Replace assert with DART_ASSERT

[jslee02]

Replace all direct uses of the C library assert macro with DART_ASSERT so every build path goes through DART's logging/assertion infrastructure. Along the way I also added the missing includes for dart/common/Macros.hpp in every file that now references the macro.

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Before creating a pull request

• Run pixi run test-all to lint, build, and test your changes
• Add unit tests for new functionality
• Document new methods and classes
• Add Python bindings (dartpy) if applicable

[codecov]

Codecov Report

❌ Patch coverage is 56.93182% with 379 lines in your changes missing coverage. Please review.
✅ Project coverage is 61.48%. Comparing base (bb558d1) to head (f2b5588).
⚠️ Report is 380 commits behind head on main.

Files with missing lines	Patch %	Lines
dart/dynamics/Skeleton.cpp	42.85%	48 Missing ⚠️
dart/dynamics/Group.cpp	18.75%	26 Missing ⚠️
dart/dynamics/PointMass.cpp	37.50%	25 Missing ⚠️
dart/constraint/WeldJointConstraint.cpp	4.16%	23 Missing ⚠️
dart/dynamics/ReferentialSkeleton.cpp	4.76%	20 Missing ⚠️
dart/constraint/SoftContactConstraint.cpp	0.00%	19 Missing ⚠️
dart/dynamics/SoftBodyNode.cpp	47.05%	18 Missing ⚠️
dart/constraint/BallJointConstraint.cpp	0.00%	15 Missing ⚠️
dart/utils/XmlHelpers.cpp	70.45%	13 Missing ⚠️
dart/utils/SkelParser.cpp	63.33%	11 Missing ⚠️
... and 52 more

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2109      +/-   ##
==========================================
- Coverage   61.49%   61.48%   -0.01%     
==========================================
  Files         393      393              
  Lines       33144    33155      +11     
  Branches     4084     4084              
==========================================
+ Hits        20382    20386       +4     
- Misses      12762    12769       +7     

Flag	Coverage Δ
unittests	61.48% <56.93%> (-0.01%)	⬇️

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Files with missing lines	Coverage Δ
dart/collision/CollisionDetector.cpp	95.00% <100.00%> (ø)
dart/collision/CollisionFilter.cpp	64.81% <100.00%> (ø)
dart/collision/CollisionGroup.cpp	84.64% <100.00%> (ø)
dart/collision/CollisionObject.cpp	73.33% <100.00%> (ø)
dart/collision/bullet/BulletCollisionObject.cpp	88.23% <100.00%> (ø)
...sion/bullet/detail/BulletOverlapFilterCallback.cpp	91.42% <100.00%> (ø)
dart/collision/detail/CollisionGroup.hpp	95.45% <100.00%> (ø)
dart/collision/fcl/FCLCollisionObject.cpp	92.85% <100.00%> (ø)
dart/collision/ode/OdeCollisionDetector.cpp	81.63% <100.00%> (ø)
dart/collision/ode/OdeCollisionGroup.cpp	65.62% <100.00%> (ø)
... and 115 more

... and 1 file with indirect coverage changes

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