[Collision] Add ccd collision detection based on TightInclusion method

[bakpaul]

This PR adds a new Intersector based on the method TightInclusion.

This methods uses iterative methods to find the time of impact by finding the root of a third order polynomial equation (see paper). The library only proposes two collision detection methods : Edge/Edge and Triangle/Point. Which is sufficient for Tetrahedral meshes. This Intersector is of course compatible with all available broad-phase and narrow-phase available.

This PR also adds a way to be able to base the CCD on either the inertia or the FreeMotion itself. To be noted that if the FreeMotion is used, then the parameter parallelCollisionDetectionAndFreeMotion of the FreeMotionAnimationLoop cannot be used anymore.

I plan in another PR to improve the broad-phase by not increasing the bounding box using the continuous info as it is done in SOFA currently but by using a method based on cylinders, which will require some refactoring of the BoxModels.

Finally, because of its current inheritance to BaseProximityIntersection it still have the parameter 'Alarm distance' which should be put to 0 as it is not used anymore. This will disappear when the new collision detection for bounding box is implemented. That is why I don't want to put to much effort in removing it here.

This gif is a gif of the simulation present in the ci-depends-on pr

Both objects are launched at a certain speed at each other and are accelerating under gravity. The time step is particularly large (0.1), so we can see the models "teleporting" frame by frame which is intended. But still, we can see that the collisions are correctly detected.

[with-all-tests]
[force-full-build]
[ci-depends-on https://github.com/sofa-framework/SofaPython3/pull/559]

---

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---

Reviewers will merge this pull-request only if

• it builds with SUCCESS for all platforms on the CI.
• it does not generate new warnings.
• it does not generate new unit test failures.
• it does not generate new scene test failures.
• it does not break API compatibility.
• it is more than 1 week old (or has fast-merge label).

[sofabot]

[ci-depends-on] detected during build #3.

To unlock the merge button, you must

• Merge or close Add example scene using CCDTightInclusion SofaPython3#559
  For this build, the following CMake flags will be set
  -DSOFAPYTHON3_GIT_REPOSITORY='https://github.com/sofa-framework/SofaPython3'
  -DSOFAPYTHON3_GIT_TAG='d706a88a84e506fe505176887abcedc743ac22e6'

[bakpaul]

[ci-build][with-all-tests]

[sofabot]

[ci-depends-on] detected during build #4.

To unlock the merge button, you must

• Merge or close Add example scene using CCDTightInclusion SofaPython3#559
  For this build, the following CMake flags will be set
  -DSOFAPYTHON3_GIT_REPOSITORY='https://github.com/sofa-framework/SofaPython3'
  -DSOFAPYTHON3_GIT_TAG='d706a88a84e506fe505176887abcedc743ac22e6'

[sofabot]

[ci-depends-on] detected during build #5.

To unlock the merge button, you must

• Merge or close Add example scene using CCDTightInclusion SofaPython3#559
  For this build, the following CMake flags will be set
  -DSOFAPYTHON3_GIT_REPOSITORY='https://github.com/sofa-framework/SofaPython3'
  -DSOFAPYTHON3_GIT_TAG='d706a88a84e506fe505176887abcedc743ac22e6'

[sofabot]

[ci-depends-on] detected during build #6.

To unlock the merge button, you must

• Merge or close Add example scene using CCDTightInclusion SofaPython3#559
  For this build, the following CMake flags will be set
  -DSOFAPYTHON3_GIT_REPOSITORY='https://github.com/sofa-framework/SofaPython3'
  -DSOFAPYTHON3_GIT_TAG='d706a88a84e506fe505176887abcedc743ac22e6'

[sofabot]

[ci-depends-on] detected during build #7.

To unlock the merge button, you must

• Merge or close Add example scene using CCDTightInclusion SofaPython3#559
  For this build, the following CMake flags will be set
  -DSOFAPYTHON3_GIT_REPOSITORY='https://github.com/sofa-framework/SofaPython3'
  -DSOFAPYTHON3_GIT_TAG='d706a88a84e506fe505176887abcedc743ac22e6'

[sofabot]

[ci-depends-on] detected during build #8.

To unlock the merge button, you must

• Merge or close Add example scene using CCDTightInclusion SofaPython3#559
  For this build, the following CMake flags will be set
  -DSOFAPYTHON3_GIT_REPOSITORY='https://github.com/sofa-framework/SofaPython3'
  -DSOFAPYTHON3_GIT_TAG='d706a88a84e506fe505176887abcedc743ac22e6'

[sofabot]

[ci-depends-on] detected during build #10.

To unlock the merge button, you must

• Merge or close Add example scene using CCDTightInclusion SofaPython3#559
  For this build, the following CMake flags will be set
  -DSOFAPYTHON3_GIT_REPOSITORY='https://github.com/sofa-framework/SofaPython3'
  -DSOFAPYTHON3_GIT_TAG='d706a88a84e506fe505176887abcedc743ac22e6'

[bakpaul]

[ci-build]

[sofabot]

[ci-depends-on] detected during build #11.

To unlock the merge button, you must

• Merge or close Add example scene using CCDTightInclusion SofaPython3#559
  For this build, the following CMake flags will be set
  -DSOFAPYTHON3_GIT_REPOSITORY='https://github.com/sofa-framework/SofaPython3'
  -DSOFAPYTHON3_GIT_TAG='7c9a28905af2b36552b9764c70c2b5182042e114'

[sofabot]

[ci-depends-on] detected during build #12.

To unlock the merge button, you must

• Merge or close Add example scene using CCDTightInclusion SofaPython3#559
  For this build, the following CMake flags will be set
  -DSOFAPYTHON3_GIT_REPOSITORY='https://github.com/sofa-framework/SofaPython3'
  -DSOFAPYTHON3_GIT_TAG='7c9a28905af2b36552b9764c70c2b5182042e114'

[sofabot]

[ci-depends-on] detected during build #13.

To unlock the merge button, you must

• Merge or close Add example scene using CCDTightInclusion SofaPython3#559
  For this build, the following CMake flags will be set
  -DSOFAPYTHON3_GIT_REPOSITORY='https://github.com/sofa-framework/SofaPython3'
  -DSOFAPYTHON3_GIT_TAG='7c9a28905af2b36552b9764c70c2b5182042e114'

[bakpaul]

[ci-build][with-all-tests]

[sofabot]

[ci-depends-on] detected during build #14.

To unlock the merge button, you must

• Merge or close Add example scene using CCDTightInclusion SofaPython3#559
  For this build, the following CMake flags will be set
  -DSOFAPYTHON3_GIT_REPOSITORY='https://github.com/sofa-framework/SofaPython3'
  -DSOFAPYTHON3_GIT_TAG='d67dc149353f36339ad17d8d476bd2b85ef147e4'

[bakpaul]

[ci-build][with-all-tests][force-full-build]

[sofabot]

[ci-depends-on] detected during build #15.

To unlock the merge button, you must

• Merge or close Add example scene using CCDTightInclusion SofaPython3#559
  For this build, the following CMake flags will be set
  -DSOFAPYTHON3_GIT_REPOSITORY='https://github.com/sofa-framework/SofaPython3'
  -DSOFAPYTHON3_GIT_TAG='b06f9d1aedf97d728132dc426a435368078ad2a6'

[sofabot]

[ci-depends-on] detected during build #16.

To unlock the merge button, you must

• Merge or close Add example scene using CCDTightInclusion SofaPython3#559
  For this build, the following CMake flags will be set
  -DSOFAPYTHON3_GIT_REPOSITORY='https://github.com/sofa-framework/SofaPython3'
  -DSOFAPYTHON3_GIT_TAG='b06f9d1aedf97d728132dc426a435368078ad2a6'

[sofabot]

[ci-depends-on] detected during build #17.

To unlock the merge button, you must

• Merge or close Add example scene using CCDTightInclusion SofaPython3#559
  For this build, the following CMake flags will be set
  -DSOFAPYTHON3_GIT_REPOSITORY='https://github.com/sofa-framework/SofaPython3'
  -DSOFAPYTHON3_GIT_TAG='b06f9d1aedf97d728132dc426a435368078ad2a6'

[sofabot]

[ci-depends-on] detected during build #18.

To unlock the merge button, you must

• Merge or close Add example scene using CCDTightInclusion SofaPython3#559
  For this build, the following CMake flags will be set
  -DSOFAPYTHON3_GIT_REPOSITORY='https://github.com/sofa-framework/SofaPython3'
  -DSOFAPYTHON3_GIT_TAG='b06f9d1aedf97d728132dc426a435368078ad2a6'

[sofabot]

[ci-depends-on] detected during build #19.

All dependencies are merged/closed. Congrats! 👍