Add spdlog support as underlying logging framework

[jslee02]

• Add new logging macros DART_TRACE, DART_DEBUG, DART_INFO, DART_WARN, DART_ERROR, DART_FATAL to replace dtmsg, dtdbg, dtwarn, dterr eventually
• Add spdlog as an optional dependency

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Before creating a pull request

• Document new methods and classes
• Format new code files using ClangFormat by running make format
• Build with -DDART_TREAT_WARNINGS_AS_ERRORS=ON and resolve the build warnings

Before merging a pull request

• Set version target by selecting a milestone on the right side
• Summarize this change in CHANGELOG.md
• Add unit test(s) for this change

[codecov]

Codecov Report

Merging #1633 (6a676f4) into main (627f71e) will increase coverage by 0.02%.
The diff coverage is 100.00%.

❗ Current head 6a676f4 differs from pull request most recent head 18dcb52. Consider uploading reports for the commit 18dcb52 to get more accurate results

@@            Coverage Diff             @@
##             main    #1633      +/-   ##
==========================================
+ Coverage   58.93%   58.95%   +0.02%     
==========================================
  Files         477      479       +2     
  Lines       40166    40195      +29     
==========================================
+ Hits        23670    23696      +26     
- Misses      16496    16499       +3     

Impacted Files	Coverage Δ
dart/common/detail/Logging-impl.hpp	100.00% <100.00%> (ø)
python/dartpy/common/Logging.cpp	100.00% <100.00%> (ø)
python/dartpy/common/module.cpp	100.00% <100.00%> (ø)
dart/dynamics/Skeleton.cpp	67.74% <0.00%> (-0.17%)	⬇️