ENH: Use no copy data array to map vertices to VTK

Update VTK mesh render delegates (SurfaceMesh,
LineMesh, TetrahedralMesh) to directly map the vertices
from the eigen and stl structures in iMSTK, and get rid
of VTKMappedVertexArray. This should considerably reduce
overhead calls and improve performances thanks to the
no-copy operation.

See http://www.vtk.org/Wiki/VTK/Tutorials/DataArrays

Add back normals generationin the SurfaceMesh render delegate.

Also updates testPbdCloth to add another row of points
to the cloth (made it easier to debug the initial
vertex positions), as well as add lights to better
debug normals.