Merge gz-physics7 ➡️ main

[scpeters]

➡️ Forward port

Port gz-physics7 ➡️ main

Branch comparison: main...gz-physics7

Note to maintainers: Remember to Merge with commit (not squash-merge or rebase)

[scpeters]

there's a compiler warning at bullet/src/plugin.cc:59

/home/jenkins/workspace/gz_physics-ci-pr_any-jammy-amd64/gz-physics/bullet/src/plugin.cc: In member function ‘virtual gz::physics::Identity gz::physics::bullet::Plugin::InitiateEngine(std::size_t)’:
/home/jenkins/workspace/gz_physics-ci-pr_any-jammy-amd64/gz-physics/bullet/src/plugin.cc:59:16: warning: unused variable ‘id’ [-Wunused-variable]
   59 |     const auto id = this->GetNextEntity();
      |                ^~

[scpeters]

there's a compiler warning at bullet/src/plugin.cc:59

/home/jenkins/workspace/gz_physics-ci-pr_any-jammy-amd64/gz-physics/bullet/src/plugin.cc: In member function ‘virtual gz::physics::Identity gz::physics::bullet::Plugin::InitiateEngine(std::size_t)’:
/home/jenkins/workspace/gz_physics-ci-pr_any-jammy-amd64/gz-physics/bullet/src/plugin.cc:59:16: warning: unused variable ‘id’ [-Wunused-variable]
   59 |     const auto id = this->GetNextEntity();
      |                ^~

I also noticed that dartsim and bullet call GetNextEntity() in InitiateEngine but bullet-featherstone and tpe do not

[scpeters]

I also noticed that dartsim and bullet call GetNextEntity() in InitiateEngine but bullet-featherstone and tpe do not

I think this is fine; they all do it a little differently, but it's ok

[scpeters]

there's a compiler warning at bullet/src/plugin.cc:59

/home/jenkins/workspace/gz_physics-ci-pr_any-jammy-amd64/gz-physics/bullet/src/plugin.cc: In member function ‘virtual gz::physics::Identity gz::physics::bullet::Plugin::InitiateEngine(std::size_t)’:
/home/jenkins/workspace/gz_physics-ci-pr_any-jammy-amd64/gz-physics/bullet/src/plugin.cc:59:16: warning: unused variable ‘id’ [-Wunused-variable]
   59 |     const auto id = this->GetNextEntity();
      |                ^~

compiler warning fixed in 1ad2a3e

[azeey]

I believe the new warning is due to gazebosim/gz-cmake#418