Add aerodynamic drag model for MuJoCo dynamics

[juan-g-bonilla]

• Tickets addressed: Close Add aerodynamic drag model for MuJoCo dynamics #1192
• Review: By commit
• Merge strategy: Merge (no squash)

Description

This PR adds a reusable aerodynamic drag model for MuJoCo-based dynamics and a dedicated geometry payload to describe cannonball drag parameters.

• DragGeometryMsgPayload

  • New C payload DragGeometryMsgPayload that packages basic drag geometry:
    • projectedArea [m^2] projected area in the flow direction.
    • dragCoeff [-] nondimensional drag coefficient.
    • r_CP_S[3] [m] center of pressure position relative to the site frame origin, expressed in the site frame.

• AerodynamicDrag model

  • New AerodynamicDrag SysModel that computes drag force and torque at a MuJoCo site.
  • Inputs:
    • dragGeometryInMsg (DragGeometryMsgPayload) for geometry and coefficient.
    • atmoDensInMsg (AtmoPropsMsgPayload) for local atmospheric density.
    • referenceFrameStateInMsg (SCStatesMsgPayload) for the kinematics of the site reference frame.
  • Outputs:
    • forceOutMsg (ForceAtSiteMsgPayload) drag force in the site frame.
    • torqueOutMsg (TorqueAtSiteMsgPayload) drag torque in the site frame.
  • Implementation details:
    • Uses the center of pressure offset r_CP_S and the site velocity in the site frame to compute:
      • F_S = -0.5 * rho * v^2 * C_D * A * v_hat_S
      • T_S = r_CP_S × F_S
    • If the site speed is numerically near zero, publishes zero force and torque and returns early.
    • Logs and throws descriptive errors in Reset if any required input message is not linked.

Verification

Added two tests: one, simple verification that the drag equation is right. Second, a test that replicates a test for the existign drag dynamic effector on an Earth orbit.

Documentation

Updated release notes and all methods have extensive doxygen comments. A scenario using this new model will be added through #1195.

Future work

Potentially add lift and torque coefficients. Include scenario using this model.