Support for VCC collision checking against point clouds

[`vamp-vcc`](https://github.com/nycu-caslab/vamp-vcc) is a cool new collision-checking algorithm for robots against point clouds. We should include it!

Performance enhancements to try:
- [ ] Flatten search using index arithmetic to avoid having a layer for each dimension.
- note: this would make MVTs immutable. A worthy tradeoff? Or perhaps we write a custom allocator...
- [ ] Order collision checks to move radially from the center.
- [ ] Use locality-respecting order for buffers to improve memory locality.
- [ ] Use gather instructions for parallel memory loading.
- [ ] (later) Play around with other extension ideas....