FindBullet: separate win32 optimized and debug libraries

[scpeters]

I see a configuration error on windows when trying to build dart with bullet3 installed from vcpkg:

CMake Error at cmake/DARTFindBullet.cmake:16 (set_target_properties):
  Property INTERFACE_LINK_LIBRARIES may not contain link-type keyword
  "optimized".  The INTERFACE_LINK_LIBRARIES property may contain
  configuration-sensitive generator-expressions which may be used to specify
  per-configuration rules.

There are multiple optimized and debug libraries interleaved in the BULLET_LIBRARIES parameter, so we can't use the simple approach from 73ef8c2. I've used cmake_parse_arguments to separate the debug and optimized libraries, and I think I set up the generator expressions correctly, but I'm not sure. I've added bullet3 and ode to the list of vcpkg packages to install in azure-pipeline, so CI should confirm if this fix is working.

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[codecov]

Codecov Report

Merging #1395 into master will not change coverage.
The diff coverage is n/a.

@@           Coverage Diff           @@
##           master    #1395   +/-   ##
=======================================
  Coverage   57.27%   57.27%           
=======================================
  Files         366      366           
  Lines       27432    27432           
=======================================
  Hits        15711    15711           
  Misses      11721    11721

[scpeters]

reproducing failure case on branch azure_bullet3_test with bfd970f

• https://dev.azure.com/dartsim/dart/_build/results?buildId=1576
• https://dev.azure.com/dartsim/dart/_build/results?buildId=1576&view=logs&jobId=3bcc548c-0df3-5c60-b8ef-b9233b9b23f1&taskId=5d8baed6-9a20-5b12-6996-82143a809734&lineStart=51&lineEnd=59&colStart=1&colEnd=1