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Refactor imstk libraries

Sreekanth Arikatla requested to merge sreekanth-arikatla/iMSTK:refac into master
  1. Refactor rigid body model config
  2. Move controllers to separate library
  3. Use forward declarations: Scene, SceneManager, SimulationManager, collision, geometry, dynamical models, animation, controllers, data structures
  4. Renaming classes and enums: Core->Common, imstkEntity->imstkSceneEntity etc.
  5. Move imstkSceneEntity from Common to Scene
Edited by Sreekanth Arikatla

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