Support more collisions between trimesh and custom types

[ThierryBerger]

• 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