Implement SetCollisionFilterMask shape feature for bullet featherstone plugin

[shameekganguly]

Desired behavior

<collide_bitmask> tags are currently ignored if bullet-featherstone physics is used in gz sim. Ideally, the SetCollisionFilterMask feature needs to be implemented in bullet-featherstone physics to be able to configure the collision mask at runtime.

Alternatives considered

One clunky workaround is to have a common parent for a pair of models for which collision should be ignored. This doesn't work in the situation where ModelA nests ModelB and collisions should be ignored between ModelA and a ModelC, but collisions should not be ignored between ModelB and ModelC.