Rotate capsule to Z-up

[chapulina]

🦟 Bug fix

Summary

The capsule code was using Y-up, but Ignition uses Z-up. In particular, see the capsule description on Ignition Math and on SDFormat.

Before	After

Checklist

• Signed all commits for DCO
• Added tests
• Updated documentation (as needed)
• Updated migration guide (as needed)
• 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

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[codecov]

Codecov Report

Merging #186 (e158800) into main (2b4ad72) will not change coverage.
The diff coverage is 100.00%.

@@           Coverage Diff           @@
##             main     #186   +/-   ##
=======================================
  Coverage   75.49%   75.49%           
=======================================
  Files          73       73           
  Lines       10346    10346           
=======================================
  Hits         7811     7811           
  Misses       2535     2535           

Impacted Files	Coverage Δ
graphics/src/MeshManager.cc	86.50% <100.00%> (ø)

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[adlarkin]

Changes look good to me. Is there a way to unit test the CreateCapsule method somehow? I don't see any tests for this method in MeshManager_TEST.cc.

[chapulina]

Is there a way to unit test the CreateCapsule method somehow? I don't see any tests for this method in MeshManager_TEST.cc.

It's being tested in SubMesh_TEST, see the test added in #155:

https://github.com/ignitionrobotics/ign-common/blob/2b4ad723418359ea744c58a29224d384e1409fc2/graphics/src/SubMesh_TEST.cc#L441

And see the coverage report.

The test is not checking the vertices and normals right now, but I don't know how much value there is in repeating the implementation logic in the test.