bullet-featherstone: Parse voxel resolution SDF param when decomposing meshes

[iche033]

🎉 New feature

Summary

Makes use of the voxel resolution SDF param added in gazebosim/sdformat#1429.

see screenshot of a mesh with different voxel resolutions in gazebosim/gz-sim#2445

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.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 79.26%. Comparing base (92e02c3) to head (02e6738).
Report is 20 commits behind head on gz-physics7.

Additional details and impacted files

@@               Coverage Diff               @@
##           gz-physics7     #655      +/-   ##
===============================================
+ Coverage        78.32%   79.26%   +0.93%     
===============================================
  Files              140      141       +1     
  Lines             8069     8274     +205     
===============================================
+ Hits              6320     6558     +238     
+ Misses            1749     1716      -33     

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