feat: speed up point-object assignment with a bounding volume hierarchy

[haakonflatval-cognite]

Description

Note: This PR is superseded by #2327 and will likely be deleted.

Speeds up the point-object matching process by using a Bounding Volume Hierarchy (BVH). It improves the loading/ point-object matching time for the root sector of the point cloud from ~35s to 1-2s.

Further suggestions for performance improvements are given in a JIRA issue.

This PR also fixes an issue where box matrices from the backend where not interpreted in row-major order as they should.

This PR currently targets the branch for workers in libraries, which it depends on. It should eventually target and be merged into the point cloud feature branch.

Further work: Tests

Checklist:

Here is a checklist that should completed before merging this given feature.
Any shortcomings from the items below should be explained and detailed within the contents of this PR.

• I am proud of this feature.
• I have performed a self-review of my own code.
• I have manually tested this for different scenarios (different models, formats, devices, browsers).
• I have commented my code in hard-to-understand areas.
• I have made corresponding changes to the public documentation.
• I have added unit and visuals tests to prove that my feature works to the best of my ability.
• I have refactored the code for readability to the best of my ability.
• I have checked that my changes do not introduce regressions in the public documentation.
• I have outlined any known defects / lacking capabilities in the contents of this PR.
• I have listed any remaining work that should follow this PR in the description or jira/miro/etc.
• I have added TSDoc to any public facing changes.
• I have added "developer documentation" in any package README.md that is related / applicable to this PR.
• I have noted down and am currently tracking any technical debt introduced in this PR.
• I have thoroughly thought about the architecture of this implementation.
• I have asked peers to test this feature.

[lgtm-com]

This pull request introduces 1 alert when merging 4f4bc0b into 0b2c2aa - view on LGTM.com

new alerts:

• 1 for Unused variable, import, function or class

[lgtm-com]

This pull request introduces 1 alert when merging e539df4 into 60a80e3 - view on LGTM.com

new alerts:

• 1 for Unused variable, import, function or class

[codecov]

Codecov Report

Merging #2270 (63118d1) into feat/point-cloud-styling (d765a15) will increase coverage by 0.20%.
The diff coverage is 52.52%.

@@                     Coverage Diff                      @@
##           feat/point-cloud-styling    #2270      +/-   ##
============================================================
+ Coverage                     70.37%   70.58%   +0.20%     
============================================================
  Files                           271      283      +12     
  Lines                         11072    11387     +315     
  Branches                       1405     1475      +70     
============================================================
+ Hits                           7792     8037     +245     
- Misses                         3123     3177      +54     
- Partials                        157      173      +16     

Impacted Files	Coverage Δ
viewer/.eslintrc.js	0.00% <ø> (ø)
viewer/index.ts	0.00% <0.00%> (ø)
viewer/internals.ts	0.00% <0.00%> (ø)
viewer/jest.config.js	0.00% <ø> (ø)
viewer/packages/api/src/migration.ts	0.00% <ø> (ø)
viewer/packages/api/src/public/RevealManager.ts	73.45% <ø> (ø)
...kages/api/src/public/migration/RenderController.ts	100.00% <ø> (ø)
viewer/packages/api/src/public/types.ts	100.00% <ø> (ø)
viewer/packages/api/src/utilities/Spinner.ts	84.37% <ø> (ø)
...ewer/packages/api/src/utilities/ViewStateHelper.ts	59.32% <ø> (ø)
... and 129 more

[github-actions]

There were failures in the examples workflow. This usually means a visual regression test has failed. Image diffs for visual tests can be downloaded as an artifact here. If there are no artifacts there's an error somewhere else in the examples workflow. If you have made intentional changes you can update the image snapshots by running yarn snapshots:update in examples/

[larsmoa]

Change description of PR to describe what we achieve (it's currently how ;) )

[lgtm-com]

This pull request introduces 1 alert when merging d5ccdc0 into a3cfbb3 - view on LGTM.com

new alerts:

• 1 for Unused variable, import, function or class

[lgtm-com]

This pull request introduces 5 alerts when merging 16a279d into 1ce4078 - view on LGTM.com

new alerts:

• 5 for Unused variable, import, function or class

[haakonflatval-cognite]

We have arrived at the conclusion that we want this merged into the feature branch now. It is not as good as we would want, but it provides an enormous improvement over the previous approach.

That being said, there is quite a bit of garbage lying around. The BVH implementation is unused and the octree is tested. A lot of superfluous out-commented lines are still in assignObjects.ts for remembrance. The cleanup work is being tracked in https://cognitedata.atlassian.net/browse/REV-374

[haakonflatval-cognite]

Just to make it clear here, this PR is intended to be superseded by #2327 , and will be closed as soon that one is merged.

[haakonflatval-cognite]

Closing, as it is superseded by #2327