.

Type of change

• Breaking change (fix or feature that would cause existing functionality to not work as expected)

How Has This Been Tested?

• New unit tests

[Copilot]

Pull request overview

This PR adds signed distance computation functions for point-plane, point-line, and line-line geometries, complete with gradient and Hessian calculations. It also refactors existing normal computation functions by renaming "edge-vertex" to "point-line" and "edge-edge" to "line-line" for improved clarity and consistency.

Changes:

• Added three new signed distance modules: point_plane, point_line, and line_line with distance, gradient, and Hessian functions
• Refactored normal computation API by renaming edge_vertex_* functions to point_line_* and edge_edge_* functions to line_line_*
• Added comprehensive unit tests with finite difference validation for all new signed distance functions

Reviewed changes

Copilot reviewed 17 out of 17 changed files in this pull request and generated 3 comments.

Show a summary per file

File	Description
tests/src/tests/distance/test_signed_distance.cpp	New test file validating signed distance computations and their derivatives using finite differences
tests/src/tests/distance/CMakeLists.txt	Added new test file to build configuration
tests/src/tests/candidates/test_normals.cpp	Updated to use renamed normal functions and added tests for point-line normal Hessian
src/ipc/geometry/normal.hpp	Renamed edge-vertex/edge-edge functions to point-line/line-line, added new function declarations for Hessians
src/ipc/geometry/normal.cpp	Implemented point-line normal Jacobian and Hessian functions, renamed existing functions
src/ipc/distance/signed/point_plane.*	New files implementing signed point-to-plane distance with derivatives
src/ipc/distance/signed/point_line.*	New files implementing signed point-to-line distance (2D) with derivatives
src/ipc/distance/signed/line_line.*	New files implementing signed line-to-line distance (3D) with derivatives
src/ipc/distance/signed/CMakeLists.txt	New build configuration for signed distance subdirectory
src/ipc/distance/point_plane.cpp	Updated to use triangle_normal function for consistency
src/ipc/distance/CMakeLists.txt	Added signed distance subdirectory to build
src/ipc/candidates/edge_vertex.cpp	Updated to use renamed point_line_* functions
src/ipc/candidates/edge_edge.cpp	Updated to use renamed line_line_* functions
python/src/geometry/normal.cpp	Updated Python bindings to use renamed function names

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[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 97.42%. Comparing base (ab06c2f) to head (34c46d3).
⚠️ Report is 1 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #206      +/-   ##
==========================================
+ Coverage   97.41%   97.42%   +0.01%     
==========================================
  Files         150      153       +3     
  Lines       23761    23917     +156     
  Branches      802      805       +3     
==========================================
+ Hits        23146    23302     +156     
  Misses        615      615              

Flag	Coverage Δ
unittests	97.42% <100.00%> (+0.01%)	⬆️

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