Extruded 2D polyline geometries

[chapulina]

🎉 New feature

• Closes Support polylines #186
• Requires Polyline geometry DOM sdformat#1000

Summary

Support extruded polyline geometries as visuals or collisions.

Test it

Try the example world:

ign gazebo polylines.sdf

TODO

• cppcheck isn't happy about the length of the CreatePhysicsEntities function. I'll open a separate PR breaking it apart like it was done for ign-gazebo5 on Heightmap physics (with DART) 🏔️ #661

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

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[chapulina]

Note to self: when forward-porting to Fortess, add collision visualization, see c87ddbb

[chapulina]

I backported the linter fix from #661 and broke the CreatePhysicsEntities function apart in 34c7026

[codecov]

Codecov Report

❗ No coverage uploaded for pull request base (ign-gazebo3@5994f6d). Click here to learn what that means.
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  Lines                  ?     1993           
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  Partials               ?        0           

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[quarkytale]

Looks good to me!
Tried the "ignwarn" edge cases as well, works as expected.