Update Docs with NL CCD Tutorial

[zfergus]

Description

Add Nonlinear CCD tutorial to the docs.

Type of change

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

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 #78 (7701e5d) into main (8d59aca) will not change coverage.
The diff coverage is 100.00%.

@@           Coverage Diff           @@
##             main      #78   +/-   ##
=======================================
  Coverage   95.77%   95.77%           
=======================================
  Files          88       88           
  Lines        7439     7439           
=======================================
  Hits         7125     7125           
  Misses        314      314           

Files	Coverage Δ
src/ipc/broad_phase/broad_phase.cpp	85.13% <100.00%> (ø)
src/ipc/broad_phase/broad_phase.hpp	100.00% <ø> (ø)
src/ipc/broad_phase/bvh.cpp	100.00% <100.00%> (ø)