Add raycast query to BulletCollisionDetector

[jslee02]

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Before creating a pull request

• Document new methods and classes
• Format new code files using clang-format

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 #1309 into master will increase coverage by 0.07%.
The diff coverage is 89.85%.

@@            Coverage Diff             @@
##           master    #1309      +/-   ##
==========================================
+ Coverage   57.11%   57.18%   +0.07%     
==========================================
  Files         363      366       +3     
  Lines       26954    27023      +69     
==========================================
+ Hits        15395    15454      +59     
- Misses      11559    11569      +10

Impacted Files	Coverage Δ
dart/collision/bullet/BulletCollisionDetector.hpp	100% <ø> (ø)	⬆️
dart/collision/CollisionDetector.hpp	100% <ø> (ø)	⬆️
dart/collision/CollisionDetector.cpp	92.72% <0%> (-7.28%)	⬇️
dart/collision/RaycastResult.hpp	100% <100%> (ø)
dart/collision/RaycastOption.cpp	100% <100%> (ø)
dart/collision/RaycastResult.cpp	100% <100%> (ø)
dart/collision/bullet/BulletCollisionDetector.cpp	69.87% <94.64%> (+4.09%)	⬆️
dart/dynamics/Skeleton.cpp	65.95% <0%> (-0.17%)	⬇️
... and 1 more