Reset changes to do incremental fixes.
Change Shape::computeInertia() into query.

New function signature is Eigen::Matrix3d Shape::computeInertia(mass).
Replace Shape::mVizMesh with ShapeMesh calls
Add type checks to OpenGLRenderInterface.

draw() and compileList() no longer assume the input Shape is a
ShapeMesh.
Merge branch 'master' into shape-refactoring-option2

Conflicts:
	src/renderer/OpenGLRenderInterface.cpp
Move Shape::mVizList into ShapeMesh.
Made Shape::computeInertia() public.
INCOMPLETE: Move Shape methods with mass parameter into BodyNode calls.

In the process of removing `double mass` parameters from function calls
in Shape, i.e. the constructors. Next step is to replace
Shape::getMass() and Shape::setMass().