Accelerate interpolation for regular and straight-edge elements

Issue/feature addressed

The interpolation operation can be accelerated in the following ways

• If an element is regular, the local to global mapping matrix and its inverse can be pre-computed and stored as a member function. This can be used to accelerate local coordinates computation.
• For an element with all straight edges, the local to global mapping matrix is also stored and an improved Newton iteration based on the stored coefficients is implemented.
• If a 2D element is deformed but it contains some straight edges, an all-left check can be performed to take a quick and robust test if a point lies outside of this element. This can also be done for 3D elements with plane surfaces, but due to the complexity, this has not been implemented yet.

Tests

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Notes

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Checklist

• [ ] Functions and classes, or changes to them, are documented.
• [ ] User guide/documentation is updated.
• Changelog is updated.
• [ ] Suitable tests added for new functionality.
• Contributed code is correctly formatted. (See the contributing guidelines).
• [ ] License added to any new files.
• No extraneous files have been added (e.g. compiler output or test data files).