[SPARK-4309][SPARK-4407][SQL] Date type support for Thrift server, and fixes for complex types

SPARK-4407 was detected while working on SPARK-4309. Merged these two into a single PR since 1.2.0 RC is approaching.

<!-- Reviewable:start -->
[<img src="https://reviewable.io/review_button.png" height=40 alt="Review on Reviewable"/>](https://reviewable.io/reviews/apache/spark/3178)
<!-- Reviewable:end -->

Author: Cheng Lian <lian@databricks.com>

Closes #3178 from liancheng/date-for-thriftserver and squashes the following commits:

6f71d0b [Cheng Lian] Makes toHiveString static
26fa955 [Cheng Lian] Fixes complex type support in Hive 0.13.1 shim
a92882a [Cheng Lian] Updates HiveShim for 0.13.1
73f442b [Cheng Lian] Adds Date support for HiveThriftServer2 (Hive 0.12.0)