Add policy for handling CalculateInertial failures (backport #1543)

[mergify]

🎉 New feature

Alternative to #1542

Summary

If Geometry::CalculateInertial() fails to calculate valid inertial values, the current behavior is to report a LINK_INERTIA_INVALID error and write no inertial values. The changes in #1542 would change Mesh::CalculteInertial() to return default inertial values by default if no valid values are found.

This pull request adds a policy enum to ParserConfig to retain the current error behavior by default, but also provides an option to warn and use default inertial values when invalid inertial values are calculated.

Draft PR until more testing is added

Test it

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.

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This is an automatic backport of pull request #1543 done by [Mergify](https://mergify.com).

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 92.47%. Comparing base (ff9b3ad) to head (de8e5b6).
Report is 64 commits behind head on sdf14.

Additional details and impacted files

@@            Coverage Diff             @@
##            sdf14    #1546      +/-   ##
==========================================
+ Coverage   92.42%   92.47%   +0.04%     
==========================================
  Files         134      138       +4     
  Lines       17751    18358     +607     
==========================================
+ Hits        16406    16976     +570     
- Misses       1345     1382      +37     

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