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Minor refactoring of rendering and simulation manager

Sreekanth Arikatla requested to merge sreekanth-arikatla/iMSTK:minorRefacRendering into master
  1. Makes internally used functions private
  2. Removes functions not used or irrelevant
  3. Improves API (for the simulation manager)
  4. Imposes const correctness
  5. Adds missing documentation

Further refactoring is required. Refer #173 (closed) for details

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