[SPARK-3042] [mllib] DecisionTree Filter top-down instead of bottom-up

DecisionTree needs to match each example to a node at each iteration.  It currently does this with a set of filters very inefficiently: For each example, it examines each node at the current level and traces up to the root to see if that example should be handled by that node.

Fix: Filter top-down using the partly built tree itself.

Major changes:
* Eliminated Filter class, findBinsForLevel() method.
* Set up node parent links in main loop over levels in train().
* Added predictNodeIndex() for filtering top-down.
* Added DTMetadata class

Other changes:
* Pre-compute set of unorderedFeatures.

Notes for following expected PR based on [https://issues.apache.org/jira/browse/SPARK-3043]:
* The unorderedFeatures set will next be stored in a metadata structure to simplify function calls (to store other items such as the data in strategy).

I've done initial tests indicating that this speeds things up, but am only now running large-scale ones.

CC: mengxr manishamde chouqin  Any comments are welcome---thanks!

Author: Joseph K. Bradley <joseph.kurata.bradley@gmail.com>

Closes #1975 from jkbradley/dt-opt2 and squashes the following commits:

a0ed0da [Joseph K. Bradley] Renamed DTMetadata to DecisionTreeMetadata.  Small doc updates.
3726d20 [Joseph K. Bradley] Small code improvements based on code review.
ac0b9f8 [Joseph K. Bradley] Small updates based on code review. Main change: Now using << instead of math.pow.
db0d773 [Joseph K. Bradley] scala style fix
6a38f48 [Joseph K. Bradley] Added DTMetadata class for cleaner code
931a3a7 [Joseph K. Bradley] Merge remote-tracking branch 'upstream/master' into dt-opt2
797f68a [Joseph K. Bradley] Fixed DecisionTreeSuite bug for training second level.  Needed to update treePointToNodeIndex with groupShift.
f40381c [Joseph K. Bradley] Merge branch 'dt-opt1' into dt-opt2
5f2dec2 [Joseph K. Bradley] Fixed scalastyle issue in TreePoint
6b5651e [Joseph K. Bradley] Updates based on code review.  1 major change: persisting to memory + disk, not just memory.
2d2aaaf [Joseph K. Bradley] Merge remote-tracking branch 'upstream/master' into dt-opt1
26d10dd [Joseph K. Bradley] Removed tree/model/Filter.scala since no longer used.  Removed debugging println calls in DecisionTree.scala.
356daba [Joseph K. Bradley] Merge branch 'dt-opt1' into dt-opt2
430d782 [Joseph K. Bradley] Added more debug info on binning error.  Added some docs.
d036089 [Joseph K. Bradley] Print timing info to logDebug.
e66f1b1 [Joseph K. Bradley] TreePoint * Updated doc * Made some methods private
8464a6e [Joseph K. Bradley] Moved TimeTracker to tree/impl/ in its own file, and cleaned it up.  Removed debugging println calls from DecisionTree.  Made TreePoint extend Serialiable
a87e08f [Joseph K. Bradley] Merge remote-tracking branch 'upstream/master' into dt-opt1
c1565a5 [Joseph K. Bradley] Small DecisionTree updates: * Simplification: Updated calculateGainForSplit to take aggregates for a single (feature, split) pair. * Internal doc: findAggForOrderedFeatureClassification
b914f3b [Joseph K. Bradley] DecisionTree optimization: eliminated filters + small changes
b2ed1f3 [Joseph K. Bradley] Merge remote-tracking branch 'upstream/master' into dt-opt
0f676e2 [Joseph K. Bradley] Optimizations + Bug fix for DecisionTree
3211f02 [Joseph K. Bradley] Optimizing DecisionTree * Added TreePoint representation to avoid calling findBin multiple times. * (not working yet, but debugging)
f61e9d2 [Joseph K. Bradley] Merge remote-tracking branch 'upstream/master' into dt-timing
bcf874a [Joseph K. Bradley] Merge remote-tracking branch 'upstream/master' into dt-timing
511ec85 [Joseph K. Bradley] Merge remote-tracking branch 'upstream/master' into dt-timing
a95bc22 [Joseph K. Bradley] timing for DecisionTree internals

(cherry picked from commit 73ab7f141c205df277c6ac19252e590d6806c41f)
Signed-off-by: Xiangrui Meng <meng@databricks.com>