Refactor testComponents.cpp to use Catch and logging interface

[adamkewley]

Heavily refactors OpenSim/Tests/Components/testComponents.cpp to:

Brief summary of changes

• Use Catch2 with DYNAMIC_SECTION, so that particular component failures are clearly labelled in the test log
• Use OpenSim::log_info and OpenSim::log_warn, rather than std::cout for logging, so that the messages are easier to read
• Refactor the individual component test cases into ComponentTestCases, so there's one central place for controlling component lifetime, which components are tested, etc. (#3694 essentially needs this if I can't rewrite the tests to correctly build transient socket dependencies)
• Change most helper functions to take Component& rather than Component* (the pointer was never rewritten or nullchecked, so a reference is preferable)
• Replace raw news to std::unique_ptr, where it makes sense

Testing I've completed

• It's a test
• And the output seems largely the same (i.e. checks don't appear to have been removed, etc.)

Looking for feedback on...

CHANGELOG.md (choose one)

• no need to update because boring

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This change is 

[adamkewley]

Looks like the unique_ptr refactor may have created a segfault in the mac tests (e.g. the test suite was assuming the previously-leaked pointers were retained or similar)

I'll have to rerun this with libASAN to figure out where the assumption breaks.

[adamkewley]

The same segfault appears to also be on the main branch if i'm analyzing this test suite with libASAN O_o

[adamkewley]

The segfault that libASAN was detecting was because a loop in testComponents doesn't (and didn't) bounds-check access to a component list iterator.

(this doesn't necessarily mean that it's the bug in MacOS, but hopefully it is)

[adamkewley]

Should be ok to go now (unless there's a desire to also run it through MacOS's libASAN, but I don't imagine it's necessary for a test suite refactor)