Support setting max contacts in dart's bullet collision detector

[iche033]

🎉 New feature

depends on #584

Summary

This PR extends dart's bullet collision detector to support the max contact collision pair feature.

This is a follow-up to #582 which added this feature for dart's ode collision detector.

Changes:

• Refactored existing implementation to derive off of a base GzCollisionDetector a class for limiting max contact points in dartsim: 4da0d6f
• Added a new GzBulletCollisionDetector class for extending the max contact feature to dart's bullet collision detector: 4da0d6f

Test it

Updated test in simulation_features.c to test the max contact feature with dart's bullet collision detector

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[codecov]

Codecov Report

Attention: Patch coverage is 85.96491% with 8 lines in your changes missing coverage. Please review.

Project coverage is 78.54%. Comparing base (4fa59f2) to head (3ef0790).
Report is 27 commits behind head on gz-physics6.

❗ Current head 3ef0790 differs from pull request most recent head 48be582

Please upload reports for the commit 48be582 to get more accurate results.

Files	Patch %	Lines
dartsim/src/GzCollisionDetector.cc	87.23%	6 Missing ⚠️
dartsim/src/WorldFeatures.cc	80.00%	2 Missing ⚠️

Additional details and impacted files

@@               Coverage Diff               @@
##           gz-physics6     #593      +/-   ##
===============================================
- Coverage        78.59%   78.54%   -0.06%     
===============================================
  Files              140      140              
  Lines             7654     7705      +51     
===============================================
+ Hits              6016     6052      +36     
- Misses            1638     1653      +15     

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[azeey]

@azeey to review

[azeey]

Looks great to me! Sorry for the long delay in reviewing this. One unfortunate consequence is that Garden is now EOL, so we shouldn't merge into this branch. Do you mind retargetting this to gz-physics8(Ionic)?

[iche033]

Looks great to me! Sorry for the long delay in reviewing this. One unfortunate consequence is that Garden is now EOL, so we shouldn't merge into this branch. Do you mind retargetting this to gz-physics8(Ionic)?

retargeted to gz-physics8

comment addressed

[iche033]

@Mergifyio backport gz-physics7

[mergify]

backport gz-physics7

✅ Backports have been created

• #709 Support setting max contacts in dart's bullet collision detector (backport #593) has been created for branch gz-physics7 but encountered conflicts