I think getting the bounding box info from the physics system is preferred because it has the information already, and there is no need for a custom mesh bounding box calculator. In the rare case the the users does not load a physics system in Gazebo (or a particular physics engine does not support the bounding box feature), we could then fall back to using the SDF API.

I think the first step is to implement a similar logic for populating a model AxisAlignedBox for links in the physics system. The expected usage here is that plugin writers would need to manually create the AxisAlignedBox component for a Link, the physics system then populates it.

We can then update the Link class to add the AxisAlignedBox API like you did in #2787, except we would be the one creating the AxisAlignedBox component for the link in that class. I think this could be done through an EnableBoundingBoxChecks call (similar to EnableVelocityChecks).

If you're ok with this approach, could you do the changes in the physics system in a separate PR? Mainly just to make the review process easier. Thanks for the contributions so far!

Boundingbox on Link API #2353

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