SimulationController now sleeps for longer if it is not simulating

Simulation sleep time is now changed dinamically during execution
Update chain in simulationSolver now updates both angles
Added offset argument to cube setWidth
Added point3DMarker to show where the goal is

Also added centroid to all vertex objects
Light is not shown using the 3D marker
InputHandler now has a pointer to simController
InputHandler now has a pointer to the goalMarker
Goal can be moved in 3D!!!!
Code refactoring on InputHandler keyCallback