Add ConeShape support for FCLCollisionDetector

[jslee02]

The sphere was used for ConeShape when FCLCollisionDetector is used. This PR changed to use mesh for ConeShape as other shapes in FCLCollisionDetector.

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[codecov]

Codecov Report

Merging #1447 into master will increase coverage by 0.19%.
The diff coverage is 71.42%.

@@            Coverage Diff             @@
##           master    #1447      +/-   ##
==========================================
+ Coverage   57.99%   58.18%   +0.19%     
==========================================
  Files         412      412              
  Lines       29861    29875      +14     
==========================================
+ Hits        17319    17384      +65     
+ Misses      12542    12491      -51     

Impacted Files	Coverage Δ
dart/collision/fcl/BackwardCompatibility.hpp	0.00% <ø> (ø)
dart/collision/fcl/FCLCollisionDetector.cpp	89.63% <71.42%> (+7.44%)	⬆️
dart/dynamics/Skeleton.cpp	66.33% <0.00%> (+0.16%)	⬆️
dart/dynamics/ConeShape.cpp	48.83% <0.00%> (+9.30%)	⬆️
dart/collision/fcl/BackwardCompatibility.cpp	87.50% <0.00%> (+12.50%)	⬆️