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Refactor physics module

Sreekanth Arikatla requested to merge refactorPhysicsModule into master

Summary:

  • Modifies the Dynamical objects realted classes to generalize for any problem state. This allows for rigid bodies, deformable bodies using FEM and pbd under one dynamicalObject base class.
  • Adds common interface for pbd solver and FE solvers to allow simpler code in SceneManager
  • Refactors all the PBD classes for bugs, style, warnings and efficiency.
  • Misc. modifications including rearranging folders, example codes, renaming classes and clearing some warnings.

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