Goalpost v0.9.0-GP2: Mesh BVH and Triangle Query Acceleration

[flyingrobots]

Goal

Connect mesh buffers to deterministic acceleration structures for ray and closest-point work.

Slices

• Mesh: Add BVH-backed mesh ray and closest-point queries #123

Done When

• Mesh BVH construction and traversal operate over validated mesh/topology inputs.
• Triangle-level hit and closest-point adapters produce stable ordering and raw outputs.

[coderabbitai]

🔗 Related PRs

#100 - v0.3.0-GP2: Sweep-and-Prune Solver [merged]

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