Need tools to resample and transform things into simulation space

After the merging of #146 the Protocol.calc_solution function assumes that everything has been transformed and resampled into the simulation space.

We currently do this resampling and transforming in SlicerOpenLIFU.

However the user of the pure openlifu-python library will face a huge inconvenience because they compute a solution without finding some way to resample and transform things into the simulation coords. Therefore we should provide the tools to do it here, and we should consider either changing calc_solution or creating a higher level version of calc_solution that accepts volumes and targets in their native coordinates.

The transformation tools could be added as standalone tools, and then they can be called in SimSetup.setup_sim_scene since this is the function that is meant to create the the simulation scene

Start by reading Protocol.calc_solution and SimSetup.setup_sim_scene, then review how SlicerOpenLIFU currently resamples and transforms inputs. Define whether the change belongs in standalone transformation tools or a higher-level calc_solution API. Done means native-coordinate volumes and targets can be prepared for simulation without requiring SlicerOpenLIFU.