Support more collisions between trimesh and custom types

- downstream issue: https://github.com/dimforge/rapier/issues/773
There's some `Unsupported` code paths which could help an implementation.

https://github.com/dimforge/parry/blob/aaeb17f9414c2d801d59609bc7d6ec48eda5fe70/src/query/default_query_dispatcher.rs#L530-L539

Also related: 
  - https://github.com/dimforge/rapier/issues/777

	fn contact_manifold_convex_convex(
	&self,
	pos12: &Isometry<Real>,
	shape1: &dyn Shape,
	shape2: &dyn Shape,
	normal_constraints1: Option<&dyn NormalConstraints>,
	normal_constraints2: Option<&dyn NormalConstraints>,
	prediction: Real,
	manifold: &mut ContactManifold<ManifoldData, ContactData>,
	) -> Result<(), Unsupported> {

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Support more collisions between trimesh and custom types #297

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Support more collisions between trimesh and custom types #297

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