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REFAC: Remove non-PBD rigid body physics

Shreeraj Jadhav requested to merge refac/remove-RigidBody-Model-Object into ECS_Updates

This merge_request will remove the implementation or Rigid body physics that is not PBD-related (imstkRigidBodyModel2, imstkRigidBodyState2, RigidObject2, RigidBodyCH). Rigid bodies can already be simulated using PbdObject and xPBD solver.

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