Remove boundary_interpolation matrix for DGSEM

[DanielDoehring]

Follows discussion in #2725

This PR primarily aims at eliminating unnecessary datastructures to make the DGSEM methodology more clear.
Maybe this comes also with performance benefits, but that is not 100% clear (see #2725 (comment) )

[github-actions]

Review checklist

This checklist is meant to assist creators of PRs (to let them know what reviewers will typically look for) and reviewers (to guide them in a structured review process). Items do not need to be checked explicitly for a PR to be eligible for merging.

Purpose and scope

• The PR has a single goal that is clear from the PR title and/or description.
• All code changes represent a single set of modifications that logically belong together.
• No more than 500 lines of code are changed or there is no obvious way to split the PR into multiple PRs.

Code quality

• The code can be understood easily.
• Newly introduced names for variables etc. are self-descriptive and consistent with existing naming conventions.
• There are no redundancies that can be removed by simple modularization/refactoring.
• There are no leftover debug statements or commented code sections.
• The code adheres to our conventions and style guide, and to the Julia guidelines.

Documentation

• New functions and types are documented with a docstring or top-level comment.
• Relevant publications are referenced in docstrings (see example for formatting).
• Inline comments are used to document longer or unusual code sections.
• Comments describe intent ("why?") and not just functionality ("what?").
• If the PR introduces a significant change or new feature, it is documented in NEWS.md with its PR number.

Testing

• The PR passes all tests.
• New or modified lines of code are covered by tests.
• New or modified tests run in less then 10 seconds.

Performance

• There are no type instabilities or memory allocations in performance-critical parts.
• If the PR intent is to improve performance, before/after time measurements are posted in the PR.

Verification

• The correctness of the code was verified using appropriate tests.
• If new equations/methods are added, a convergence test has been run and the results
  are posted in the PR.

Created with ❤️ by the Trixi.jl community.

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 97.03%. Comparing base (12f9642) to head (4fe577c).
⚠️ Report is 1 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2741      +/-   ##
==========================================
+ Coverage   95.65%   97.03%   +1.38%     
==========================================
  Files         569      569              
  Lines       44466    44456      -10     
==========================================
+ Hits        42531    43136     +605     
+ Misses       1935     1320     -615     

Flag	Coverage Δ
unittests	97.03% <100.00%> (+1.38%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

🚀 New features to boost your workflow:

• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

[ranocha]

Thanks!