Initialize expectedContact to remove compile warning.

- Add triangleId to the expectedContacts.
Fix the RigidCollisionRep::update using the correct pose

Before, if you setup a scene with 1 fixed plane, 2 rigid sphere falling (1 SphereShape and 1 MeshShape),
the shape will fall and stay in contact while the mesh wil fall and bounce.
Now the have the exact same behavior, they both stays in contact.

Same thing with a staple dropped on a plane, it stays in contact.
Merge branch 'fix/linux-uninitialized-error' into 'master'

Fix linux-errors (warnings) and failing tests.

+1: Julien Lenoir, Ryan Beasley, Walter Schoen

Merged-on: https://www.assembla.com/code/OpenSurgSim/git/merge_requests/876013
Merge branch 'fix/rigidCollisionPose' into 'master'

Fix bug RigidCollisionRep using wrong pose

+1: Gughan Sathyaseelan, Ryan Beasley, Walter Schoen

Merged-on: https://www.assembla.com/code/OpenSurgSim/git/merge_requests/875963