[multibody] Experiment using M frame for Inverse Dynamics, for timings/sanity check

[sherm1]

WIP, not intended to merge, don't review

This branch will be an experiment to integrate Alejandro's M-frame inverse dynamics prototype into Drake to see what speedups we can get in real life switching from W to M.

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This change is 

[sherm1]

Preliminary performance results for M-frame Inverse Dynamics. TL/DR: switching from W to M frame resulted in a 25% speedup for ID. Combined with previous changes ID is 2X faster than when we started. Details:

	This PR ID-M	Master ID-W	Before speedup work
time μs	11.6	15.2	21.4
speedup	24%	26%	--
total	46%	26%	--

Cassie benchmark times on my old Puget Xeon [email protected], g++ 11.4
(ID-W is the World frame version in master, ID-M is the new M-frame method)

I'm still studying this to see where we can squeeze out more speed.
cc @amcastro-tri

[sherm1]

Since we're trying to match Pinocchio timings (we think about 2μs for Cassie-size ID), there are some further considerations to make an apples-to-apples comparison. We've been including position & velocity kinematics in ID timings. Possibly Pinocchio is leaving kinematics fixed and just measuring the ID time alone. Also, the above timings were with gcc 11.4 which does a poor optimizing job compared to clang 14.0.0. And, the Pinocchio timings were presumably run on a faster machine than my 7yo Puget. Let's see how those factors affect things. TL/DR: this gets us to 2μs. And we're within 2X even with kinematics included.

	P+V+ID-W	P+V+ID-M	Just ID-M
time μs	4.95	3.74	2.14

Timed on my laptop: Xeon W-11855M CPU @ 3.20GHz, using clang 14.0.0
(ID-W is the World frame version in master, ID-M is the new M-frame method)