Set collision detector and solver from SDF

[chapulina]

🎉 New feature

Requires gazebosim/gz-physics#225

Summary

This makes it possible to choose a different collision detector and solver when using DART. This way, users can choose the combination that suits their simulation best.

Test it

Try setting different options in SDF, for example:

      <dart>
        <collision_detector>bullet</collision_detector>
        <solver>
          <solver_type>pgs</solver_type>
        </solver>
      </dart>

Try the example world:

ign gazebo physics_options.sdf

See that it behaves different from rolling_shapes.sdf:

rolling_shapes.sdf	physics_options.sdf

I also made the options visible on the GUI:

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• 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

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[codecov]

Codecov Report

Merging #684 (17ddc3b) into ign-gazebo5 (d3ee64a) will decrease coverage by 0.06%.
The diff coverage is 57.30%.

❗ Current head 17ddc3b differs from pull request most recent head 16b1af4. Consider uploading reports for the commit 16b1af4 to get more accurate results

@@               Coverage Diff               @@
##           ign-gazebo5     #684      +/-   ##
===============================================
- Coverage        65.32%   65.26%   -0.07%     
===============================================
  Files              240      240              
  Lines            17624    17718      +94     
===============================================
+ Hits             11513    11563      +50     
- Misses            6111     6155      +44     

Impacted Files	Coverage Δ
.../plugins/component_inspector/ComponentInspector.cc	6.73% <0.00%> (-0.48%)	⬇️
src/rendering/RenderUtil.cc	42.10% <0.00%> (-0.05%)	⬇️
src/systems/physics/Physics.hh	100.00% <ø> (ø)
src/SdfEntityCreator.cc	84.94% <16.66%> (-2.28%)	⬇️
src/systems/physics/Physics.cc	69.04% <74.32%> (-0.40%)	⬇️
src/systems/physics/EntityFeatureMap.hh	93.65% <90.90%> (ø)
include/ignition/gazebo/components/Physics.hh	100.00% <100.00%> (ø)
src/LevelManager.cc	88.97% <100.00%> (+0.35%)	⬆️
src/systems/diff_drive/DiffDrive.cc	86.91% <100.00%> (+0.94%)	⬆️
... and 4 more

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[chapulina]

Removed from beta, this can come in a minor release.

[chapulina]

This is ready for review, @scpeters

[adlarkin]

Is there a reason for including this header (and other headers) in the header file, if they're really only used in the source file? Does it have something to do with making builds green for macOS and/or Windows?

[chapulina]

There's a little comment on line 26, these were originally here to satisfy the initial entityCast implementation. There's a chance that this isn't needed anymore since #586, I haven't checked.

[adlarkin]

One minor comment, but otherwise, LGTM assuming that CI checks come back green 🤞