Add support to get link AABB from its collisions (backport #2787)

[mergify]

🎉 New feature

• Closes Boundingbox on Link API #2353
• Requires
  • Add AxisAlignedBox getters for all relevant geometries sdformat#1547

Summary

This PR adds AABB support to the Link API. It computes the overall link aligned bounding box (in local and world coordinates) by merging all collision bounding boxes obtained from their geometry shapes. Plus, it adds utility functions to transform AABB coordinates and calculate mesh AABB using utilities from gz::common::Mesh.

Test it

• Checkout the appropriate gz-sim and sdformat branches
• Build these packages

$ colcon build --packages-select sdformat15 gz-sim9 --merge-install

• Run the following gz-sim9 tests:

$ ./build/gz-sim9/bin/UNIT_Util_TEST && ./build/gz-sim9/bin/INTEGRATION_link

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.

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This is an automatic backport of pull request #2787 done by Mergify.