Fix windows near far

[jslee02]

Fixes #1671

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• Document new methods and classes
• Format new code files using ClangFormat by running make format
• Build with -DDART_TREAT_WARNINGS_AS_ERRORS=ON and resolve all the compile warnings

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[codecov]

Codecov Report

Merging #1675 (fdec549) into release-6.12 (86249fd) will decrease coverage by 0.01%.
The diff coverage is n/a.

@@               Coverage Diff                @@
##           release-6.12    #1675      +/-   ##
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- Coverage         59.13%   59.11%   -0.02%     
================================================
  Files               477      477              
  Lines             39945    39945              
================================================
- Hits              23620    23615       -5     
- Misses            16325    16330       +5     

Impacted Files	Coverage Δ
dart/dynamics/EulerJoint.cpp	70.17% <0.00%> (-2.93%)	⬇️