Add AxisAlignedBox getters for all relevant geometries (backport #1547)

[mergify]

🎉 New feature

Part of gazebosim/gz-sim#2787

Summary

This PR adds AxisAlignedBox support for SDF geometries. Now each volumetric geometry type such as Box, Capsule, Cone, Cylinder, Ellipsoid, Sphere, and Mesh has a new AxisAlignedBox() function that computes its bounding box from the geometry dimensions. The Geometry class uses these functions to determine the correct AABB, allowing a custom calculator for meshes , which is a special case since no mesh loading is performed in the sdf::Mesh class.

Test it

• Checkout the appropriate sdformat branch
• Build this package

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

• Run the following sdformat15 tests:

$ ./build/sdformat15/bin/UNIT_Box_TEST && \
./build/sdformat15/bin/UNIT_Capsule_TEST && \
./build/sdformat15/bin/UNIT_Cone_TEST && \
./build/sdformat15/bin/UNIT_Cylinder_TEST && \
./build/sdformat15/bin/UNIT_Ellipsoid_TEST && \
./build/sdformat15/bin/UNIT_Sphere_TEST && \
./build/sdformat15/bin/UNIT_Mesh_TEST && \
./build/sdformat15/bin/UNIT_Geometry_TEST

• Run all package tests to veify everything is still passing:

$ colcon test --packages-select sdformat15 --merge-install

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 #1547 done by Mergify.