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Streamline initialization of scene and its elements

Sreekanth Arikatla requested to merge sreekanth-arikatla/iMSTK:streamlineInitOfScene into master

Highlights:

  1. Streamlines the initialization process of the scene and its objects.
  2. A configure function is added to the dynamic models that drive the physics of the body. The configuration is used to initialize the dynamic models, the scene objects, and the scene.

This allows for

  • Since the configuration is stored by the configure method, one can read/write configuration files easily in the future. This is already done for FE based deformable objects (eg: dynaModel->configure(iMSTK_DATA_ROOT "/oneTet/oneTet.config") in testDeformableBody example)
  • Integration of ODE engine (http://www.ode.org/) where there is one world for all the ODE rigid bodies

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