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ENH: implemented spatial hashing and added an abstract class

Nicholas Milef requested to merge NickMilef/iMSTK:SpatialHashing into master

This handles #109 (closed), but only separate chaining is available for now.

NOTE: This isn't the most optimal setup as I use the unordered_set class, which creates a linked-list of points. In the future, we'll probably want to use buckets of points rather than one bucket per points to help with spatial locality.

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