bullet-featherstone: Fix convex hull shape's AABB

[iche033]

🦟 Bug fix

Summary

After setting a btConvexHullShape's collision margin, the AABBs need to be explicitly recalculated.

This has performance implications. When AABBs overlap, More computation is done in terms of building islands, solving constraints, etc. Non overlapping objects at rest can also be deactivated. So this fix helps improve performance when many objects are located close to each other.

For reference, the same calls are done in the bullet examples, e.g. here

The difference in broadphase AABBs is visualized below:

Left: No recalculation (before the changes)
Right: AABB recalculated

The AABB size difference is roughly [0.1 0.1 0.1]

Note that there is still some obvious padding in the updated broadphase AABB

Checklist

• Signed all commits for DCO
• Added tests
• 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)
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