[dartsim] Fix collision detection issue when using joints across nested models

[azeey]

🦟 Bug fix

Fixes #264

Summary

When a joint is created between BodyNodes in different skeletons, the child BodyNode is moved to the skeleton of the parent BodyNode. When this happens, the BodyNode version of the child needs to be incremented. This is actually fixed by dartsim/dart#1445, but we don't have that merged into our fork. So in the meantime, we call incrementVersion after moveTo is called similar to #31.

Checklist

• Signed all commits for DCO
• Added tests
• Updated documentation (as needed)
• Updated migration guide (as needed)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
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[adlarkin]

Changes look good to me, but there seem to be a few warnings in CI. I believe they're unrelated to this PR, but would they be worth fixing here? Here are the warnings:

• https://build.osrfoundation.org/job/ignition_physics-ci-pr_any-homebrew-amd64/1347/clang/
• https://build.osrfoundation.org/job/ignition_physics-ci-pr_any-ubuntu_auto-amd64/1366/gcc/new/

Since these warnings are not related to this PR, I am also open to fixing these in a separate PR to keep file history clean.

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Also, do we know when our DART fork will be updated to get this fix?

[azeey]

Changes look good to me, but there seem to be a few warnings in CI. I believe they're unrelated to this PR, but would they be worth fixing here?

I believe these will be fixed once #271 is merged.

Also, do we know when our DART fork will be updated to get this fix?

I'll cherry-pick that change to our fork in the next few days.

[codecov]

Codecov Report

Merging #268 (472ba25) into ign-physics4 (a1a8f8b) will increase coverage by 0.00%.
The diff coverage is 100.00%.

@@              Coverage Diff              @@
##           ign-physics4     #268   +/-   ##
=============================================
  Coverage         74.86%   74.86%           
=============================================
  Files               118      118           
  Lines              5227     5228    +1     
=============================================
+ Hits               3913     3914    +1     
  Misses             1314     1314           

Impacted Files	Coverage Δ
dartsim/src/SDFFeatures.cc	67.21% <100.00%> (+0.06%)	⬆️

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