Various optimizations

[dfremont]

Description

This PR implements a variety of optimizations, mostly to collision detection and related region operations.

Note: a bunch of old commits that were previously merged to main are still showing up in the history below. The first unmerged commit is the one from April 28. (All older changes don't show up in "Files changed", so this shouldn't make reviewing harder.)

Issue Link

n/a

Checklist

• I have tested the changes locally via pytest and/or other means
• I have added or updated relevant documentation
• I have autoformatted the code with black and isort
• I have added test cases (if applicable)

Additional Notes

The following simple benchmark is 100x faster with this PR than on current main:

workspace = Workspace(RectangularRegion(0@0, 0, 100,100))

plane_shape = MeshShape.fromFile(localPath("assets/meshes/classic_plane.obj.bz2"), initial_rotation=(-90 deg, 0, -10 deg))

for i in range(20):
    new Object at Range(-40, 40) @ Range(-40, 40), with shape plane_shape

@sunyesta's woods example is sped up 2-3x.

[codecov]

Codecov Report

Attention: Patch coverage is 98.27586% with 4 lines in your changes missing coverage. Please review.

Project coverage is 91.49%. Comparing base (fe28e13) to head (568a6e3).

Files with missing lines	Patch %	Lines
src/scenic/core/regions.py	98.51%	2 Missing ⚠️
src/scenic/core/utils.py	90.90%	2 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #319      +/-   ##
==========================================
+ Coverage   91.42%   91.49%   +0.07%     
==========================================
  Files          54       54              
  Lines       13575    13735     +160     
==========================================
+ Hits        12411    12567     +156     
- Misses       1164     1168       +4     

Files with missing lines	Coverage Δ
src/scenic/core/object_types.py	93.16% <100.00%> (+0.30%)	⬆️
src/scenic/core/requirements.py	96.07% <100.00%> (+0.16%)	⬆️
src/scenic/core/sample_checking.py	83.13% <100.00%> (+0.85%)	⬆️
src/scenic/core/scenarios.py	94.39% <100.00%> (+0.01%)	⬆️
src/scenic/core/shapes.py	95.74% <100.00%> (+0.50%)	⬆️
src/scenic/core/regions.py	88.40% <98.51%> (+1.00%)	⬆️
src/scenic/core/utils.py	82.92% <90.90%> (+0.95%)	⬆️

... and 5 files with indirect coverage changes