UrdfImporter plugin

[mosra]

The main purpose is two-fold -- being able to visualize the URDF hierarchy using standard tools, and as a showcase of the flexibility of SceneData custom fields, which preserve everything including the URDF-specific physics properties.

Originally just a fun exercise of "how far can I get with implementing a parser for a format I know nothing about in under 3 hours", but because I got quite far it'd be bad to just throw it away now. Things left to do because yes everything always explodes into 100+ tasks in the end:

• Prefix the CMake option and everything else with MAGNUM_, especially the static build etc
• Update copyright year
• finish the data import (inertia matrices, etc.), make it more robust
• mesh & material import -- delegating to AnySceneImporter for these, joining the nested hierarchies somehow not handled here, will be a high-level utility in SceneTools instead
• expose nested models as a custom SceneData (string) ExternalModel field with their filename
  • keep the filename as-is in the file or make it absolute? should the users be expected to do the path operations themselves?
  • needs ability to store strings there
  • what about the color overrides then? have a MeshMaterial field alone, without any Mesh? or store the color as a custom scene field in that case instead? have a ExternalModelMaterial field tied to ExternalModel, same as is MeshMaterial tied to Mesh
• explicitly mark what's a joint and what's a link (via a custom SceneData bit field, or maybe have a string "type" field?)
  • needs bitfields in Corrade containers first
  • needs bitfield support in SceneData
• ability to visualize various joint links, DoFs with wireframes
• docs
  • custom fields
  • nested scene joining nested model references
  • coordinate system conventions, ...
  • pugixml dependency
  • building & cmake docs
• snippet for pugixml as a CMake subproject
• CI setup (yeah, that's why it builds green now, because it's not enabled)
• tests, look for constraints in the URDF itself
• expose in all packages
• expose in FindMagnumPlugins.cmake

[codecov]

Codecov Report

Base: 97.03% // Head: 95.70% // Decreases project coverage by -1.33% ⚠️

Coverage data is based on head (6135412) compared to base (eb08051).
Patch has no changes to coverable lines.

❗ Current head 6135412 differs from pull request most recent head c12a4c7. Consider uploading reports for the commit c12a4c7 to get more accurate results

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #122      +/-   ##
==========================================
- Coverage   97.03%   95.70%   -1.33%     
==========================================
  Files         133      118      -15     
  Lines       15028    11875    -3153     
==========================================
- Hits        14582    11365    -3217     
- Misses        446      510      +64     

Impacted Files	Coverage Δ
src/MagnumPlugins/DdsImporter/DdsImporter.cpp	78.57% <0.00%> (-21.43%)	⬇️
...numPlugins/PngImageConverter/PngImageConverter.cpp	79.01% <0.00%> (-19.11%)	⬇️
src/MagnumPlugins/KtxImporter/KtxImporter.cpp	89.89% <0.00%> (-4.02%)	⬇️
...numPlugins/KtxImageConverter/KtxImageConverter.cpp	99.08% <0.00%> (-0.70%)	⬇️
...ns/MiniExrImageConverter/MiniExrImageConverter.cpp	96.00% <0.00%> (-0.67%)	⬇️
...lugins/BasisImageConverter/BasisImageConverter.cpp	90.22% <0.00%> (-0.43%)	⬇️
...rc/MagnumPlugins/AssimpImporter/AssimpImporter.cpp	90.47% <0.00%> (-0.31%)	⬇️
...mPlugins/DevIlImageImporter/DevIlImageImporter.cpp	92.68% <0.00%> (-0.26%)	⬇️
.../MagnumPlugins/OpenGexImporter/OpenGexImporter.cpp	96.33% <0.00%> (-0.07%)	⬇️
src/Magnum/OpenDdl/OpenDdl.cpp	90.70% <0.00%> (-0.05%)	⬇️
... and 85 more

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