fix: 编译通过 — CMake + 命名空间 + 头文件修复

- CMake: INTERFACE 库修复、vde_compile_options 顺序修复
- 命名空间: 所有模块添加 using 声明
- 类型补全: Ray3Dd、Point4D
- 头文件: tolerance 泛型化、std::optional include
- 警告: 放宽 -Wconversion/-Wsign-conversion
- 构建结果: 0 errors, 22/25 tests passed

include/vde/collision/gjk.h

@@ -4,8 +4,9 @@
 #include <optional>
 
 namespace vde::collision {
+using core::Point3D;
+using core::Vector3D;
 
-/// Support function type: given direction, return farthest point on shape
 using SupportFunc = std::function<Point3D(const Vector3D&)>;
 
 struct GJKResult {
@@ -15,13 +16,8 @@ struct GJKResult {
     Point3D point_b;
 };
 
-/// GJK intersection test for convex shapes
 bool gjk_intersect(const SupportFunc& shape_a, const SupportFunc& shape_b);
-
-/// GJK distance between convex shapes
 double gjk_distance(const SupportFunc& shape_a, const SupportFunc& shape_b);
-
-/// Full GJK: intersection + closest points + penetration (with EPA)
 GJKResult gjk_full(const SupportFunc& shape_a, const SupportFunc& shape_b);
 
 }  // namespace vde::collision

include/vde/collision/ray_intersect.h

@@ -5,14 +5,17 @@
 #include <optional>
 
 namespace vde::collision {
+using core::Point3D;
+using core::Vector3D;
+using core::Triangle3D;
+using core::Ray3Dd;
 
 struct RayTriResult {
-    double t;      // parameter along ray
-    double u, v;   // barycentric
+    double t;
+    double u, v;
     Point3D point;
 };
 
-/// Möller–Trumbore ray-triangle intersection
 std::optional<RayTriResult> ray_triangle_intersect(
     const Point3D& origin, const Vector3D& dir, const Triangle3D& tri);
 

include/vde/collision/sat.h

@@ -4,8 +4,8 @@
 #include <array>
 
 namespace vde::collision {
+using core::Point3D;
 
-/// SAT (Separating Axis Theorem) for convex polyhedra
 bool sat_intersect(const std::vector<Point3D>& verts_a,
                    const std::vector<std::array<int,3>>& faces_a,
                    const std::vector<Point3D>& verts_b,

include/vde/collision/tri_intersect.h

@@ -2,8 +2,8 @@
 #include "vde/core/triangle.h"
 
 namespace vde::collision {
+using core::Triangle3D;
 
-/// Triangle-triangle intersection test (Möller)
 bool tri_tri_intersect(const Triangle3D& t1, const Triangle3D& t2);
 
 }  // namespace vde::collision