Added Ellipsoid and Capsule shapes to TPE

[ahcorde]

Added ellipsoid and capsule to TPE. This PR builds on top of this other PR #202

Related with #196 and #195

It's a draft for now, I need to include some more tests.

Signed-off-by: ahcorde [email protected]

[ahcorde]

I opened this PR for review, I can add more tests if required

[codecov]

Codecov Report

Merging #203 (d9433ea) into ign-physics4 (0860af0) will increase coverage by 0.39%.
The diff coverage is 87.59%.

❗ Current head d9433ea differs from pull request most recent head a001912. Consider uploading reports for the commit a001912 to get more accurate results

@@               Coverage Diff                @@
##           ign-physics4     #203      +/-   ##
================================================
+ Coverage         74.86%   75.26%   +0.39%     
================================================
  Files               118      122       +4     
  Lines              5228     5376     +148     
================================================
+ Hits               3914     4046     +132     
- Misses             1314     1330      +16     

Impacted Files	Coverage Δ
tpe/lib/src/Shape.cc	81.70% <81.63%> (-0.04%)	⬇️
tpe/plugin/src/ShapeFeatures.cc	72.10% <88.52%> (+7.76%)	⬆️
tpe/lib/src/Collision.cc	84.31% <100.00%> (+2.09%)	⬆️
tpe/lib/src/Shape.hh	100.00% <100.00%> (ø)
tpe/plugin/src/SDFFeatures.cc	84.66% <100.00%> (+1.10%)	⬆️
include/ignition/physics/detail/CapsuleShape.hh	100.00% <0.00%> (ø)
include/ignition/physics/EllipsoidShape.hh	100.00% <0.00%> (ø)
include/ignition/physics/detail/EllipsoidShape.hh	100.00% <0.00%> (ø)
include/ignition/physics/CapsuleShape.hh	100.00% <0.00%> (ø)

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[chapulina]

It's a draft for now, I need to include some more tests.

I wasn't sure about the status of this PR, so I went ahead and gave it a quick review. It's looking good to me, I think it would be nice to add tests to CollisionDetector_TEST.

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For future reference, I think it's also worth mentioning that TPE pretty much treats all shapes as boxes for the purpose of collision checking, because it only checks their AABBs. But Having these shapes supported means that worlds using complex shapes with other engines will work reasonably with TPE too.

[chapulina]

The Homebrew and Ubuntu warnings are not introduced by this PR, but the Windows warnings are

[ahcorde]

@chapulina fixed windows warnings

[chapulina]

LGTM, I just have some minor final comments.