ENH: Rewrite collision detection classes, moving their code to a static namespace called "NarrowPhaseCD". Also add new collision detection classes, such as "PointSetToVolumeMesh" and "SurfaceMeshToSurfaceMesh"

/*=========================================================================

   Library: iMSTK

   Copyright (c) Kitware, Inc. & Center for Modeling, Simulation,
   & Imaging in Medicine, Rensselaer Polytechnic Institute.

   Licensed under the Apache License, Version 2.0 (the "License");
   you may not use this file except in compliance with the License.
   You may obtain a copy of the License at

      http://www.apache.org/licenses/LICENSE-2.0.txt

   Unless required by applicable law or agreed to in writing, software
   distributed under the License is distributed on an "AS IS" BASIS,
   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   See the License for the specific language governing permissions and
   limitations under the License.

=========================================================================*/

1. Dynamical object classes are templated with the problem state
   (Deformable bodies use vectorized state. Pbd objects use pbdState.)
2. Pbd state is refactored to have only the current state
3. Rename deformableBodyState to VectorizedState which can be used in
   future by all the finite element and vectorized formulations
4. Remove unnecessary mappnig for the cloth example
5. Adds queries to sceneobject for visible, collidable and physics
6. Optional allocation of internal states for pbdState
7. Removes the specialized calls in the sceneManager::runModule.
   This will be further cleaned.
8. Correct ifdef in imstkNewmarkBeta.h

1) Change the interactionPair structure to save
only one collisiondata per structure, and inform
the collisionhandling of a "side" defining which
object it is handling, therefore which way it needs
to read the collisionData

2) Update MeshToMeshCD to properly populate data
based on 1.

To geometries, objects, collision data

Still need to connect callbacks to retrieve collision data.