create_from_triangle_mesh only judge the intersection with the triangle edge, but not the triangle surface

### Checklist

- [X] I have searched for [similar issues](https://github.com/isl-org/Open3D/issues).
- [X] For Python issues, I have tested with the [latest development wheel](http://www.open3d.org/docs/latest/getting_started.html#development-version-pip).
- [X] I have checked the [release documentation](http://www.open3d.org/docs/release/) and the [latest documentation](http://www.open3d.org/docs/latest/) (for `master` branch).

### Describe the issue

When using this function for this mesh, I will get some weird voxel, it seems that the intersection judging in the function only consider the edge of the triangles.

[test mesh](https://drive.google.com/file/d/1qrrKOtBgkBnpnHtWhufa-hEXCzEE8eO9/view?usp=share_link)
Mesh:

Voxel:

### Steps to reproduce the bug

```python
voxel_grid = o3d.geometry.VoxelGrid.create_from_triangle_mesh(
part_mesh,
voxel_size=0.01,
)
```

### Error message

_No response_

### Expected behavior

_No response_

### Open3D, Python and System information

```markdown
- Operating system: Ubuntu 20.04
- Python version: Python 3.8
- Open3D version: output from python: 0.17.0
- System architecture: x86
- Is this a remote workstation?: no
- How did you install Open3D?: pip
```

### Additional information

_No response_