Merge branch 'improve-geometry-transforms' into 'master'

Base/Collision/CollisionDetection/imstkMeshToCapsuleCD.cpp

Base/Collision/CollisionDetection/imstkMeshToPlaneCD.cpp

Base/Collision/CollisionDetection/imstkMeshToSphereCD.cpp

Base/Collision/CollisionDetection/imstkSphereToSphereCD.cpp

Base/Collision/CollisionDetection/imstkTetraToTetraCD.cpp

...CollisionDetection/imstkUnidirectionalPlaneToSphereCD.cpp

Base/Collision/CollisionHandling/imstkVirtualCouplingCH.cpp

Base/Core/imstkAPIUtilities.h

...ynamicalModels/ObjectModels/imstkFEMDeformableBodyModel.h

Base/Geometry/Analytic/imstkAnalyticalGeometry.cpp

Base/Geometry/Analytic/imstkAnalyticalGeometry.h

Base/Geometry/Analytic/imstkCapsule.cpp

Base/Geometry/Analytic/imstkCapsule.h

Base/Geometry/Analytic/imstkCube.cpp

Base/Geometry/Analytic/imstkCube.h

Base/Geometry/Analytic/imstkPlane.cpp

Base/Geometry/Analytic/imstkPlane.h

Base/Geometry/Analytic/imstkSphere.cpp

Base/Geometry/Analytic/imstkSphere.h

Base/Geometry/Map/imstkIdentityMap.cpp