Region Query API

[aclegg3]

Motivation and Context

Add functions to query region containment for one point and a set of points.

How Has This Been Tested

Added pytests and a demo in viewer.py.

In the below video when the crib object is selected, containing regions are displayed colored by containment percentage. Red is full containment fading to green with less containment. Notice the hues shift as the object is moved between regions.

https://github.com/facebookresearch/habitat-sim/assets/1445143/695d1aa6-5eb3-4948-914f-ee6d34e98f82

Note: this demo will be reverted before merge.

Types of changes

• [ ] Docs change / refactoring / dependency upgrade
• [ ] Bug fix (non-breaking change which fixes an issue)
• [x] New feature (non-breaking change which adds functionality)
• [ ] Breaking change (fix or feature that would cause existing functionality to change)

Checklist

• [x] My code follows the code style of this project.
• [x] My change requires a change to the documentation.
• [x] I have updated the documentation accordingly.
• [x] I have read the CONTRIBUTING document.
• [x] I have completed my CLA (see CONTRIBUTING)
• [x] I have added tests to cover my changes.
• [x] All new and existing tests passed.