Merge remote-tracking branch 'origin/ParallelCollisionDetectionAndHandling' into ParallelPBDConstraintProjection

BUG: Fix parallel collision detection (bug was due to forgetting to use separate variables for different threads)

STYLE: Move uncrustify cmake script to utilities

See merge request iMSTK/iMSTK!322

Parallel SPH

See merge request iMSTK/iMSTK!318

Add PBDModelConfig to allow easier PBD model configuration

See merge request iMSTK/iMSTK!319

# Conflicts:
#	Examples/PBDCollision/PBDCollisionExample.cpp
#	Examples/SPHFluid/SPHFluidExample.hpp
#	Source/DataStructures/imstkGridBasedNeighborSearch.cpp
#	Source/DataStructures/imstkSpatialHashTableSeparateChaining.cpp
#	Source/DynamicalModels/ObjectModels/imstkPbdModel.cpp
#	Source/DynamicalModels/ObjectModels/imstkSPHKernels.h
#	Source/DynamicalModels/ObjectModels/imstkSPHModel.cpp
#	Source/DynamicalModels/ObjectModels/imstkSPHModel.h
#	Source/DynamicalModels/ObjectStates/imstkSPHState.h
#	Source/SimulationManager/imstkSimulationManager.cpp

# Conflicts:
#	Examples/PBDCollision/PBDCollisionExample.cpp
#	Source/DynamicalModels/ObjectModels/imstkPbdModel.cpp

Improve code formatting with uncrustify

See merge request iMSTK/iMSTK!320

STYLE: Change function names, add more comments, change LOG usage, remove regular assertion and add static assert