[algorithm] Split algorithm phases in different functions (#101)

* [algorithm] Remove projection operation on tip in the InsertionAlgorithm- completely unnecessary

* [algorithm] Changed FindClosestProximityAlgorithm to find the closest proximity back on the from geometry

* [algorithm] Auto-format code

* [algorithm] Rewrite some comments

* [algorithm] Place shared operations at the top

* [algorithm] Add a bool to enable/disable the puncture sequence

* [algorithm] Add a bool to enable/disable insertion sequence

* [algorithm] Add a bool to enable/disable shaft collision sequence

* [algorithm] auto format code

* [algorithm] Absorb the FindClosestProximity for shaft collision

* [algorithm] Add an experimental component in the algorithm

* [algorithm] Remove FindClosestProximityAlgorithm

* [cmake] Remove FindClosestProximityAlgorithm from CMakeLists

* [algorithm] Make sanity checks happen only when appropriate for some data

* [algorithm] Place geometry checks in InsertionAlgorithm when they make sense

* [timer] Add the name of the AABBBroadPhase component during profiling

* [timer] Add a timer to the doDetection function

* [timer] Add a timer inside the doUpdate broadphase function

* [timer] Add advanced timers in the InsertionAlgorithm

* [algorithm] Modify loop to suppress warning

* [algorithm] Move function definitions in source file

* [src] Explicitly define default copy/move construtors/operators in DetectionOutput

    Ensure they are used across C++ standard evolution

* [algorithm] Move puncture phase code in dedicated method

* [algorithm] Moved shaft collision code to dedicated function

* [src] Overload add function with DetectionOutput signature to shorten code

* [algorithm] Moved insertion code to separate functions

* [algorithm] Leave some space in code lines

* [cmake] Fix ommission

* [algorithm] Remove duplicated code for coupling point pruning - merge leftover

---------

Co-authored-by: epernod <[email protected]>

Author: th-skam

src/CollisionAlgorithm/DataDetectionOutput.h

@@ -13,6 +13,17 @@ class DetectionOutput {
 public:
     typedef std::pair<typename FIRST::SPtr,typename SECOND::SPtr> PairDetection;
 
+    DetectionOutput() = default;
+    ~DetectionOutput() = default;
+
+    // Copy
+    DetectionOutput(const DetectionOutput&) = default;
+    DetectionOutput& operator=(const DetectionOutput&) = default;
+
+    // Move
+    DetectionOutput(DetectionOutput&&) noexcept = default;
+    DetectionOutput& operator=(DetectionOutput&&) noexcept = default;
+
     friend std::ostream& operator<<(std::ostream& os, const DetectionOutput& t)  {
         os << t.m_output.size() << ":" ;
         for (unsigned i=0;i<t.m_output.size();i++) {
@@ -47,6 +58,11 @@ class DetectionOutput {
         m_output.push_back(PairDetection(p1,p2));
     }
 
+    inline void add(const DetectionOutput& addition) {
+        for (auto& it : addition)
+            this->add(it.first, it.second);
+    }
+
     inline const PairDetection & operator[](int i) const {
         return m_output[i];
     }