Add checks for collinear points in hydrodynamics calculations

[srmainwaring]

CGAL 5.4 on Ubuntu 22.04 is raising a CGAL::Precondition_exception because the calculation of submerged triangles results in some arrangements with collinear points.

terminate called after throwing an instance of 'CGAL::Precondition_exception'
  what():  CGAL ERROR: precondition violation!

The library requires additional checks that all mesh triangles are non-degenerate, and should handle exceptions gracefully.

Replicate

System: Ubuntu Jammy (22.04)

$ gz sim -v4 -s -r waves.sdf

Only the spherical buoy needs to be included to produce the error.

Related

There are 2 failing tests in UNIT_CGAL_TEST on Ubuntu.

$ ./build/gz-marine1/bin/UNIT_CGAL_TEST 
[==========] Running 15 tests from 1 test suite.
[----------] Global test environment set-up.
[----------] 15 tests from CGAL
[ RUN      ] CGAL.Surprising
[       OK ] CGAL.Surprising (0 ms)
[ RUN      ] CGAL.SurfaceMesh
[       OK ] CGAL.SurfaceMesh (0 ms)
[ RUN      ] CGAL.AABBPolyhedronFacetIntersection
[       OK ] CGAL.AABBPolyhedronFacetIntersection (0 ms)
[ RUN      ] CGAL.SurfaceMeshGridCell
unknown file: Failure
C++ exception with description "CGAL ERROR: precondition violation!
Expr: ! running
File: /usr/include/CGAL/Timer.h
Line: 83" thrown in the test body.
[  FAILED  ] CGAL.SurfaceMeshGridCell (0 ms)
[ RUN      ] CGAL.SurfaceMeshGrid
[       OK ] CGAL.SurfaceMeshGrid (1 ms)
[ RUN      ] CGAL.SurfaceMeshModifyGrid
[       OK ] CGAL.SurfaceMeshModifyGrid (0 ms)
[ RUN      ] CGAL.SurfaceMeshWavefield
[       OK ] CGAL.SurfaceMeshWavefield (1285 ms)
[ RUN      ] CGAL.VertexRangeIterator
[       OK ] CGAL.VertexRangeIterator (0 ms)
[ RUN      ] CGAL.CreateTriangulationN
unknown file: Failure
C++ exception with description "CGAL ERROR: assertion violation!
Expr: n == N[2]
File: /usr/include/CGAL/Triangulation_ds_face_base_2.h
Line: 224" thrown in the test body.
[  FAILED  ] CGAL.CreateTriangulationN (0 ms)
[ RUN      ] CGAL.CreateTriangulationHierarchyN
[       OK ] CGAL.CreateTriangulationHierarchyN (0 ms)
[ RUN      ] CGAL.CreateTriangulation3
[       OK ] CGAL.CreateTriangulation3 (0 ms)
[ RUN      ] CGAL.CreateTriangulation4
[       OK ] CGAL.CreateTriangulation4 (0 ms)
[ RUN      ] CGAL.CreateConstrainedTrianguation4
[       OK ] CGAL.CreateConstrainedTrianguation4 (0 ms)
[ RUN      ] CGAL.CreateCTAlt
[       OK ] CGAL.CreateCTAlt (0 ms)
[ RUN      ] CGAL.CreateCTAltN
[       OK ] CGAL.CreateCTAltN (159 ms)
[----------] 15 tests from CGAL (1447 ms total)

[----------] Global test environment tear-down
[==========] 15 tests from 1 test suite ran. (1447 ms total)
[  PASSED  ] 13 tests.
[  FAILED  ] 2 tests, listed below:
[  FAILED  ] CGAL.SurfaceMeshGridCell
[  FAILED  ] CGAL.CreateTriangulationN

 2 FAILED TESTS