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Add No rendering option

Sreekanth Arikatla requested to merge sreekanth-arikatla/iMSTK:NoRenderingOption into master
  1. Adds no rendering option ar build time (by Johan)
  2. Moves the infinite loop for no-rendering option inside the simulation manager to make the application code seamless (agnostic to whether rendering is enabled or not)
  3. Removes vtk dependency for imstkLight class

What this MR doesn't address: If new lights are added or properties of existing lights are changed, there is not mechanism to address this currently. This leads to the same question for other scene elements. This needs to be addressed in a structured way by tracking the modified scene elements and updating them efficiently at the start (or end) of each frame.

CC: @NickMilef

Edited by Sreekanth Arikatla

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