Replace "shape" with "geometry" throughout.

Also replaces "Shape", "shapes" etc.

Resolves #443
Replace contact_shapes in constructModelMex
Fix removeVisualGeometryFromBody calls
Address Russ's comments
Fix typo in RigidBodySupportState
*Actually* fix typo in RigidBodySupportState

runAtlasWalkingTestMex passes now.
Merge pull request #532 from avalenzu/akv-replace-shape-with-geometry-rebased

Replace shape with geometry (rebased)