Support setting max contacts in dart's bullet collision detector

[iche033]

🎉 New feature

depends on #584

Summary

This PR extends dart's bullet collision detector to support the max contact collision pair feature.

This is a follow-up to #582 which added this feature for dart's ode collision detector.

Changes:

• Refactored existing implementation to derive off of a base GzCollisionDetector a class for limiting max contact points in dartsim: 4da0d6f
• Added a new GzBulletCollisionDetector class for extending the max contact feature to dart's bullet collision detector: 4da0d6f

Test it

Updated test in simulation_features.c to test the max contact feature with dart's bullet collision detector

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• 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.

[codecov]

Codecov Report

Attention: Patch coverage is 85.96491% with 8 lines in your changes missing coverage. Please review.

Project coverage is 78.54%. Comparing base (4fa59f2) to head (3ef0790).
Report is 27 commits behind head on gz-physics6.

❗ Current head 3ef0790 differs from pull request most recent head 48be582

Please upload reports for the commit 48be582 to get more accurate results.

Files	Patch %	Lines
dartsim/src/GzCollisionDetector.cc	87.23%	6 Missing ⚠️
dartsim/src/WorldFeatures.cc	80.00%	2 Missing ⚠️

Additional details and impacted files

@@               Coverage Diff               @@
##           gz-physics6     #593      +/-   ##
===============================================
- Coverage        78.59%   78.54%   -0.06%     
===============================================
  Files              140      140              
  Lines             7654     7705      +51     
===============================================
+ Hits              6016     6052      +36     
- Misses            1638     1653      +15     

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[azeey]

@azeey to review