Move physics based assertion from MeshShape to RigidRepParam::checkValidity

+ adjust the unit tests
+ adjust the doxygen doc
Fix Eigen aliasing issue in RigidRepresentationParametersTest
Merge branch 'fix/meshShapeVolumeAssertion' into 'master'

Move physics based assertion from MeshShape to RigidRepParam::checkValidity

+1: gsathyaseelan, Ryan Beasley, haizhouW

Merged-on: https://www.assembla.com/code/OpenSurgSim/git/merge_requests/753593
Merge branch 'master' into fix/TriangleTriangleContact
Add TriangleMesh(Plane/TriangleMeah)DcdContact to contact table in Physics.