dartsim: Fix sign convention error with contact surface motion velocities

[azeey]

🦟 Bug fix

Fixes gazebosim/gz-sim#2008

Needed by gazebosim/gz-sim#2178

Summary

The implementation of contact constraints in the upstream version of dart uses a different sign due to the order of operands in a cross product. See dart 6.10 fork vs dart 6.13 upstream. This PR inverts the sign for velocities in the first and second friction directions if it detects that the upstream version of DART is being used. See also gazebo-forks/dart#33

This also enables a test that was accidentally disabled when we transitioned to common tests. The DART_HAS_CONTACT_SURFACE define is necessary to run the surface velocity tests.

Checklist

• Signed all commits for DCO
• Added tests
• 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

Merging #556 (e5dea0e) into gz-physics7 (cc90439) will decrease coverage by 0.04%.
The diff coverage is 0.00%.

❗ Current head e5dea0e differs from pull request most recent head 6de0392. Consider uploading reports for the commit 6de0392 to get more accurate results

@@               Coverage Diff               @@
##           gz-physics7     #556      +/-   ##
===============================================
- Coverage        76.15%   76.11%   -0.04%     
===============================================
  Files              140      140              
  Lines             7793     7797       +4     
===============================================
  Hits              5935     5935              
- Misses            1858     1862       +4     

Files	Coverage Δ
dartsim/src/SimulationFeatures.cc	47.59% <0.00%> (-1.18%)	⬇️

[azeey]

Updated to pre4. CI was green on Linux before the pre4 update, so I'll go ahead and merge.