Additive CCD

[zfergus]

Description

This PR contains a port of the Additive CCD method from [Li et al. 2021].

• This is a modified version of the original open-source implementation which is under the Appache-2.0 License.
• Modifications: remove broad phase functions, refactor code to use a single implementation of the additive_ccd algorithm, utilize our distance function rather than porting the Codim-IPC versions, return true if the initial distance is less than the minimum distance, and add an explicit tmax parameter rather than relying on the initial value of toi.

This is mostly for reference comparison and it is not integrated into the full code. This also includes the ability to pull the sample queries and run them in a unit-test (requires GMP).

Adds missing feature mentioned in #15.

Type of change

• New feature (non-breaking change which adds functionality)

How Has This Been Tested?

Ran the entire benchmark of [Wang et al. 2021] and [Belgrod et al. 2023].

Test Configuration:

• OS and version: macOS 14.0
• Compile and version: Apple clang version 15.0.0

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
• I have made corresponding changes to the documentation
• 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
• Any dependent changes have been merged and published in downstream modules