Rename BodyNode::get/set Shape API.

Extended Shape getters and setter names, e.g. getVisualizationShape and
getCollisionShape.
Delete collision shape in BodyNode destructor
Fix rendering to fill; Hack to color primitives

Primitive coloring is highly saturated in white because we are using a
light model for shading vertices. Fixing that saturation requires
modifying materials, textures or the lighting model.
Fix collision and rendering to use Shape transform

Collision meshes were not transformed properly because they only used
the translation component for alignment. Shape's draw function also had
the same bug.
Merge branch 'master' into eric/shape-refactoring