[wpilib] Add physics simulation support with state-space (#2615)

This includes physics simulation support for arms/elevator models, as well as differential drivetrains.

Swerve might be added at a later date.

Co-authored-by: Claudius Tewari <cttewari@gmail.com>
Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com>
Co-authored-by: Tyler Veness <calcmogul@gmail.com>

wpimath/src/test/java/edu/wpi/first/wpilibj/controller/ControlAffinePlantInversionFeedforwardTest.java

@@ -37,15 +37,12 @@ class ControlAffinePlantInversionFeedforwardTest {
   @SuppressWarnings("LocalVariableName")
   @Test
   void testCalculateState() {
-    Matrix<N2, N1> B = VecBuilder.fill(0, 1);
-
     ControlAffinePlantInversionFeedforward<N2, N1> feedforward =
-            new ControlAffinePlantInversionFeedforward<N2, N1>(
-                    Nat.N2(),
-                    Nat.N1(),
-                    this::getStateDynamics,
-                    B,
-                    0.02);
+        new ControlAffinePlantInversionFeedforward<N2, N1>(
+            Nat.N2(),
+            Nat.N1(),
+            this::getDynamics,
+            0.02);
 
     assertEquals(48.0, feedforward.calculate(
             VecBuilder.fill(2, 2),