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EntityFeatureMap is a helper class to check if a physics entity has required and optional features. The list of optional features can be found at https://github.com/gazebosim/gz-sim/blob/3592c201094b94b36a3edbd1f03f89d959f4e578/src/systems/physics/Physics.cc#L450-L623.

For the World gz-physics entity, for example, the gz-sim Physics system has

  public: using WorldEntityMap = EntityFeatureMap3d<
          physics::World,
          MinimumFeatureList,
          CollisionFeatureList,
          ContactFeatureList,
          SetContactPropertiesCallbackFeatureList,
          NestedModelFeatureList,
          CollisionDetectorFeatureList,
          SolverFeatureList>;

Which says, the World entity, has the required features listed in MinimumFeatureList, and the rest are optional features.