Handle the cohesive contact between a sphere and a facet.
Created Ig2_Facet_Sphere_ScGeom6D inheriting from Ig2_Facet_Sphere_ScGeom. It precomputes the 3 rotations DOFs and creates a ScGeom6D contact geometry.
All modifications made into /pkg/dem/Ig2_Facet_Sphere_ScGeom.cpp and hpp.