Adding cone primitives.

[bperseghetti]

🦟 Bug fix

Summary

This helps add the missing cone geometry for primitive/basic parametric shapes:

And is also valuable for visualizations of emitters/source that typically have conic-based spread as seen in this acoustic attack on an IMU by showing the affected area:

Associated PRs:

• https://github.com/gazebosim/gz-gui/pull/621
• https://github.com/gazebosim/gz-math/pull/594
• https://github.com/gazebosim/gz-msgs/pull/442
• https://github.com/gazebosim/gz-physics/pull/639
• https://github.com/gazebosim/gz-rendering/pull/1003
• https://github.com/gazebosim/gz-sim/pull/2410
• https://github.com/gazebosim/sdformat/pull/1418

Checklist

• [x] Signed all commits for DCO
• [x] Added tests
• [x] Updated documentation (as needed)
• [x] Updated migration guide (as needed)
• [x] Consider updating Python bindings (if the library has them)
• [x] codecheck passed (See contributing)
• [x] All tests passed (See test coverage)
• [x] While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[ahcorde]

And additional note. Probably you should close all PR which are targeting harmonic, then we will backport them as required. @azeey. other thoughts on this ?

[bperseghetti]

Do you mind to add the Python binding ? or if you dont' have time just open an issue.

Added all the pybind and a bunch of tests for everything as well: d9154be2ebb2510670c1727ae6eaba30c33ef873

[azeey]

Can you merge from main to fix CI?

[bperseghetti]

Can you merge from main to fix CI?

Done!

[codecov[bot]]

Codecov Report

Attention: Patch coverage is 98.24561% with 2 lines in your changes are missing coverage. Please review.

Project coverage is 92.48%. Comparing base (7af63cb) to head (07c1573). Report is 16 commits behind head on main.

:exclamation: Current head 07c1573 differs from pull request most recent head 3cd4b3b

Please upload reports for the commit 3cd4b3b to get more accurate results.

Files	Patch %	Lines
python/src/sdf/pyCone.cc	94.11%	1 Missing :warning:
python/src/sdf/pyGeometry.cc	75.00%	1 Missing :warning:

Additional details and impacted files

```diff @@ Coverage Diff @@ ## main #1418 +/- ## ========================================== + Coverage 92.45% 92.48% +0.03% ========================================== Files 134 137 +3 Lines 17820 17954 +134 ========================================== + Hits 16475 16605 +130 - Misses 1345 1349 +4 ```

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[azeey]

Has the issue with COM being different from the geometric center been addressed?

[bperseghetti]

Has the issue with COM being different from the geometric center been addressed?

Not sure, @scpeters any particular thoughts?

[bperseghetti]

sorry I missed updating one test

No worries, thanks for helping!