Accumulate contact points to prevent objects sinking when using ODE - Waiting for comments

[henriquealrs]

This is a proposal PR attempting to fix #1654 - Capsule shapes sink through ground with ODE.

I tried to find some functionality in ODE similar to the one from Bullet used in #859 but couldn't find an analogous feature io ODE. So I tried manually implementing a limited contact history and a best effort to keep at least 3 contact points in order to make contact stable.

I worry about performance impact, but tests didn't get anything. I also ran gz-physics tests using DART with my changes and it seemed OK.

There is one failing test test_ForceDependentSlip, but it also fails when using Bullet or DART collision detection, so I think we could reevaluate this test.

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