Adds updates per second (UPS) counter utility.

USAGE:
UPSCounter->setStartPointOfFrame();
...
... (work load of the frame)
...
UPSCounter->setEndPointOfFrame();

// Get the updates per second
UPSCounter->getUPS();

Fix regression introduced in !121 with the use of the fast normals filter
`vtkTriangleMeshPointNormals`. That filter was also applied for surface
meshes with non-triangular cells: cells, sphere, capsule, cube (quads and
not triangles).

Since the issue of non-triangular meshes comes from analytic mesh sources,
the output surface meshes will always be rigid, so their normals will stay
constant and won't need to be recomputed. We can therefore use the filter
`vtkPolyDataNormals`, which is slower but will only need to be called once
of no deformation occurs.

Co-Authored-By: Alexis Girault <alexis.girault@kitware.com>

Co-Authored-by: Alexis Girault <alexis.girault@kitware.com>

- Velocity of particles should be updated only after collision being
  resolved.
- Rename from integrateVelocity() to updateVelocity() for pbdObject and
  pbdModel.

Currently VTK doesn't support capsule actor.
vtkCapsuleSource class originally authored by
Johan Andruejol <johan.andruejol@kitware.com>
was modified and used. The source of vtkCapsuleSource
class is placed in the imstk source for the moment.
This has to be migrated to vtk proper in the future.

Adds capsule-point cloud collision detection.
First the each point in mesh is checked against
the bounding sphere of the capsule. If inside,
the closest point is found on the line joining
the two apexes of the capsule. If the point
is inside the bounding sphere then the closest
point should be inside the capsule. If the distance
between the closest point and the mesh point is less
than radius of the hemispheres of the capsule, the
collision is registered.

Adds deformable-rigid penalty collision handling. Unifies all the
penalty collision handling classes into one.

Co-Authored-by: Alexis Girault <alexis.girault@kitware.com>

 Add collision Mesh to sphere and plane coll. detection classes based on brute force approach.

Adds utility functions for creating scene objects with commonly used
call patterns

Co-Authored-by: Alexis Girault <alexis.girault@kitware.com>

Generalizes linear projection constraints implementation.
Modifies testDeformableBody example to test the changes.

Expand the imstk_add_library cmake function by exposing the variables
H_FILES (headers) CPP_FILES (source) and SUBDIR_LIST (build interface
directories - the current source dir is always included).

If those values are not manually set, the previous behavior applies,
where all the files and directories in the root directory are used for
that target.

Used that new mechanism for the Rendering target to prepare for Vulkan
integration.

The device tracker stays up-of-date at all frames and is fixed by
setting m_trackingDataUptoDate to false at the end of the frame

According to e80f6f5e
Test now passing:
setgetWidth(): Don't allow to change width if <= 0
setgetNormal(): Add m_normal parameter to rely on it when setgetNormal
And update rendering delegate part for the Plane.

Tests failing:
setgetWidth() with a width <=0
setgetNormal(): the vector returned by getNormal() is slightly different
from the one sent. Indeed, the normal is computed by the difference between
the orientation and the UP_VECTOR. In order to fix the issue, a m_normal
parameter must be added in the imstkPlane class.
Don't forget to update the rendering part based on this new m_normal vector

Fix #116 (in addition to getVolume formula fixes in imsktCube:
0280cec7)

Test now passing:
getVolume(): fix cube volume formula
setgetWidth(): Don't allow to change width if <= 0

see 1b1b018d

Tests failing:
getVolume()
setgetWidth() with a width <=0

Also correct indentation in Pbd class.

Create a tool with two jaws and a shaft. The controller
use its DeviceTracker to update the three objects

* Rename TrackingController to DeviceTracker
* Have subclasses store a pointer to DeviceTracker instead
of inheriting it. This allows:
1. swapping the tracking controller at runtime
2. having multiple controllers control for the same scene object (eg: laparoscopic tool jaw)
* Add SceneObjectControllerBase to parent SceneObjectController
and other future object controllers
* Update tracking data only once per frame: if the same tracker
is used for multiple objects, it is updated only once per frame.
Each tracker is set to upToDate once the tracking data is updated
and offsets computed once at each frame. At the end of the frame
all the device trackers are set to be outOfDate.