feat(universe_utils): add SAT implementation for 2D convex polygon collision check

[mraditya01]

Description

Added new intersect function within universe_utils to determine if two convex polygons intersect using the Separating Axis Theorem (SAT).
⚠️ the polygons must be convex.

Related links

Parent Issue:

• Link

How was this PR tested?

Unit tests.

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

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[maxime-clem]

This new algorithm is faster than GJK for triangles and rectangles.

polygons_nb = 500, vertices = 3, 91938 / 250000 pairs with intersects
	Intersect:
		Boost::geometry = 34.37 ms
		GJK = 8.68 ms
		SAT = 7.63 ms
	No Intersect:
		Boost::geometry = 53.99 ms
		GJK = 13.70 ms
		SAT = 8.53 ms
	Total:
		Boost::geometry = 88.35 ms
		GJK = 22.37 ms
		SAT = 16.16 ms
polygons_nb = 500, vertices = 4, 140274 / 250000 pairs with intersects
	Intersect:
		Boost::geometry = 58.65 ms
		GJK = 14.13 ms
		SAT = 14.62 ms
	No Intersect:
		Boost::geometry = 42.49 ms
		GJK = 10.35 ms
		SAT = 6.41 ms
	Total:
		Boost::geometry = 101.14 ms
		GJK = 24.48 ms
		SAT = 21.04 ms

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 29.30%. Comparing base (c9bb1e1) to head (7c85d27).
Report is 42 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #8239      +/-   ##
==========================================
+ Coverage   24.10%   29.30%   +5.20%     
==========================================
  Files        1399     1665     +266     
  Lines      102455   128913   +26458     
  Branches    38912    56602   +17690     
==========================================
+ Hits        24694    37782   +13088     
- Misses      75223    81446    +6223     
- Partials     2538     9685    +7147     

Flag	Coverage Δ		*Carryforward flag
differential	26.08% <100.00%> (?)
total	29.26% <ø> (+5.16%)	⬆️	Carriedforward from d82ba99

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