Handle Codim Point-Point Collisions

[zfergus]

Description

Handle codimensional point-point collisions.

Adds missing feature as discussed in #63.

Type of change

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

How Has This Been Tested?

New unit-tests.

Test Configuration:

• OS and version: macOS 14
• 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

[codecov]

Codecov Report

Merging #66 (5a36df1) into main (36101b1) will increase coverage by 4.77%.
The diff coverage is 77.66%.

@@            Coverage Diff             @@
##             main      #66      +/-   ##
==========================================
+ Coverage   90.34%   95.12%   +4.77%     
==========================================
  Files          82       82              
  Lines        7250     7096     -154     
==========================================
+ Hits         6550     6750     +200     
+ Misses        700      346     -354     

Files	Coverage Δ
src/ipc/broad_phase/broad_phase.cpp	84.72% <ø> (ø)
src/ipc/broad_phase/broad_phase.hpp	100.00% <100.00%> (ø)
src/ipc/broad_phase/brute_force.cpp	88.63% <100.00%> (+1.13%)	⬆️
src/ipc/broad_phase/brute_force.hpp	100.00% <ø> (ø)
src/ipc/broad_phase/hash_grid.cpp	100.00% <100.00%> (ø)
src/ipc/broad_phase/hash_grid.hpp	100.00% <ø> (ø)
src/ipc/broad_phase/spatial_hash.hpp	100.00% <100.00%> (ø)
src/ipc/broad_phase/sweep_and_tiniest_queue.hpp	100.00% <ø> (ø)
src/ipc/broad_phase/voxel_size_heuristic.cpp	95.71% <100.00%> (+46.43%)	⬆️
src/ipc/candidates/candidates.hpp	100.00% <ø> (ø)
... and 22 more

... and 2 files with indirect coverage changes