[Proposal] Support for wrench composition

[AntoineRichard]

Proposal

Supporting composition of wrenches at the rigid body, rigid body collection, articulation level. The idea is to be able to apply forces multiple times to the same body without overriding the previous forces.

Motivation

Supporting complex wrench based systems like drones, boats, planes, or satellites requires applying wrenches multiple times to the same bodies (for instance lift and drag for a plane, buoyancy and drag for a boat).

Alternatives

Create as many rigid bodies as there are unique forces or let the users derive the composition of forces. Though it gets trickier for manager based workflows.

Additional context

NTNU Drone project could use this.

Checklist

• I have checked that there is no similar issue in the repo (required)

Acceptance Criteria

• We can compose wrenches for the 3 main assets (rigid bodies , rigid body collections, articulations)
• We can reset the forces applied.
• The forces collected are automatically cleared after a step.