Add rendering for suspension spring/damper

[ad-daniel]

Description
This PR adds:

• if suspensionSpringConstant or suspensionDamperConstant of HingeJointParameters is non-zero, a spring or respectively a cylinder is rendered. As this pertains just to HingeJointParameters, only Hinge2 and Hinge joints are affected
• An simplified arrowhead was added to all joint axis representations
• jointParameters also exposes a springConstant and dampingConstant, however also rendering these might be excessive if not misleading. Visually it wouldn't be easy to distinguish these from the actual suspension ones, and moreover these constants are intended to affect the sponginess of the joint limits (the stops), so also rendering them like a suspension might be slightly misleading.

Linescale 0.1

Linescale 0.4

suspensionSpringConstant == suspensionDamperConstant == 0

suspensionSpringConstant != 0 and suspensionDamperConstant == 0

suspensionSpringConstant == 0 and suspensionDamperConstant != 0

suspensionSpringConstant != 0 and suspensionDamperConstant != 0

[omichel]

On the Moose robot, this is hardly visible:

Unless you set the WorldInfo.lineScale to 1:

Maybe we can change the WorldInfo.lineScale to 1 in this world file in this PR as well?
With the tiago_base robot, you have to look inside to see the spring: