[SPARK-4293][SQL] Make Cast be able to handle complex types.

Inserting data of type including `ArrayType.containsNull == false` or `MapType.valueContainsNull == false` or `StructType.fields.exists(_.nullable == false)` into Hive table will fail because `Cast` inserted by `HiveMetastoreCatalog.PreInsertionCasts` rule of `Analyzer` can't handle these types correctly.

Complex type cast rule proposal:

- Cast for non-complex types should be able to cast the same as before.
- Cast for `ArrayType` can evaluate if
  - Element type can cast
  - Nullability rule doesn't break
- Cast for `MapType` can evaluate if
  - Key type can cast
  - Nullability for casted key type is `false`
  - Value type can cast
  - Nullability rule for value type doesn't break
- Cast for `StructType` can evaluate if
  - The field size is the same
  - Each field can cast
  - Nullability rule for each field doesn't break
- The nested structure should be the same.

Nullability rule:

- If the casted type is `nullable == true`, the target nullability should be `true`

Author: Takuya UESHIN <ueshin@happy-camper.st>

Closes #3150 from ueshin/issues/SPARK-4293 and squashes the following commits:

e935939 [Takuya UESHIN] Merge branch 'master' into issues/SPARK-4293
ba14003 [Takuya UESHIN] Merge branch 'master' into issues/SPARK-4293
8999868 [Takuya UESHIN] Fix a test title.
f677c30 [Takuya UESHIN] Merge branch 'master' into issues/SPARK-4293
287f410 [Takuya UESHIN] Add tests to insert data of types ArrayType / MapType / StructType with nullability is false into Hive table.
4f71bb8 [Takuya UESHIN] Make Cast be able to handle complex types.