[bullet-featherstone] Ignore collision between static objects and objects with world joint

[iche033]

🎉 New feature

Summary

Skip collision checking between collisions in 1) a static model 2) a fixed base link, and 3) a non base link with zero dofs.

This is done by setting the collision filter mask / flags to use the StaticFilter, which is already done for static objects (<static>true</static>), i.e. static objects already ignore collisions with each other.

This is for perf optimization. When you have overlapping complex meshes with fixed world joints, they would cause a perf hit and these changes would allow bullet to skip collision checking between them.

Added a test in collisions.cc that checks contacts between static objects and objects with fixed world joint.

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

All modified and coverable lines are covered by tests ✅

Project coverage is 78.35%. Comparing base (d616379) to head (8841d70).

Additional details and impacted files

@@               Coverage Diff               @@
##           gz-physics7     #611      +/-   ##
===============================================
+ Coverage        78.33%   78.35%   +0.01%     
===============================================
  Files              140      140              
  Lines             8072     8079       +7     
===============================================
+ Hits              6323     6330       +7     
  Misses            1749     1749              

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[iche033]

homebrew build failed. A closer inspection found that the DetachableJointTest/0.CorrectAttachmentPoints also started failing in the gz-physics7 and main branches this week - this is dartsim plugin and there haven't been changes to dartsim implementation recently.

I found that there is a new ode 0.16.5 bottle this week, which dartsim 6.13.2_2 depends on - not sure if it's caused by this.

[scpeters]

homebrew build failed. A closer inspection found that the DetachableJointTest/0.CorrectAttachmentPoints also started failing in the gz-physics7 and main branches this week - this is dartsim plugin and there haven't been changes to dartsim implementation recently.

I found that there is a new ode 0.16.5 bottle this week, which dartsim 6.13.2_2 depends on - not sure if it's caused by this.

it looks like some ode build configuration options were removed in https://github.com/Homebrew/homebrew-core/pull/167158/files#diff-740579038a60e496fde8245acb12845f8c4784bb2f5a891ee126926e99187b20L36-L39

[azeey]

Just a couple of minor issues. Otherwise, LGTM!