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BUG: Swig fixes

Andrew Wilson requested to merge andrew.wilson/iMSTK:SwigFixes into master
  • The swig directory & executable were not being given to the innerbuild so SWIG builds would only work if you put these things on your system path. Now you can just set them in cmake.
  • Lowered min cmake version of a file to match the base imstk cmake version requirement.

These changes are required to run nightly csharp tests.

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