[wpimath] Add geometry classes for Rectangle2d and Ellipse2d (#6555)

Co-authored-by: Tyler Veness <calcmogul@gmail.com>

wpimath/src/main/java/edu/wpi/first/math/WPIMathJNI.java

@@ -279,6 +279,32 @@ public final class WPIMathJNI {
   public static native void solveFullPivHouseholderQr(
       double[] A, int Arows, int Acols, double[] B, int Brows, int Bcols, double[] dst);
 
+  // Ellipse2d wrappers
+
+  /**
+   * Returns the nearest point that is contained within the ellipse.
+   *
+   * <p>Constructs an Ellipse2d object and runs its FindNearestPoint() method.
+   *
+   * @param centerX The x coordinate of the center of the ellipse in meters.
+   * @param centerY The y coordinate of the center of the ellipse in meters.
+   * @param centerHeading The ellipse's rotation in radians.
+   * @param xSemiAxis The x semi-axis in meters.
+   * @param ySemiAxis The y semi-axis in meters.
+   * @param pointX The x coordinate of the point that this will find the nearest point to.
+   * @param pointY The y coordinate of the point that this will find the nearest point to.
+   * @param nearestPoint Array to store nearest point into.
+   */
+  public static native void ellipse2dFindNearestPoint(
+      double centerX,
+      double centerY,
+      double centerHeading,
+      double xSemiAxis,
+      double ySemiAxis,
+      double pointX,
+      double pointY,
+      double[] nearestPoint);
+
   // Pose3d wrappers
 
   /**