feat(universe_utils): add Polygon Clipping implementation to do boolean operation on Polygons (XOR, OR, AND)

[mraditya01]

Description

Added new polygon clipping function within universe_utils to do boolean operation on multiple polygons using Greiner-Hormann clipping algorithm.

Related links

Parent Issue:

• Link

How was this PR tested?

Unit and random test.
Conducted a performance comparison and point-wise evaluation using an epsilon of 1 with the functions boost::geometry::difference, boost::geometry::union_, and boost::geometry::intersection. Additionally, verified results with Shapely using an epsilon of 1e-6.

vertices = 4
	Union:
		Custom = 578.75 ms
		Boost::geometry = 1234.70 ms
		Matching Polygon = 249500
		Different Polygon = 0
	Intersection:
		Custom = 297.46 ms
		Boost::geometry = 995.62 ms
		Matching Polygon = 249500
		Different Polygon = 0
vertices = 5
	Union:
		Custom = 753.72 ms
		Boost::geometry = 1471.03 ms
		Matching Polygon = 249500
		Different Polygon = 0
	Intersection:
		Custom = 385.73 ms
		Boost::geometry = 1170.93 ms
		Matching Polygon = 249500
		Different Polygon = 0
vertices = 6
	Union:
		Custom = 905.92 ms
		Boost::geometry = 1637.74 ms
		Matching Polygon = 249500
		Different Polygon = 0
	Intersection:
		Custom = 508.24 ms
		Boost::geometry = 1278.59 ms
		Matching Polygon = 249500
		Different Polygon = 0
vertices = 7
	Union:
		Custom = 1071.70 ms
		Boost::geometry = 1867.30 ms
		Matching Polygon = 249500
		Different Polygon = 0
	Intersection:
		Custom = 618.66 ms
		Boost::geometry = 1456.06 ms
		Matching Polygon = 249500
		Different Polygon = 0
vertices = 8
	Union:
		Custom = 1258.94 ms
		Boost::geometry = 2091.93 ms
		Matching Polygon = 249500
		Different Polygon = 0
	Intersection:
		Custom = 736.47 ms
		Boost::geometry = 1630.60 ms
		Matching Polygon = 249500
		Different Polygon = 0
vertices = 9
	Union:
		Custom = 1443.39 ms
		Boost::geometry = 2295.15 ms
		Matching Polygon = 249500
		Different Polygon = 0
	Intersection:
		Custom = 831.60 ms
		Boost::geometry = 1806.78 ms
		Matching Polygon = 249500
		Different Polygon = 0

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[codecov]

Codecov Report

Attention: Patch coverage is 85.03937% with 38 lines in your changes missing coverage. Please review.

Project coverage is 29.76%. Comparing base (461dbc1) to head (26837e1).
Report is 6 commits behind head on main.

Files with missing lines	Patch %	Lines
...oware_universe_utils/src/geometry/polygon_clip.cpp	83.96%	27 Missing and 11 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #8728      +/-   ##
==========================================
+ Coverage   29.21%   29.76%   +0.54%     
==========================================
  Files        1439     1598     +159     
  Lines      108115   128955   +20840     
  Branches    42638    52567    +9929     
==========================================
+ Hits        31588    38379    +6791     
- Misses      73485    86327   +12842     
- Partials     3042     4249    +1207     

Flag	Coverage Δ		*Carryforward flag
differential	32.39% <85.03%> (?)
total	29.61% <ø> (+0.39%)	⬆️	Carriedforward from 45af3e1

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