Physics: set link velocity from *VelocityReset components

[yaswanth1701]

🎉 New feature

Closes #

Summary

Follow-up PR to #2440. Added link velocity reset component for linear and angular velocity. Updated the physics system plugin to support the reset components of link velocity.

Test it

Have to add test case.

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 55.68182% with 39 lines in your changes missing coverage. Please review.

Project coverage is 65.87%. Comparing base (098085b) to head (f3244fa).
Report is 73 commits behind head on main.

Files	Patch %	Lines
src/systems/physics/Physics.cc	53.57%	39 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2489      +/-   ##
==========================================
- Coverage   65.95%   65.87%   -0.08%     
==========================================
  Files         327      330       +3     
  Lines       31319    31831     +512     
==========================================
+ Hits        20655    20969     +314     
- Misses      10664    10862     +198     

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[scpeters]

I've read the code and left some comments; I'll make a suggestion shortly about how to test this

[scpeters]

Suggested change

	/// \brief Link initial angular velocity in its own frame and
	/// in SI units (rad/s).The angular velocity of entity is
	/// represented by gz::math::vector3d.
	/// \brief Angular velocity of an entity in its own frame
	/// and in SI units (rad/s). The angular velocity is
	/// represented by gz::math::Vector3d.

[scpeters]

nit: the indentation level of this block has an odd number of spaces in some parts. please check and match the indentation level of similar code blocks

[scpeters]

for a test, I suggest a similar structure to the test for JointVelocityReset in https://github.com/gazebosim/gz-sim/blob/gz-sim8/test/integration/physics_system.cc#L750-L847

if we borrow a 1x4x9 box from the boxes benchmark with the "complex" case (gravity and gyroscopic tumbling) we could set the initial linear velocity and expect it to change according to gravity, and we could set the initial angular velocity and expect it to rotate while preserving angular momentum in the world frame

[yaswanth1701]

for a test, I suggest a similar structure to the test for JointVelocityReset in https://github.com/gazebosim/gz-sim/blob/gz-sim8/test/integration/physics_system.cc#L750-L847

if we borrow a 1x4x9 box from the boxes benchmark with the "complex" case (gravity and gyroscopic tumbling) we could set the initial linear velocity and expect it to change according to gravity, and we could set the initial angular velocity and expect it to rotate while preserving angular momentum in the world frame

okay, I will check this out and will add the test.

[scpeters]

I've made an example test for WorldLinearVelocityReset in yaswanth1701#1

please merge that in and then add one for WorldAngularVelocityReset if you have time

[yaswanth1701]

I've made an example test for WorldLinearVelocityReset in yaswanth1701#1

please merge that in and then add one for WorldAngularVelocityReset if you have time

yeah, sure I will add the test for angular velocity reset.

[scpeters]

just a few small suggestions; the new test looks good!

[yaswanth1701]

just a few small suggestions; the new test looks good!

done