Full SimTK ContactGeometry Support

[alexbeattie42]

Simbody/SimTK supports the following contact geometries where the checked boxes are implemented in OpenSim:

• Brick
• Cylinder
• Ellipsoid
• GeodesicKnotPoint
• HalfSpace
• SmoothHeightMap
• Sphere
• Torus
• TriangleMesh

I have not been successful in using mesh based contact modeling and it seems to be a known problem from the forum.
Reference post 1 and post 2.

OpenSim should have all the contact geometries available in Simbody. Ellipsoid and Cylinder support was added in (#4115)

[alexbeattie42]

Duplicate of #4114

[nickbianco]

@alexbeattie42 feel free to build on the recent PR expanding support for SimTK::ContactGeometry in OpenSim. I focused on contact surfaces needed for muscle wrapping (with the exception of SmoothHeightMap).