Change Shape::computeInertia() into query.

New function signature is Eigen::Matrix3d Shape::computeInertia(mass).
Replace Shape::mVizMesh with ShapeMesh calls

Conflicts:

	src/renderer/OpenGLRenderInterface.cpp
Move Shape::mVizList into ShapeMesh.
Add gccfilter option to cmake
Merge branch 'eric/gccfilter' into eric/shape-refactoring
Add constructors to Shape w/o mass parameter.
Pull up mass logic into BodyNode.
Rename Shape::mVizTransform -> mTransform
Use Shape::mTransform for rendering.
Introduce Shape::mTransform calls to parsers/rendering.

In ParserSkel and ParserVsk, local COM is set into Shape::mTransform to
support default graphics behavior. Robotics URDF parser does not assume
Shapes are not translated by local COM.
Fix CoM bug.

Graphics and Robotics rendering calls now translate according to Shape's
internal transform. Collision detection also uses Shape's internal
transform instead of CoM.