[Citadel] [TPE] Add collision detector

[iche033]

depends on pull request #59

Add collision detector in TPE that checks collisions between pairs of models by doing axis aligned bounding box intersection tests.

If intersection occurs, the collision detector can either return

• 8 contact points associated with the corners of the intersecting region, or
• 1 contact point at the center of intersecting region

This can be specified by setting the _singleContact bool variable when calling CollisionDetector::CheckCollisions function

[codecov]

Codecov Report

Merging #60 into ign-physics2 will increase coverage by 0.28%.
The diff coverage is 97.01%.

@@               Coverage Diff                @@
##           ign-physics2      #60      +/-   ##
================================================
+ Coverage         81.81%   82.10%   +0.28%     
================================================
  Files               104      106       +2     
  Lines              3492     3559      +67     
================================================
+ Hits               2857     2922      +65     
- Misses              635      637       +2     

Impacted Files	Coverage Δ
tpe/lib/src/World.hh	100.00% <ø> (ø)
tpe/lib/src/World.cc	90.62% <33.33%> (-5.93%)	⬇️
tpe/lib/src/CollisionDetector.cc	100.00% <100.00%> (ø)
tpe/lib/src/CollisionDetector.hh	100.00% <100.00%> (ø)

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[claireyywang]

LGTM! I think we can just suppress the dll warnings from windows CI. I did the same with tpelib.

[iche033]

suppressed dll warnings in b5e4700. Waiting for one more round of CI

[iche033]

all checks passed, merging