clean and redesign

Base/Collision/imstkPbdInteractionPair.cpp

Base/Collision/imstkPbdInteractionPair.h

Base/Constraint/imstkPbdCollisionConstraint.cpp

Base/Constraint/imstkPbdCollisionConstraint.h

Base/Geometry/Map/imstkGeometryMap.h

Base/Geometry/Map/imstkOneToOneMap.h

Base/Scene/imstkCollisionGraph.cpp

Base/Scene/imstkCollisionGraph.h

Base/SceneElements/Objects/imstkPbdCollidingObject.cpp

Base/SceneElements/Objects/imstkPbdCollidingObject.h

Base/SceneElements/Objects/imstkPbdModel.cpp

Base/SceneElements/Objects/imstkPbdModel.h

Base/SceneElements/Objects/imstkPbdObject.cpp

Base/SceneElements/Objects/imstkPbdObject.h

Base/SimulationManager/imstkSceneManager.cpp

Examples/Sandbox/main.cpp