Add forward rigid-body dynamics with loads, stops and analytical regression tests

[PaddleStroke]

Summary

Implement forward rigid-body dynamics in OndselSolver through the existing ASMT model and a new ASMTAssembly::runDYNAMIC() entry point. Solver-only: no FreeCAD UI/application dependency or second runtime solver. Dynamics integration code is ported/adapted from FreeCADMbD.

• Adaptive DAE/BDF integration, initial conditions, generalized-force Jacobians and sampled output histories.
• Gravity, COM initial velocities, constant/formula/follower wrenches, linear/torsional spring-dampers, coupled 6×6 bushings and joint friction.
• Rigid/compliant translation, rotation and distance stops; caller-provided contact evaluators and run-local event callbacks.
• Preserve grounded input poses, including half-turns; replace histories on rerun.
• Harden ASMT parsing and Release dragging-log replay.

Commit organization

1. ASMT parsing and Release dragging-log fixes.
2. Coupled forward-dynamics implementation and solver APIs.
3. Analytical tests and API documentation.
4. Integration with upstream's kinematic/drag limit behavior, with regression coverage.
5. Shared-library ABI versioning and rebuild documentation.

The dynamics core is kept together because the integrator, equation assembly and generalized-force interfaces depend on one another.

[PaddleStroke]

@aiksiongkoh could you please check this PR out ?

[aiksiongkoh]

Will do.

[PaddleStroke]

Hi @aiksiongkoh
A small bump regarding this PR