[googletest] Adds more printer options for displaying values under test

The EigenPrinter knows how to print Eigen matrices. We need to inject
it prior to the ContainerPrinter because Eigen vectors offer container
concepts as of Eigen 3.4.

The FmtFormatPrinter knows how to ask fmt::to_string to print values.
We need to inject it prior to the osteam formatter, because we should
prefer fmt over ostream anytime fmt is offered.

--- googletest/include/gtest/gtest-printers.h
+++ googletest/include/gtest/gtest-printers.h
@@ -115,6 +115,9 @@
 #include "gtest/internal/gtest-internal.h"
 #include "gtest/internal/gtest-port.h"
 
+#include "drake/common/test_utilities/eigen_printer.h"
+#include "drake/common/test_utilities/fmt_format_printer.h"
+
 namespace testing {
 
 // Definitions in the internal* namespaces are subject to change without notice.
@@ -306,4 +308,7 @@
 void PrintWithFallback(const T& value, ::std::ostream* os) {
   using Printer = typename FindFirstPrinter<
-      T, void, ContainerPrinter, FunctionPointerPrinter, PointerPrinter,
+      T, void,
+      drake::internal::EigenPrinter,
+      ContainerPrinter, FunctionPointerPrinter, PointerPrinter,
+      drake::internal::FmtFormatPrinter,
       ProtobufPrinter,
