Remove SimpleBVH dependency and references

[zfergus]

Description

Drop the SimpleBVH third-party integration and all references to it.

• Removed cmake/recipes/simple_bvh.cmake and stopped including/linking simple_bvh in the top-level CMakeLists.txt
• Deleted BVH source files under python/src/broad_phase and src/ipc/broad_phase
• Updated dependency diagrams and docs (dependencies.dot/.svg and related rst)
• Adjusted bindings/CMakeLists/tests to reflect the removal.

This simplifies the build by eliminating the SimpleBVH dependency and cleaning up related artifacts.

Type of change

• Breaking change (fix or feature that would cause existing functionality to not work as expected)

[Copilot]

Pull request overview

Removes the SimpleBVH third-party integration and the associated BVH broad-phase implementation from the C++ core and Python bindings, updating tests and documentation accordingly to simplify the build/dependency surface.

Changes:

• Removed the C++ BVH broad-phase implementation (SimpleBVH-backed) and its factory/enum wiring.
• Removed Python bindings/exposed API for ipctk.BVH and updated examples/notebooks/tests to use other broad phases (notably LBVH).
• Updated dependency documentation/diagrams to drop SimpleBVH from the published dependency graph and docs.

Reviewed changes

Copilot reviewed 22 out of 23 changed files in this pull request and generated 2 comments.

Show a summary per file

File	Description
CMakeLists.txt	Stops including/linking the SimpleBVH third-party target.
cmake/recipes/simple_bvh.cmake	Removes the CPM recipe for SimpleBVH.
src/ipc/broad_phase/bvh.cpp	Deletes the SimpleBVH-backed BVH implementation.
src/ipc/broad_phase/bvh.hpp	Deletes the BVH class declaration (previously deprecated).
src/ipc/broad_phase/CMakeLists.txt	Removes BVH sources from the broad-phase build.
src/ipc/broad_phase/create_broad_phase.cpp	Removes BVH include and factory case.
src/ipc/broad_phase/create_broad_phase.hpp	Removes BroadPhaseMethod::BVH enum entry.
tests/src/tests/utils.cpp	Drops BVH from the list of broad phases exercised by tests.
tests/src/tests/broad_phase/test_stq.cpp	Removes unused BVH include.
tests/src/tests/broad_phase/test_lbvh.cpp	Replaces BVH baseline comparisons with SpatialHash baseline in LBVH candidate tests.
python/src/bindings.cpp	Removes define_bvh() registration.
python/src/broad_phase/bindings.hpp	Removes define_bvh() declaration.
python/src/broad_phase/bvh.cpp	Deletes BVH Python binding implementation.
python/src/broad_phase/CMakeLists.txt	Removes BVH binding source from Python extension build.
python/tests/utils.py	Updates Python test broad-phase enumeration (drops ipctk.BVH, uses ipctk.LBVH).
python/examples/profiler.py	Removes runtime selection of BVH vs LBVH; uses LBVH only.
notebooks/ogc.py	Replaces ipctk.BVH() usage with ipctk.LBVH() and reformats.
docs/source/tutorials/getting_started.rst	Removes BVH/SimpleBVH from the documented broad_phase options list.
docs/source/python-api/broad_phase.rst	Removes ipctk.BVH API section.
docs/source/cpp-api/broad_phase.rst	Removes ipc::BVH API section.
docs/source/about/dependencies.rst	Removes SimpleBVH from the dependency listing table.
docs/source/_static/graphviz/dependencies.dot	Removes SimpleBVH node/edges from the dependency graph source.
docs/source/_static/graphviz/dependencies.svg	Updates the rendered dependency graph to match the new DOT.

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[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 96.95%. Comparing base (3a093f3) to head (1f7c152).
⚠️ Report is 1 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #213      +/-   ##
==========================================
- Coverage   96.96%   96.95%   -0.01%     
==========================================
  Files         161      159       -2     
  Lines       24747    24666      -81     
  Branches      893      882      -11     
==========================================
- Hits        23997    23916      -81     
  Misses        750      750              

Flag	Coverage Δ
unittests	96.95% <ø> (-0.01%)	⬇️

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