Improve bullet StepForward feature implementation and added granular test

[ahcorde]

Signed-off-by: ahcorde [email protected]

🎉 New feature

Summary

Compared with other physics engines StepForward feature was not properly implement in bullet and bullet-featherstone.
This PR improves the implementation and adds a granular test

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 #376 (29bc8de) into ahcorde/suggestions/373 (0f49f8e) will increase coverage by 1.61%.
The diff coverage is 82.43%.

@@                     Coverage Diff                     @@
##           ahcorde/suggestions/373     #376      +/-   ##
===========================================================
+ Coverage                    73.07%   74.68%   +1.61%     
===========================================================
  Files                          138      138              
  Lines                         6380     6448      +68     
===========================================================
+ Hits                          4662     4816     +154     
+ Misses                        1718     1632      -86     

Impacted Files	Coverage Δ
bullet-featherstone/src/SimulationFeatures.cc	68.29% <68.42%> (+68.29%)	⬆️
bullet/src/SimulationFeatures.cc	94.87% <97.22%> (+94.87%)	⬆️
bullet/src/Base.hh	55.88% <0.00%> (+7.35%)	⬆️
bullet-featherstone/src/Base.hh	100.00% <0.00%> (+19.48%)	⬆️
bullet/src/SDFFeatures.cc	74.67% <0.00%> (+29.61%)	⬆️

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