Physics System should Populate/Update all velocity/acceleration components for non-link entities

[ejalaa12]

While implementing a custom sensor, i noticed that the physics system only updates the following velocity/acceleration components:

• WorldPose
• WorldLinearVelocity
• AngularVelocity
• LinearAcceleration

I'm guessing this was an initial need for the Imu Sensor.

Desired behavior

Other custom sensor might want to exploit the missing following components:

• WorldAngularVelocity
• LinearVelocity
• WorldLinearAcceleration
• WorldAngularAcceleration
• AngularAcceleration

Alternatives considered

It could be possible to re-compute and update those Component from the custom sensor. This is what the Odometry system does through the "xyz_offset" and "rpy_offset" parameters.

But it would be cleaner to actually have the Physics system compute and populate them since it is already doing it partly.

Implementation suggestion

I could propose a PR to make the Physics system also compute the missing velocities/accelerations.

Additional context

Is there a reason why this was not already implemented ?