Abstract vessel performance into configs, generalise performance calculation

[thomaszwagerman]

Closes #336, these are very much breaking changes. Should be released as 2.0.0.

Target will be main once tz/ruff -> v1.1.9 are merged.

Added

• Model Registry System: Plugin-based architecture for resistance and consumption models using @register_model decorator.
• Generic Vessel Classes: Ship, Glider, AUV, and Aircraft classes replacing hard-coded vessel types.
• Resistance Models: Three pluggable resistance models:
  • ice_froude: Froude number-based ice resistance with configurable k/b/n coefficients
  • wind_drag: Angle-dependent wind drag with interpolation options (linear/cubic/spline)
  • wave_kreitner: Kreitner wave resistance with beam/length/block coefficient parameters
• Consumption Models: Three pluggable consumption models:
  • polynomial_fuel: Speed and resistance-based fuel consumption with polynomial coefficients
  • polynomial_battery: Speed and depth-based battery consumption for underwater vehicles
  • constant_consumption: Fixed-rate consumption for simple vehicles
• Configuration Validation: Comprehensive JSON schema for vessel configurations with detailed parameter documentation including units.
• Documentation:
  • Vessel configuration gallery with ready-to-use examples (docs/config/vessel_gallery.md)
  • Resistance models theory documentation (docs/methods/resistance_models.md)
  • Complete model parameters reference (docs/reference/model_parameters.md)
• Example Configurations: Updated vessel configs for SDA, SDA_wind, Slocum, and BoatyMcBoatFace using new format.
• Unit Tests: 27 comprehensive tests covering model registry, all resistance/consumption models, generic vessel classes, and factory.

Changed

• Vessel Configuration Format: vessel_type replaced with vessel_class + explicit model specifications.
• Configuration Structure: All vessel-specific parameters (beam, force_limit, etc.) now explicitly defined in model params rather than top-level.
• VesselFactory: Simplified factory using VESSEL_CLASSES mapping instead of hard-coded requirements dictionary.
• Physical Constants: Now configurable per-vessel (gravity, air_density, rho_water) with sensible defaults.
• Model Composition: Vessels compose multiple resistance models; total resistance is sum of all active models.

Removed

• Legacy Vessel Classes (BREAKING): Deleted 12 hard-coded vessel files:
  • SDA.py, SDA_wind.py, example_ship.py (ships)
  • slocum.py (gliders)
  • boatymcboatface.py (AUVs)
  • twin_otter.py, windracer.py (aircraft)
  • abstract_ship.py, abstract_glider.py, abstract_alr.py, abstract_plane.py, abstract_uav.py (abstract classes)
• Configuration Fields (BREAKING):
  • vessel_type (replaced by vessel_class)
  • hull_type (slender/blunt distinction now encoded in k/b/n coefficients)
  • Top-level beam, force_limit (now in resistance model params)

[thomaszwagerman]

Marking some specific vessel performance tests as XFAIL, see #344