Additional PinSlotJoint 2D implementation with DOF: 1 translation + 1 rotation

[legendofa]

Implements additional GrooveJoint from to issue: #772
The joint is currently only implemented for 2d behind the feature flag "dim2".
This PR includes a test for the GrooveJoint.

If there is anything that i have overlooked, let me know :) I am also planning to update the documentation with this joint type if everything else looks fine.

[legendofa]

Just rebased this PR on dimforge:master to fix the CI

[ThierryBerger]

Thanks for the PR!

I'm a bit skeptical on the naming, I think this behaviour refers more accurately a PinSlot, but that's a detail, if we're drawing inspiration from Godot though, I'd like:

1. To be sure about what we're mimicking (Add support for 1Translation+ 1Rotation 2d Joint #772 (comment))
2. Add a documentation cross-reference to godot to make sure intent is preserved.

Those are not blocking actions to be taken in the PR (1 is uncertain, 2 is trivial and can be done at merge-time), but hopefully helps understanding the current state of approval consideration.

I'm still approving this PR as I believe this brings value.

[legendofa]

Thanks for the feedback,

it might be good to rename the joint from GrooveJoint to PinSlotJoint as i also think this is the more common naming, for example used by MathWorks: https://www.mathworks.com/help/sm/ref/pinslotjoint.html. PinSlotJoint could give a better hint to what the joint allows just by reading the name.

I will start working on the documentation today and reference the inspirations for this joint there.

[sebcrozet]

Thanks!