Bullet: Added collision shape to Capsule and Ellipsoid

[ahcorde]

🎉 New feature

Summary

Added collision shapes to Capsule and Ellipsoid

I didn't add test because it's a little bit messy. we need to refactor tests

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

Merging #350 (213c2e5) into main (0cf0e89) will decrease coverage by 21.89%.
The diff coverage is 0.00%.

@@             Coverage Diff             @@
##             main     #350       +/-   ##
===========================================
- Coverage   97.36%   75.46%   -21.90%     
===========================================
  Files          69      128       +59     
  Lines        1328     5552     +4224     
===========================================
+ Hits         1293     4190     +2897     
- Misses         35     1362     +1327     

Impacted Files	Coverage Δ
bullet/src/SDFFeatures.cc	45.06% <0.00%> (ø)
...ll/include/ignition/physics6/gz/physics/Feature.hh
...clude/ignition/physics6/gz/physics/detail/World.hh
...nclude/ignition/physics6/gz/physics/SpecifyData.hh
...ition/physics6/gz/physics/detail/EllipsoidShape.hh
...gnition/physics6/gz/physics/detail/CapsuleShape.hh
...l/include/ignition/physics6/gz/physics/BoxShape.hh
...ude/ignition/physics6/gz/physics/FrameSemantics.hh
...on/physics6/gz/physics/heightmap/HeightmapShape.hh
...ysics6/gz/physics/detail/OperateOnSpecifiedData.hh
... and 188 more

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[mjcarroll]

Intent is to bump up coverage via common testing, so I think this is okay for now.