Replace SdfLib with linear octree interpolation of TriangleMeshDistance.

Temporary changes to the octree:
- Changed frame from mesh to geom

Before change (tolerance 1e-3):
```
 Simulation time      : 2.34 s
 Steps per second     : 4275
 Realtime factor      : 8.55 x
 Time per step        : 233.9 µs

 Newton iters / step  : 2.26
 Contacts / step      : 3.69
 Constraints / step   : 14.76
 Degrees of freedom   : 12
 Dynamic memory usage : 0.7% of 14M
```

After change (6 octree levels):
```
 Simulation time      : 2.24 s
 Steps per second     : 4472
 Realtime factor      : 8.94 x
 Time per step        : 223.6 µs

 Newton iters / step  : 2.47
 Contacts / step      : 3.37
 Constraints / step   : 13.49
 Degrees of freedom   : 12
 Dynamic memory usage : 0.2% of 14M
```

PiperOrigin-RevId: 781019754
Change-Id: Ib15581244dfe9e571e1c6c2cac4a101cf3d8ba3d

cmake/MujocoDependencies.cmake

@@ -58,9 +58,9 @@ set(MUJOCO_DEP_VERSION_benchmark
     CACHE STRING "Version of `benchmark` to be fetched."
 )
 
-set(MUJOCO_DEP_VERSION_sdflib
-    1927bee6bb8225258a39c8cbf14e18a4d50409ae
-    CACHE STRING "Version of `SdfLib` to be fetched."
+set(MUJOCO_DEP_VERSION_TriangleMeshDistance
+    2cb643de1436e1ba8e2be49b07ec5491ac604457
+    CACHE STRING "Version of `TriangleMeshDistance` to be fetched."
 )
 
 mark_as_advanced(MUJOCO_DEP_VERSION_lodepng)
@@ -73,7 +73,7 @@ mark_as_advanced(MUJOCO_DEP_VERSION_Eigen3)
 mark_as_advanced(MUJOCO_DEP_VERSION_abseil)
 mark_as_advanced(MUJOCO_DEP_VERSION_gtest)
 mark_as_advanced(MUJOCO_DEP_VERSION_benchmark)
-mark_as_advanced(MUJOCO_DEP_VERSION_sdflib)
+mark_as_advanced(MUJOCO_DEP_VERSION_TriangleMeshDistance)
 
 include(FetchContent)
 include(FindOrFetch)
@@ -184,26 +184,19 @@ findorfetch(
   EXCLUDE_FROM_ALL
 )
 
-option(SDFLIB_USE_ASSIMP OFF)
-option(SDFLIB_USE_OPENMP OFF)
-option(SDFLIB_USE_ENOKI OFF)
-findorfetch(
-  USE_SYSTEM_PACKAGE
-  OFF
-  PACKAGE_NAME
-  sdflib
-  LIBRARY_NAME
-  sdflib
-  GIT_REPO
-  https://github.com/UPC-ViRVIG/SdfLib.git
-  GIT_TAG
-  ${MUJOCO_DEP_VERSION_sdflib}
-  TARGETS
-  SdfLib
-  EXCLUDE_FROM_ALL
-)
-target_compile_options(SdfLib PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
-target_link_options(SdfLib PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
+if(NOT TARGET trianglemeshdistance)
+  FetchContent_Declare(
+    trianglemeshdistance
+    GIT_REPOSITORY https://github.com/InteractiveComputerGraphics/TriangleMeshDistance.git
+    GIT_TAG ${MUJOCO_DEP_VERSION_TriangleMeshDistance}
+  )
+
+  FetchContent_GetProperties(trianglemeshdistance)
+  if(NOT trianglemeshdistance_POPULATED)
+    FetchContent_Populate(trianglemeshdistance)
+    include_directories(${trianglemeshdistance_SOURCE_DIR})
+  endif()
+endif()
 
 set(ENABLE_DOUBLE_PRECISION ON)
 set(CCD_HIDE_ALL_SYMBOLS ON)