define "StdVectorOfxxx" for all eigen matrix structures
used in iMSTK within std::vector.

See http://eigen.tuxfamily.org/dox-devel/group__TopicStlContainers.html

Requires to update SCCD to commit 645508940
which also updates its vec3 structure.

1. Seperate files for separate Pbd colliison constrain classes
2. Preincrement lop variables
3. Refactor collision constraint classes: remove raw pointers, using auto, style corrections
4. Move pbd constraints to seperate folder within constraint folder
5. Clears warnings in Physics module

convert tabs to 4 spaces

- Fix workflow for PBD in SceneManager.cpp. Add/modify related functions for
PbdObject/PbdRigidObject/VirtualCoupleingPBDObject. It should work for the
most general case where collision/physics/visual meshes are different from
each other.
- Add LineMesh class and LineMeshRenderDelegate. Add support for LineMesh
class in imstkGeometry, imstkMesh, imstkRenderDelegate.

- Fix a bug for computeBoundingBox() in imstkMesh.
- Fix a bug for applying mapping in TetraTriangleMap.
- Fix a bug for computing the center of tetra in TetraTriangleMap.

	-Create PbdRigidObject class for objects that are not deformable but need
	to interact with deformable pbd objects.
	-Create VirtualCouplingPbdObject class, which is inherted from
	PbdRigidObject and TrackingController. The physics and colliding
	geometry(mesh) need to be translate/rotate manually to interact
	with deformable objects, which is different from existing
	VirtualCouplingObject class.

Style enforcement and add comments over the entire code

InsertNextTypedTuple needs to return a value or
compilation error on windows.

Adjust camera position and plane scale

Adds comments in scene class and format changes

1) In imstkMesh, allow to store point data arrays.

2) In imstkSurfaceMesh, get rid of the API for texture
coordinates and vertice tangents. Instead, we'll store
the name of the data array to use as a default texture
coordinate if none is specified by the user, and offer
the addTexture() API to populate a texture map storing
the filename of the texture and the name of the array
to use as texture coordinates.

3) Update imstkVTKMeshReader to copy all point data,
not just active texture coordinates, and define the
default texture coordinates if active coordinates exist.

4) Update imstkSurfaceMeshRenderDelegate to convert
back point data arrays to vtk data arrays wihtin the
polydata, and use the latest API in VTK to define
multiple texture coordinates and textures.

Since updating VTK, changes in MappedVertexArray base class
requires to update a few things. (const and typed methods)

Use Geometry::Type instead of GeometryType.
Use GeometryMap::Type instead of GeometryMapType

Just like camera.

1) Camera does not hold a vtkCamera anymore (less tight integration).
It holds camera parameters.

2) Camera has a pointer to CameraController, that you can set up
based on a deviceclient. This camera controller has a reference
to the camera, and updates its parameters based on the deviceclient
retrieved information.

3) Scene runs the controller as an asynchronous module in its own
thread, it is therefore started in Scene::initModule and ended in
Scene::cleanUpModule.

4) In the timer loop of InteractorStyle, the vtk camera is updated
based on the scene camera.

5) In Renderer, a new vtk Camera needs to be created to match the
scene camera, since it is not created anymore in imstk::Camera.

Also implemented MappedVertexArray to map out structure
vertices to polydata points directly (no copy).

Check that visual geometry exists and that a delegate
has be created.

(1) `SimulationManager::startSimulation()` will check if a Viewer is
already rendering, and will only start a rendering/interaction loop
in the main thread if it isn't. This allows us to work with two
possible cases:
(a) a QT Application with an existing widget for rendering, in which
case we do not want to control the rendering window ourself in a loop
(b) a standalone `vtkRenderWindow` application, in which case we do
want to create a window when our simulation starts and loop until the
window is closed.

(2) `SimulationManager::startSimulation()` can be launched with a debug
boolean option (off by default), which will allow to not automatically
simulate the dynamics of the scene, to be able to interact with the
scene beforehand (using the mouse).

(3) `imstk::InteractorStyle` is based on vtkInteractorStyle specifically
the trackballCamera and allows to ignore mouse events in simulation mode,
and uses key events to control the simulation:
's' : start simulation
'e' : end simulation
' ' (space) : pause/run simulation

(4) The `Viewer` class and the `InteractorStyle` class have been moved
to the `SimulationManager` module, since they are more drivers of the
application themselves.

(5) The 'Sandbox' example has been refactored to make it easier to test
autonomous tests, and updated to use the new driver architecture brought
with this commit.

Also merge Utility within Core.

- SIMULATION adds the object actors and set the
interactor style to no interactions.
- DEBUG adds additional actors to visualize
lights, the camera, axis, and set the interactor
style to trackball to interact with the scene.

 Adds fade background with typical paraview style bg colors.
TODO : make this a renderer setting and optional

Adds geometry map base class and isometriMap

Signed-off-by: Sreekanth Arikatla <sreekanth.arikatla@kitware.com>

- Remove PThreads on Linux
- Correct CMake output directories in case of single
configuration type (not MSVC)