Merge gz-physics6 ➡️ gz-physics7

[scpeters]

➡️ Forward port

Port gz-physics6 ➡️ gz-physics7

Branch comparison: https://github.com/gazebosim/gz-physics/compare/gz-physics7...gz-physics6

Note to maintainers: Remember to Merge with commit (not squash-merge or rebase)

[codecov[bot]]

Codecov Report

Merging #570 (ed52f07) into gz-physics7 (1445341) will increase coverage by 1.79%. The diff coverage is 94.33%.

:exclamation: Current head ed52f07 differs from pull request most recent head c0a2f9a. Consider uploading reports for the commit c0a2f9a to get more accurate results

@@               Coverage Diff               @@
##           gz-physics7     #570      +/-   ##
===============================================
+ Coverage        76.11%   77.91%   +1.79%     
===============================================
  Files              140      140              
  Lines             7797     7766      -31     
===============================================
+ Hits              5935     6051     +116     
+ Misses            1862     1715     -147     

Files	Coverage Δ
bullet-featherstone/src/FreeGroupFeatures.cc	93.10% <100.00%> (+93.10%)	:arrow_up:
bullet-featherstone/src/JointFeatures.cc	58.09% <100.00%> (+0.40%)	:arrow_up:
bullet-featherstone/src/KinematicsFeatures.cc	85.00% <100.00%> (+1.66%)	:arrow_up:
bullet-featherstone/src/SDFFeatures.cc	76.72% <92.68%> (+2.18%)	:arrow_up:

... and 5 files with indirect coverage changes