Take II: Add GetEngineVersionInfo to GetEngineInfo (feature backport #821)

[j-rivero]

🎉 New feature

Rework of #857 to respect API

Summary

API Changes:

1. Add GetEngineVersionInfo feature for engine version reporting
   • Adds new GetEngineVersionInfo feature as a separate, opt-in feature
   • Adds GetVersion() method to GetEngineVersionInfo::Engine API returning gz::math::SemanticVersion
   • Adds GetEngineVersion() pure virtual method to GetEngineVersionInfo::Implementation
   • Implements GetEngineVersionInfo in all physics engine plugins:
     • bullet and bullet-featherstone: parse BT_BULLET_VERSION macro to return SemanticVersion(3, 24)
     • dartsim: parse DART_VERSION macro string to SemanticVersion
     • tpe: return SemanticVersion(1, 0)

Leaves GetEngineInfo unchanged to avoid breaking 3rd-party plugins, difference from #857

Test

Testing with gazebosim/gz-sim#3213, adding:

diff --git a/src/systems/physics/Physics.cc b/src/systems/physics/Physics.cc
index 98f4aa2fe..5bf7b510f 100644
--- a/src/systems/physics/Physics.cc
+++ b/src/systems/physics/Physics.cc
@@ -180,7 +180,8 @@ class gz::sim::systems::PhysicsPrivate
           physics::sdf::ConstructSdfWorld,
           physics::GetLinkFromModel,
           physics::GetShapeFromLink,
-          physics::GetEngineInfo
+          physics::GetEngineInfo,
+          physics::GetEngineVersionInfo
           >{};
 
   /// \brief Engine type with just the minimum features.

Checklist

• Signed all commits for DCO
• Added a screen capture or video to the PR description that demonstrates the feature
• 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)
• Updated Bazel files (if adding new files). Created an issue otherwise.
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Generated-by: Opus/Sonnet 4.6

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[scpeters]

this is now API-compatible, but we don't have GetEngineVersionInfo on main. Should we add something like class GZ_PHYSICS_VISIBLE GetEngineVersionInfo : public virtual GetEngineInfo on main?

[j-rivero]

I think that the solution in main in #821 is a good one instead of this workaround. So anything for Kura can use the API change in #821 while back-ports will use this approach.

[scpeters]

is this meant for the 9.x migration guide?

[j-rivero]

Mostly to help us to remind that this is an alternative to #821 that we don't need to forward port. Maybe including more explicit warnings can help here.