[FEATURE] Enhance SAP Coupler to support self collision between FEM objects

[Libero0809]

Description

• Add self collision support in SAP Coupler
• Performance optimization, kernel optimization and early exit when convergence met.
• Code Refactor: Add classes for Contacts.
• Exact Line search along with backtracking line search
• BVH radix sort optimization
• BUG FIX: PCG solver, typo

Related Issue

Motivation and Context

How Has This Been / Can This Be Tested?

Added a new test.

Screenshots (if appropriate):

test_self.1.mp4

test_self.mp4

test_dragon.mp4

Checklist:

• I read the CONTRIBUTING document.
• I followed the Submitting Code Changes section of CONTRIBUTING document.
• I tagged the title correctly (including BUG FIX/FEATURE/MISC/BREAKING)
• I updated the documentation accordingly or no change is needed.
• I tested my changes and added instructions on how to test it for reviewers.

• I have added tests to cover my changes.
• All new and existing tests passed.

[Libero0809]

I need to merge this branch into my other working branches which would cause many conflicts. I kind of need to change these multiple times which is quite painful.

First, I think this kind of issues are caused by "weaknesses" in your workflow and the way your organise your branches and PRs. Ideally, your workflow should be more resilient to this kind of requests for changes, especially where it only affects fresh new code that you are pushing yourself. We would discuss this together in a video call if you are interested.

I think these kind of changes should be done when all my relevant branches are merged then I can only do them in one time.

It is a bad engineering practice to merge code that is not up-to-standard under the promise that it will be fixed later on. From my own experience, even without deceptive intend from contributors, such promises tend to never be fulfilled in practice, simply because other tasks come on the way so that addressing requests for changes of some already merged PR is no longer a priority. This practice is only recommended when a repository is in a broken state for some reason and a quick-and-dirty solution must be shipped as soon as possible before anything.

What being said, I'm ok to make a compromise for this time.

I get your idea. I will update them in this PR. For issues like this, maybe only comment once and note that it occurs multiple times in the code instead of trying to exhaust them. As you can see the dialogues are already very lengthy and cumbersome to navigate through.

[Libero0809]

Most comments are resolved except for syntax sugar and compute information kernels. Please see the above replies. @duburcqa

[duburcqa]

@Libero0809 I will merge once the CI is passing!

[Libero0809]

Thanks! There's a small bug in CouplerOption and I have fixed it. @duburcqa