Integrate SimpleBVH Broad Phase

[zfergus]

Description

Integrate SimpleBVH as a broad-phase method.

Type of change

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

How Has This Been Tested?

• Added BVH to unit tests.

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

[codecov]

Codecov Report

Merging #75 (92d5904) into main (1d1a1b9) will increase coverage by 0.51%.
The diff coverage is 100.00%.

@@            Coverage Diff             @@
##             main      #75      +/-   ##
==========================================
+ Coverage   95.12%   95.63%   +0.51%     
==========================================
  Files          87       88       +1     
  Lines        7256     7328      +72     
==========================================
+ Hits         6902     7008     +106     
+ Misses        354      320      -34     

Files	Coverage Δ
src/ipc/broad_phase/aabb.cpp	100.00% <ø> (ø)
src/ipc/broad_phase/broad_phase.cpp	85.13% <100.00%> (+0.41%)	⬆️
src/ipc/broad_phase/broad_phase.hpp	100.00% <ø> (ø)
src/ipc/broad_phase/brute_force.hpp	100.00% <ø> (ø)
src/ipc/broad_phase/bvh.cpp	100.00% <100.00%> (ø)
src/ipc/broad_phase/hash_grid.cpp	100.00% <ø> (ø)
src/ipc/broad_phase/hash_grid.hpp	100.00% <ø> (ø)
src/ipc/broad_phase/spatial_hash.hpp	100.00% <ø> (ø)
src/ipc/broad_phase/sweep_and_tiniest_queue.cpp	66.66% <ø> (ø)
src/ipc/broad_phase/sweep_and_tiniest_queue.hpp	100.00% <ø> (ø)
... and 3 more

... and 2 files with indirect coverage changes