Sync submodule CMake

[pre-commit.ci] pre-commit autoupdate

for more information, see https://pre-commit.ci

updates:
- [github.com/astral-sh/ruff-pre-commit: v0.8.6 → v0.11.4](https://github.com/astral-sh/ruff-pre-commit/compare/v0.8.6...v0.11.4)
- [github.com/pre-commit/mirrors-clang-format: v19.1.6 → v20.1.0](https://github.com/pre-commit/mirrors-clang-format/compare/v19.1.6...v20.1.0)
- [github.com/BlankSpruce/gersemi: 0.19.0 → 0.19.2](https://github.com/BlankSpruce/gersemi/compare/0.19.0...0.19.2)

Remove useless #ifdef COAL_WITH_CXX11_SUPPORT

Specify submodule branches

Works around NixOS/nix#10773, allowing Nix evaluations to complete with
one fewer round-trips.

Macros: fix coal assert

Update pixi lockfile

Remove doxygen version constraint

Fix doc parsing via doxygen scripts

README/CHANGELOG: updates for hpp-fcl -> coal

PyPI: coal-library -> coal

Use double precision for GJK/EPA when coal is compiled in float

Add tracy profiling