BUG: Fix issue in MeshToMeshBruteForce, handles extra edge case, bary moved and swapped with eigen vecs, comments added

BUG: Tuned PBDPickingExample to use SurfaceMeshToCapsule, switch to for instead of parallelFor for CD

Remove name from the light class. It is now maintained exclusively in the scene class.

Removes isLightRegistered, hasSceneObject
Adds removeLight

additionally adds a way to add optional requirements

- move the implementation to the cpp
- enforce const correctness
- add more descriptive documentation for certain functions

Refactor to add computBoundingBox to the entire scene
Remove Renderer::updateConfig and do the update in the setConfig itself
Remove unused include in the imstkKeyboardSceneControl

Did not touch imstkPbdModel as it's being worked on by andrew wilson