fix(cuda): report surface intersection diagnostics

[Ligo04]

Summary

• Add detailed CUDA surface-intersection sanity-check diagnostics for intersecting edge-triangle pairs.
• Include geometry, instance, object, and self-collision identifiers in the log output so failures are easier to trace.

Test plan

• clang-format -i src/backends/cuda/sanity_check/simplicial_surface_intersection_check.cu
• git diff --check main...HEAD

[gemini-code-assist]

Code Review

This pull request updates the SimplicialSurfaceIntersectionCheck to include more detailed logging for intersection detection. The changes include adding necessary headers, adjusting code formatting, and introducing diagnostic logging for edges and triangles. However, a high-severity issue was identified regarding the indexing of SelfCollision attributes and the inconsistency in using F[1] instead of F[0] for triangle attribute retrieval, which deviates from established patterns in the codebase.

[gemini-code-assist]

The indexing for SelfCollision is incorrect. SelfCollision is a vertex attribute (retrieved from scene_surface.vertices()), so it must be indexed by a vertex index (e.g., E[0] or F[0]), not by an instance ID (InstIdL or InstIdR). Indexing with an instance ID will likely lead to out-of-bounds access or incorrect diagnostic values.

Additionally, the change from F[0] to F[1] for triangle attributes is inconsistent with the edge handling (which uses E[0]) and with the CUDA kernel implementation (which uses F[0] for tri_bids and tri_cids at lines 134-135). Maintaining consistency in debug export functionality is required to ensure uniform semantics across the repository.

            auto GeoIdR = VGeoIds[F[0]];

            auto ObjIdL = VObjectIds[E[0]];
            auto ObjIdR = VObjectIds[F[0]];

            auto InstIdL = VInstanceIds[E[0]];
            auto InstIdR = VInstanceIds[F[0]];

            auto SelfCollL = SelfCollision[E[0]];
            auto SelfCollR = SelfCollision[F[0]];

References

1. When adding new debug export functionality, ensure its implementation is consistent with existing, similar functionalities to maintain uniform semantics.