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WIP: Remove collision graph

Andrew Wilson requested to merge andrew.wilson/iMSTK:RemoveCollisionGraph into master
  • scene->getCollisionGraph()->addInteraction(...); is now just scene->addInteraction(...);
  • CollisionGraph, CollisionPair, InteractionPair, ObjectInteractionPair, & ObjectInteractionPairFactory removed
  • CD and CH now don't contain TaskNode's. This makes them more concise. This also allows interactions to properly swap out their CD's and CH's as we are not bound to a function in the scope of the CD or CH.
  • Unused nodes must be removed before reduction is done. Reduction does not behave well with disconnected nodes.
  • Interactions are now SceneObjects.

...WIP full description...

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