Support visualizing mesh collisions with convex decomposition

[iche033]

🎉 New feature

Replaces #2331

Related gz-physics PR: gazebosim/gz-physics#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.

• [bullet-featherstone] Ignore collision between static objects and objects with world joint gz-physics#611
• Enable StoreResolvedURIs when loading SDF #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

[caguero]

Looks good to me, just a minor comment.

[caguero]

Nit: Could you remove the if and let just meshShape.SetConvexDecomposition(convexDecomp);?

[iche033]

yep removed. c74e7c1