Add pyramid shape support

[jslee02]

This PR adds the pyramid shape that has a square base. Currently, only FCL supports the shape for collision detection. Like other primitive shapes, the pyramid shape is converted to equivalent mesh with minimal numbers of vertices and faces. Both GLUT and OSG renderer can render the pyramid shape.

The moments of inertia for the pyramid shape is not implemented in this PR.

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[codecov]

Codecov Report

Merging #1466 into master will decrease coverage by 0.14%.
The diff coverage is 5.43%.

@@            Coverage Diff             @@
##           master    #1466      +/-   ##
==========================================
- Coverage   58.20%   58.06%   -0.15%     
==========================================
  Files         412      414       +2     
  Lines       29913    30004      +91     
==========================================
+ Hits        17412    17422      +10     
- Misses      12501    12582      +81     

Impacted Files	Coverage Δ
dart/constraint/BoxedLcpConstraintSolver.cpp	53.00% <0.00%> (ø)
dart/dynamics/PyramidShape.hpp	0.00% <0.00%> (ø)
dart/collision/fcl/FCLCollisionDetector.cpp	84.83% <2.85%> (-4.80%)	⬇️
dart/dynamics/PyramidShape.cpp	6.25% <6.25%> (ø)
dart/utils/SkelParser.cpp	66.66% <14.28%> (-0.39%)	⬇️
dart/dynamics/Skeleton.cpp	66.33% <0.00%> (+0.16%)	⬆️
dart/collision/detail/UnorderedPairs.hpp	95.00% <0.00%> (+5.00%)	⬆️