Rigid and Affine Body Dynamics

[zfergus]

Description

This pull request introduces support for rigid body dynamics simulation.

Rigid body dynamics support in Python bindings

• Added a new dynamics module with subfolder rigid, including Simulator, RigidBodies, Pose, and Poses classes, and exposed them via pybind11 in the Python bindings

Improvements to CMake dependency management

• Updated CPM versions and refactored third-party recipes to use the OPTIONS argument for configuration, improving clarity and maintainability.
• Added a new CMake recipe for TinyGLTF and integrated it into the build.

Python usability improvements and new examples

• Added a new example script demonstrating rigid body simulation and visualization using ipctk, meshio, and polyscope (python/examples/rigid.py).

Minor Python binding improvements

• Changed save_obj method to write_obj in Candidates Python bindings for clarity.
• Made CollisionMesh Python class use std::shared_ptr for better memory management.

Type of change

• [x] New feature (non-breaking change which adds functionality)
• [x] This change requires a documentation update

[codecov[bot]]

Codecov Report

:x: Patch coverage is 77.25857% with 146 lines in your changes missing coverage. Please review. :white_check_mark: Project coverage is 94.74%. Comparing base (c4753ba) to head (a5674a6).

Files with missing lines	Patch %	Lines
...rc/ipc/dynamics/affine/orthogonality_potential.cpp	34.88%	56 Missing :warning:
src/ipc/dynamics/rigid/mass.cpp	66.24%	53 Missing :warning:
src/ipc/dynamics/rigid/inertial_term.cpp	84.04%	15 Missing :warning:
src/ipc/candidates/candidates.cpp	0.00%	9 Missing :warning:
src/ipc/dynamics/rigid/rigid_body.cpp	89.83%	6 Missing :warning:
src/ipc/dynamics/rigid/rigid_body.hpp	50.00%	2 Missing :warning:
src/ipc/dynamics/rigid/time_integrator.hpp	90.47%	2 Missing :warning:
src/ipc/utils/sinc.hpp	0.00%	2 Missing :warning:
src/ipc/ccd/nonlinear_ccd.hpp	0.00%	1 Missing :warning:

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #184      +/-   ##
==========================================
- Coverage   96.02%   94.74%   -1.28%     
==========================================
  Files         105      119      +14     
  Lines        8100     8738     +638     
==========================================
+ Hits         7778     8279     +501     
- Misses        322      459     +137     

Flag	Coverage Δ
unittests	94.74% <77.25%> (-1.28%)	:arrow_down:

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