ipc-toolkit: Collision queries as a library boundary

classDiagram
direction TB
class ta4ad2d054a1a["CXXFunctionGenerator"] {
  __init__()
  signature()
  __call__()
}
class t0935cb7a441b["CXXGradientGenerator"] {
  __init__()
}
class t1aec9e647746["CXXJacobianGenerator"] {
  __init__()
}
class t6c43b7865a81["CXXHessianGenerator"] {
  __init__()
}
class t05fe515aed0d["Inertia"] {
  __init__()
  __call__()
  gradient()
  hessian()
}
class tcb5b8ab75455["PyBarrier"] {
  first_derivative()
  second_derivative()
  units()
}
class te947d03a9485["PyBroadPhase"] {
  name()
  build()
  clear()
  detect_vertex_vertex_candidates()
}
class ta8c42662e683["PyNarrowPhaseCCD"] {
  point_point_ccd()
  point_edge_ccd()
  point_triangle_ccd()
  edge_edge_ccd()
}
class tb0adabdf7fe2["PyNonlinearTrajectory"] {
  max_distance_from_linear()
}
class tc83b025ce434["PyIntervalNonlinearTrajectory"] {
  max_distance_from_linear()
}
class t9ee9c14a4b05["PairHash"] {
  <<struct>>
}
class t5a3d1613cb4b["SparseCanCollide"] {
  SparseCanCollide()
}
ta4ad2d054a1a <|-- t0935cb7a441b
ta4ad2d054a1a <|-- t1aec9e647746
t1aec9e647746 <|-- t6c43b7865a81
class b7bd3eedf5849["Barrier"] {
  <<unresolved_base>>
}
b7bd3eedf5849 <|-- tcb5b8ab75455
class b80b43ba1bca8["BroadPhase"] {
  <<unresolved_base>>
}
b80b43ba1bca8 <|-- te947d03a9485
class b1ced31ba20e0["NarrowPhaseCCD"] {
  <<unresolved_base>>
}
b1ced31ba20e0 <|-- ta8c42662e683
class b9fe354f68d01["NonlinearTrajectory"] {
  <<unresolved_base>>
}
b9fe354f68d01 <|-- tb0adabdf7fe2
class b28bdf016fc91["IntervalNonlinearTrajectory"] {
  <<unresolved_base>>
}
b28bdf016fc91 <|-- tc83b025ce434