Added std::optional MassMatrix() functions for Box, Cylinder & Sphere

[jasmeet0915]

🎉 New feature

Summary

The Capsule.hh and Ellipsoid.hh have MassMatrix() functions that take no parameters and return a std::optional while Box.hh, Cylinder.hh and Sphere.hh have MassMatrix() functions that have a bool return type and take gz::math::MassMatrix3d object as a parameter.
This PR corrects this non-uniformity of MassMatrix functions across different shapes by overloading the MassMatrix() function in the Box, Cylinder and Sphere headers to create std::optional MassMatrix() functions with a signature similar to the ones in Capsule or Ellpisoid headers.

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.

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.

[ahcorde]

can you add the same test in Python ?

[jasmeet0915]

@ahcorde I have added the python tests in 114d39c

[codecov]

Codecov Report

Merging #538 (99569e1) into gz-math7 (2267187) will decrease coverage by 0.05%.
The diff coverage is 82.35%.

❗ Current head 99569e1 differs from pull request most recent head 9b4a83f. Consider uploading reports for the commit 9b4a83f to get more accurate results

@@             Coverage Diff              @@
##           gz-math7     #538      +/-   ##
============================================
- Coverage     99.74%   99.70%   -0.05%     
============================================
  Files            77       77              
  Lines          7032     7049      +17     
============================================
+ Hits           7014     7028      +14     
- Misses           18       21       +3     

Impacted Files	Coverage Δ
include/gz/math/Box.hh	100.00% <ø> (ø)
include/gz/math/Cylinder.hh	100.00% <ø> (ø)
include/gz/math/Sphere.hh	100.00% <ø> (ø)
include/gz/math/detail/Box.hh	99.33% <80.00%> (-0.67%)	⬇️
include/gz/math/detail/Sphere.hh	98.33% <80.00%> (-1.67%)	⬇️
include/gz/math/detail/Cylinder.hh	98.30% <85.71%> (-1.70%)	⬇️

[quarkytale]

LGTM