Support more collisions between trimesh and custom types

[Vrixyz]

• downstream issue: Unsupported collisions between Trimesh and Custom rapier#773

There's some Unsupported code paths which could help an implementation.

parry/src/query/default_query_dispatcher.rs

Lines 530 to 539 in aaeb17f

	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> {