Use new common time dependent options in Sphere and BCO domains

[knelli2]

Proposed changes

Final PR in the series that revamps the time dependent options for the Sphere and BCO domains.

This actually adds all the new common options to the domain creators.

Fixes #5584.

Upgrade instructions

The options for the Rotation and Expansion map have changed. They are now

    TimeDependentMaps:
      ...
      ExpansionMap:
        InitialValues: [1.0, -4.6148457646200002e-05, 0.0] # <-- Must specify all derivs
        InitialValuesOuterBoundary: [1.0, 0.0, 0.0] # <-- Must specify all derivs
        DecayTimescale: Auto # <-- Used for SettleToConst FoT
        DecayTimescaleOuterBoundary: 50.0 # <-- Same as before
        AsymptoticVelocityOuterBoundary: -1.0e-6 # <-- Same as before
      RotationMap:
        InitialQuaternions: [[1.0, 0.0, 0.0, 0.0]] # <-- Need quat. Can optionally specify derivs
        InitialAngles: # <-- Need angle. Can optionally specify derivs (like angular velocity)
          - [0.0, 0.0, 0.0]
          - [0.0, 0.0, 1.5264577062000000e-02] # <-- This is now angular velocity
        DecayTimescale: Auto # <-- used for SettleToConst FoT

For any of the time dependent map options, you can choose the function of time from a volume file by specifying the following options (not just for Expansion, but for Rotation, Translation, and Shape as well)

    TimeDependentMaps:
      ...
      ExpansionMap:
        H5Filename: BbhVolume0.h5
        SubfileName: VolumeData
        Time: 0.0

Code review checklist

• The code is documented and the documentation renders correctly. Run
  make doc to generate the documentation locally into BUILD_DIR/docs/html.
  Then open index.html.
• The code follows the stylistic and code quality guidelines listed in the
  code review guide.
• The PR lists upgrade instructions and is labeled bugfix or
  new feature if appropriate.

Further comments

Depends on and includes #6109, #6113, and #6114.