Refactor spatialJoin

- Use member functions instead
- Eliminate InnerLoop function
- Return list instead of vector
- Mark Tree::getRoot as const
MeshShape, add pose, aabbTree, and initialMesh
Collision::Representation, refactor to use posed MeshShape

- Remove getGlobalShape, getAabbTree
MeshShape, remove createAabbTree
TriangleMesh, rename setTransformedFrom to copyWithTransform

- renamed similarMesh -> source
MeshShape, refactor updateAabbTree

- Use iterator rather than indexed variable.
TriangleMeshBase, add getTriangleVerticesPositions

- Refactor TriangleMeshTriangleMeshDcdContact to use new function.