ENH: Update PbdTissueContactExample to use a two-way proper compliance...

This is pretty awesome payoff with the xpbd rigid bodies. Works very well now.

• Haptics working in the PbdTissueContactExample. Proper compliance. You can vary the youngs modulus or masses to change how much you can press the tissue.
• I used the new text additions to display the contact (from constraint lambda) and device forces in the top right of the screen.
• Also some fixes for updating the text in real time.
• Replaced example imstkNew's with shared_ptrs.
• DummyClient now used for mouse movement which is better than manually applying some force. PbdObjectController reused there.