[Simulation] Trigger error when Node already contains component

[alxbilger]

For some component types (see list below), visitors only consider the last added component in the Node. This is due to the fact that Node stores some links as SingleLink. The user has no idea of that, so this PR triggers an error when a second component of the same type is added into a Node.

The error message looks like:

[ERROR]   [Node(root)] Trying to add a BaseMechanicalState ('unnamed' [MechanicalObject] 000001634787E4E0) into the Node '/', whereas it already contains one ('A' [MechanicalObject] 00000163467EA9A0). Only one BaseMechanicalState is permitted in a Node. The previous BaseMechanicalState is replaced and the behavior is undefined.

Note that the name is 'unnamed' because its has not been parsed. I added the address of the object in case both objects have the same name.

A unit test is added on BaseMechanicalState.

List of concerned components:

    NodeSingle<sofa::core::behavior::BaseAnimationLoop> animationManager;
    NodeSingle<sofa::core::visual::VisualLoop> visualLoop;
    NodeSingle<sofa::core::visual::BaseVisualStyle> visualStyle;
    NodeSingle<sofa::core::topology::Topology> topology;
    NodeSingle<sofa::core::topology::BaseMeshTopology> meshTopology;
    NodeSingle<sofa::core::BaseState> state;
    NodeSingle<sofa::core::behavior::BaseMechanicalState> mechanicalState;
    NodeSingle<sofa::core::BaseMapping> mechanicalMapping;
    NodeSingle<sofa::core::behavior::BaseMass> mass;
    NodeSingle<sofa::core::collision::Pipeline> collisionPipeline;

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By submitting this pull request, I acknowledge that
I have read, understand, and agree SOFA Developer Certificate of Origin (DCO).

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Reviewers will merge this pull-request only if

• it builds with SUCCESS for all platforms on the CI.
• it does not generate new warnings.
• it does not generate new unit test failures.
• it does not generate new scene test failures.
• it does not break API compatibility.
• it is more than 1 week old (or has fast-merge label).

[fredroy]

[ci-build][with-all-tests]