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WIP: Add ode interface classes

Hina Shah requested to merge hina/iMSTK:add-ode-interface-classes into master

This MR adds classes to interface with ODE.

The classes added:

  • imstk::RigidObject
  • imstk::RigidBodyWorld
  • imstk::RigidBody
  • imstk::RigidBodyModel

Assumptions: ODE was build with Double precision, this branch does not build ODE, but expects a pre-built version.

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