Installed headers in geometry are broken

[SeanCurtis-TRI]

Problem

By design, we want to exclude headers that include <fcl/fcl.h> from being installed. For example, the distance to point callback explicitly calls this out as well as the other callbacks:

• distance to shape
• find collision candidates
• distance to point with gradient
• hydroelastic
• penetration as point pair
• collisions exist
• and one more non-callback: proximity_utilities.h

However, some of these non-installed headers are included in installed headers:

• make_box_field.h
• make_cylinder_field.h
• collision_filter_legacy.h

That means we're installing headers that depend on uninstalled header. A bad thing.

Solution

For make_box_field.h and make_cylinder_field.h, it is sufficient to move the implementation to the .cc file and make sure the T = {double, AutoDiffXd} implementations get instantiated.

For collision_filter_legacy.h, its declared dependency on that header is an anachronism, it can simply be removed. However, there are downstream headers/tests/etc. that are benefiting from what the proximity_utilities.h pulls in for them. So, the down stream code will need to make up for the fact that they aren't including what they use.