Python BroadPhase

[zfergus]

Description

• Added PyBroadPhase and PyNarrowPhaseCCD classes to wrap the BroadPhase and NarrowPhaseCCD classes, respectively, allowing for custom implementations of these classes in Python.
• Added new constructors to candidate classes (EdgeEdgeCandidate, EdgeFaceCandidate, EdgeVertexCandidate, FaceFaceCandidate, FaceVertexCandidate, VertexVertexCandidate) that accept tuples for easier initialization.
• Added new tests for candidate generation and custom collision detection phases (test_candidates, test_custom_ccd, test_custom_broad_phase).
• Included a call to std::atexit to reset the thread limiter upon program exit to ensure proper cleanup.

⚠️ Python NarrowPhaseCCD implementations will not work with multi-threading because of GIL locking.

Type of change

Please delete options that are not relevant.

• Bug fix (non-breaking change which fixes an issue)
• Enhancement (non-breaking change which improves existing functionality)

How Has This Been Tested?

New Python tests.

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