Supply spherical coords when loading DEMs

[adityapande-1995]

🎉 New feature

Summary

This PR makes Physics.cc supply the spherical coordinates object to the DEM object, so that the width and heights of the dem model are computed accurately.

Depends on these PRs, and CI won't pass until then :

• Compute distance between points on a general celestial body gz-math#434
• SphericalCoordinates: make query methods const gz-math#452
• Accept moon and custom surfaces in world spherical coordinates sdformat#1050
• Support lunar coordinate transformations  gz-common#377
• Allow moon and custom surfaces in spherical coords msg gz-msgs#279

Example

An example world has been added with MOON_SCS tag

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 #1556 (8edc674) into main (f2f8eca) will decrease coverage by 0.01%.
The diff coverage is 25.00%.

❗ Current head 8edc674 differs from pull request most recent head c5ea0cb. Consider uploading reports for the commit c5ea0cb to get more accurate results

@@            Coverage Diff             @@
##             main    #1556      +/-   ##
==========================================
- Coverage   63.61%   63.59%   -0.02%     
==========================================
  Files         330      330              
  Lines       25931    25943      +12     
==========================================
+ Hits        16495    16498       +3     
- Misses       9436     9445       +9     

Impacted Files	Coverage Δ
include/gz/sim/rendering/SceneManager.hh	100.00% <ø> (ø)
src/rendering/SceneManager.cc	27.67% <0.00%> (-0.10%)	⬇️
src/systems/physics/Physics.cc	64.98% <0.00%> (-0.19%)	⬇️
src/rendering/RenderUtil.cc	39.05% <75.00%> (+0.09%)	⬆️

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[adityapande-1995]

I don't see a test case for SceneManager explicitly, so not sure how codecov can be improved here.

[jennuine]

Instead of installing the model through gz-sim, I think it's better to upload the model to fuel and use the <include> link which I've done here: fe40f95

Here is the uploaded moon model: https://app.gazebosim.org/OpenRobotics/fuel/models/Moon%20DEM

[jennuine]

LGTM, nice work!

It would be nice to get a second pair of 👀 since I've made updates but if we can't by EOD, I'd say lets go ahead and merge this

[chapulina]

Just some minor nitpicks, LGTM once they're addressed