Support mesh optimization when using AttachMeshShapeFeature

[iche033]

🎉 New feature

Summary

Add mesh optimization support in dartsim.

Dartsim uses AttachMeshShapeFeature for constructing meshes. It expects a common::Mesh to already be loaded and passed to it. So we need to optimize the mesh first in gz-sim (instead of doing mesh optimization inside gz-physics dartsim plugin). To support this, this PR adds logic to perform mesh optimization whenever a mesh is being loaded (e.g. via loadMesh here in physics system).

Test it

You can test with the cordless drill simplified mesh. Here's a cordless_drill.sdf test world

Launch gz-sim with the optimized mesh

gz sim -v 4 cordless_drill.sdf

and you should see a debug msg like this:

[Dbg] [Util.cc:918] Optimizing mesh (convex_decomposition): <home>/.gz/fuel/fuel.gazebosim.org/iche033/models/cordless drill simplified/3/meshes/cordless_drill.stl

Mesh collision visualization support is in #2352. I'll refactor that PR to use the new optimizeMesh function introduced here once this PR gets in.

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
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