feat: implement voice receive

[amishshah]

Please describe the changes this PR makes and why it should be merged:

Resolves #86

Status and versioning classification:

[codecov]

Codecov Report

Merging #87 (21a9ad1) into main (72e1106) will increase coverage by 5.33%.
The diff coverage is 91.20%.

@@            Coverage Diff             @@
##             main      #87      +/-   ##
==========================================
+ Coverage   56.44%   61.77%   +5.33%     
==========================================
  Files          15       18       +3     
  Lines         675      798     +123     
  Branches      149      183      +34     
==========================================
+ Hits          381      493     +112     
- Misses        292      303      +11     
  Partials        2        2              

Impacted Files	Coverage Δ
src/joinVoiceChannel.ts	0.00% <ø> (ø)
src/networking/Networking.ts	3.64% <50.00%> (-0.03%)	⬇️
src/receive/VoiceReceiver.ts	89.79% <89.79%> (ø)
src/audio/AudioPlayer.ts	77.34% <100.00%> (ø)
src/networking/VoiceUDPSocket.ts	98.11% <100.00%> (+0.03%)	⬆️
src/receive/AudioReceiveStream.ts	100.00% <100.00%> (ø)
src/receive/SSRCMap.ts	100.00% <100.00%> (ø)

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