[Mass] Add unit test to test rotation of inertia matrix for rigid objects

[bakpaul]

This PR add a unit test that is currently failing, showing that the inertia is wrongly taken into account for rigid with different inertia along each direction.

After rotation of a rigid, the inertia matrix is not rotated accordingly. See issue https://github.com/sofa-framework/sofa/issues/4936.

We need to fix this !

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