Add bullet and torsional friction DOM

[iche033]

🎉 New feature

Summary

Add Bullet, Torsional friction DOM classes

Test it

Run the UNIT_Surface_TEST and INTEGRATION_surface_dom tests

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 94.02985% with 8 lines in your changes are missing coverage. Please review.

Project coverage is 92.16%. Comparing base (5fab7a4) to head (4ca98b5).
Report is 1 commits behind head on sdf12.

Files	Patch %	Lines
src/Surface.cc	94.02%	8 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##            sdf12    #1351      +/-   ##
==========================================
+ Coverage   92.14%   92.16%   +0.01%     
==========================================
  Files          79       79              
  Lines       13126    13260     +134     
==========================================
+ Hits        12095    12221     +126     
- Misses       1031     1039       +8     

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[azeey]

@ahcorde mind taking another look

[ahcorde]

Just two comments, otherwise LGTM

[ahcorde]

linters

https://github.com/gazebosim/sdformat/actions/runs/8351884160/job/22861035083?pr=1351

[iche033]

I added one more change in 534164b that renames the sdf::Bullet class to sdf::BulletFriction to avoid conflicting with other <bullet> sdf elements in the sdf spec that potentially may have its own DOM classes.

Side note, there is also the proposal in #508 to change the way physics engine params are specified, which would affect these DOM classes in the future.

[iche033]

linters

https://github.com/gazebosim/sdformat/actions/runs/8351884160/job/22861035083?pr=1351

should be fixed. 4ca98b5