Collider optimization

[pca006132]

Unrelated:

1. Fixed tracy (again the cmake interface vs public issue)
2. Moved some APIs from Vec to VecView.

Optimizations:

1. Only do collision check once, use thread local buffers to store the result and merge in parallel when everything is completed. Note that this requires making the vector copy sequential, so I added some flags to help.
2. Allow reusing collider result buffer, reduce reallocation during complex polygon triangulation.
3. Some low level optimization.

This results in about 8% time reduction for perfTest (2.5s to 2.3s), and 10% time reduction for running triangulation tests (~1900ms to ~1700ms)

[codecov]

Codecov Report

Attention: Patch coverage is 81.08108% with 14 lines in your changes missing coverage. Please review.

Project coverage is 88.12%. Comparing base (d437097) to head (7ccf97f).
Report is 117 commits behind head on master.

Files with missing lines	Patch %	Lines
src/sparse.h	15.38%	11 Missing ⚠️
include/manifold/vec_view.h	93.33%	1 Missing ⚠️
src/collider.h	92.30%	1 Missing ⚠️
src/vec.h	92.85%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #978      +/-   ##
==========================================
- Coverage   91.84%   88.12%   -3.72%     
==========================================
  Files          37       62      +25     
  Lines        4976     8675    +3699     
  Branches        0     1041    +1041     
==========================================
+ Hits         4570     7645    +3075     
- Misses        406     1030     +624     

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[elalish]

Thanks, looks great!

[elalish]

LGTM, thanks! Any idea what's wrong with the Black formatter?

[pca006132]

Hmmm no idea, it seems that everything somehow went wrong. We can try to run the CI again...

[pca006132]

The weird thing is that it starts to fail after the last commit, but the last commit should not affect anything...

[pca006132]

I will investigate this later this week.

[pca006132]

Just got some time, I still don't understand why the previous test failure can happen, but I guess it is caused by the cmake changes in the master branch. The weird thing is that I haven't merged the changes at f632177. Anyway, the tests pass now.

For the black formatter error, I think this is caused by the latest version (released a day ago) no longer supports python 3.8, and Ubuntu 20.04 ship with python 3.8 by default. Should be fixed by installing python 3.12. (which I did previously for the cmake formatter because I forgot Ubuntu ships with python preinstalled...)

[elalish]

Thanks!