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REFAC: Rbd Masses can be updated at runtime

Andrew Wilson requested to merge andrew.wilson/iMSTK:RbdMassUpdate into master

Provides a means to update mass in RigidBodyModel2. Unlike the other properties of the rigid body model these are expanded into your usual diagonal mass matrix and copied.

mass1
     mass1
          mass1
               mass2
                     ...

It actually alternates between mass and inertia.

So this expansion step needs to happen either every frame, done with flags and updated, or just updated. The last works and flags could be added later if we wanted.

Edited by Andrew Wilson

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