Add Cone as a primitive parametric shape.

[bperseghetti]

🦟 Bug fix

Summary

This helps add the missing cone geometry for primitive/basic parametric shapes:

And is also valuable for visualizations of emitters/source that typically have conic-based spread as seen in this acoustic attack on an IMU by showing the affected area:

Associated PRs:

• Add Cone as a primitive parametric shape. gz-gui#620
• Add Cone as a primitive parametric shape. gz-math#593
• Add Cone as a primitive parametric shape. gz-msgs#441
• Add Cone as a primitive parametric shape. #638
• Add Cone as a primitive parametric shape. gz-rendering#1001
• Add Cone as a primitive parametric shape. gz-sim#2404
• Add Cone as a primitive parametric shape. sdformat#1415

Checklist

• Signed all commits for DCO
• Added tests
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[bperseghetti]

I took @mjcarroll advice and used mesh of cone for the collision instead of attempting to add it into dart.
Seen with changes here: 078395d

[azeey]

We usually Rebase and merge for backports, but since this has multiple commits, I'll do a squash merge and update the PR title.