Support visualizing mesh collisions with convex decomposition

[iche033]

🎉 New feature

Replaces #2331

Related gz-physics PR: https://github.com/gazebosim/gz-physics/pull/611

Summary

Extends VisualizationCapabilities gui plugin to support visualizing mesh collisions with convex decomposition.

if a mesh collision has the new attribute , the plugin will decompose the meshes on the GUI side before visualizing them.

Test it

Here's a Cordless Drill Simplified model on fuel and a cordless_drill.sdf world for testing. This model uses convex decomposition on the collision mesh.

Optional: to actually have the collisions decomposed on the physics side, you'll need these PRs. This is not required to see the collision visualizations.

• https://github.com/gazebosim/gz-physics/pull/611
• https://github.com/gazebosim/gz-sim/pull/2349

Then launch gz-sim with bullet-featherstone plugin:

gz sim -v 4 cordless_drill.sdf --physics-engine gz-physics-bullet-featherstone-plugin

Right click on the drill model and view collisions:

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)
• [ ] While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[iche033]

refactored to use the optimizeMesh function added in #2417