Feature Request: Axis alignment choices for cylinder colliders

[RulerOfCakes]

The cylinder collider currently only follows a y-up convention by default with the given constructor Collider::cylinder(), where the height parameter will result in the cylinder growing in the positive y axis direction. This becomes a slight nuisance since unlike most other primitive collider geometry, wanting to have a z-aligned / x-aligned cylinder means creating a y-aligned cylinder and then having to apply an extra rotation for that specific collider.

I found this issue to stand out the most when interpreting geometry from external files(e.g. URDF) that follow different coordinate systems using the z-axis as the upwards direction, since the local transforms for the cylinders will always end up having an extra rotation to be aligned to the z-axis compared to other instantiated collider geometry.

I think it would be nice to expose APIs for constructing cylinder colliders aligned to different axis, in constructor forms like there already exists for capsule colliders: Collider::capsule_x, Collider::capsule_y, Collider::capsule_z.