Parse voxel resolution SDF param when decomposing meshes

[iche033]

🎉 New feature

Summary

Similar to gazebosim/gz-physics#655 but applies the changes here for dartsim.

Test it

The same changes are also available in #2352. With that PR, you can visualize the decomposed mesh. Here's an example with the cordless drill model

Left: voxel resolution 80000
Right: voxel resolution 800000 (10x)

This mesh is relatively simple so the difference is small but on right drill with higher voxel resolution, the collision wraps more tightly to the actual mesh.

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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