Lazy evaluation for shape volume and bounding-box

[jslee02]

resolves #734

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[codecov]

Codecov Report

Merging #959 into release-6.4 will decrease coverage by 0.37%.
The diff coverage is 19.53%.

@@              Coverage Diff               @@
##           release-6.4    #959      +/-   ##
==============================================
- Coverage        56.87%   56.5%   -0.38%     
==============================================
  Files              310     310              
  Lines            23883   23915      +32     
==============================================
- Hits             13584   13512      -72     
- Misses           10299   10403     +104

Impacted Files	Coverage Δ
dart/dynamics/LineSegmentShape.hpp	0% <ø> (ø)	⬆️
dart/dynamics/CylinderShape.hpp	100% <ø> (ø)	⬆️
dart/dynamics/CapsuleShape.hpp	100% <ø> (ø)	⬆️
dart/dynamics/PlaneShape.hpp	0% <ø> (ø)	⬆️
dart/dynamics/ConeShape.hpp	100% <ø> (ø)	⬆️
dart/dynamics/ArrowShape.cpp	0% <0%> (ø)	⬆️
dart/dynamics/SoftMeshShape.cpp	83.33% <0%> (-4.91%)	⬇️
dart/dynamics/PlaneShape.cpp	8.33% <0%> (-1.35%)	⬇️
dart/dynamics/ConeShape.cpp	42.5% <15.38%> (-23.36%)	⬇️
dart/dynamics/CapsuleShape.cpp	57.44% <15.38%> (-21.72%)	⬇️
... and 15 more