Transition to GLM

[nicholasbl]

This hefty PR strips out the custom linear algebra library and replaces it with GLM, a fairly popular and high performance library. This is the first step toward using quaternions instead of a vector and rotation for user-facing simulation_data classes, as discussed with @qualand (Bill).

Aside from allowing some more traditional syntax, GLM improves the performance by around 10% on my machines, and opens the door to using AVX instructions explicitly for additional gains. However: debug builds perform slower, in some cases twice as slow due to the indirection GLM needs to provide platform specific optimizations.

This is a draft as the Optix test is crashing, but I'm not yet sure if it's my fault or not.

Changes:

• Add in the cmake package manager CPM to make pulling in 3rd party libraries easier (wrapping FetchContent)
• Move json library to CPM, and add in GLM
• Replace all uses of Vector3d and Matrix3d with glm::dvec3 and glm::dmat3, and optimize usage

Notes:

• Note that GLM vectors do have a [] operator, but it is more efficient to use .x, .y, .z accessors
• GLM allows more idiomatic expressions
  • add_vector has been removed. These expressions can be made using normal syntax: variable = a * v + b * y
  • matrix * matrix and matrix * vector expressions can now be made using normal syntax
• More optimizations can be made to make better use of SIMD
• A small change was made to the Rectangle aperture to make is_in faster; this could be done for all apertures

[nicholasbl]

@jmaack24 Bill suggested I ping you on this PR. This is a pretty large PR, so please let me know if I've messed something up.

[nicholasbl]

A few tests failing here that didn't fail on my hardware. Looks like the debug ones are duration; that's expected due to the slow performance of GLM in debug mode. The release ones are failing from uninitialization, which I thought I had fixed, but I'll get that fixed up soon enough.

[coveralls]

Pull Request Test Coverage Report for Build 21333449051

Details

• 646 of 683 (94.58%) changed or added relevant lines in 30 files are covered.
• 72 unchanged lines in 2 files lost coverage.
• Overall coverage decreased (-1.3%) to 86.518%

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Changes Missing Coverage	Covered Lines	Changed/Added Lines	%
coretrace/simulation_data/sun.hpp	4	5	80.0%
coretrace/simulation_data/cst_templates/heliostat.cpp	35	37	94.59%
coretrace/simulation_data/json_helpers.hpp	2	4	50.0%
coretrace/simulation_data/aperture.cpp	18	21	85.71%
coretrace/simulation_runner/native_runner/tracing_errors.cpp	29	32	90.63%
coretrace/simulation_data/vector_utility.hpp	0	4	0.0%
coretrace/simulation_runner/native_runner/generate_ray.cpp	13	17	76.47%
coretrace/simulation_data/element.hpp	6	11	54.55%
coretrace/simulation_data/matvec.cpp	36	42	85.71%
coretrace/simulation_runner/native_runner/trace.cpp	79	86	91.86%

Files with Coverage Reduction	New Missed Lines	%
coretrace/simulation_runner/native_runner/tracing_errors.cpp	2	77.33%
coretrace/simulation_data/matvec.cpp	70	32.14%

Totals
Change from base Build 21258149251:	-1.3%
Covered Lines:	5878
Relevant Lines:	6794

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💛 - Coveralls