Add Unit Test to Box Capsule Dcd Contact

The unit test highlights the bug in BoxCapsuleDcdContact, ie the
penetration point location is in the wrong place for the second object
(the capsule). This test currently fails, as it should.
Fix Box Capsule Dcd Contact

The box capsule dcd contact was giving the incorrect penetration point
for the capsule, ie was adding the penetration when it should have been
subtracting it. This fix also behaves better as it finds one contact
between the box and capsule instead of two. This could result in
competing contacts that pull the objects in different directions to
resolve penetration, and in practice resulted in jumpy behavior.
'beam'->'1DElement', 'face'->'2DElement', 'polyhedron'->'3DElement'
Refactor Fem3DRepresentationPlyReaderDelegate, abstract common parts.
Merge branch 'feature/textured-material' into feature/textured-wound-2

Conflicts:
	SurgSim/Graphics/RenderTests/OsgShaderRenderTests.cpp
Implement PlyReaderDelegate for Fem2DRepresentation
Implement PlyReaderDelegate for Fem1DRepresentation
Move load file feature into base class FemRepresentation
Implement load file feature on Fem2DRepresentation
Implement load file feature on Fem1DRepresentation
Apply local materials to the arm and the wound
Use 'EXPECT_DOUBLE_EQ' for double type comparison
Documentation and variable name revision
Revise FemRepresentation::loadFile()
Keep 'face' for graphical part in ply file

Use lower case and underscore to separate names:
'1DElement' -> '1d_element'
'2DElement' -> '2d_element'
'3DElement' -> '3d_element'
Refactor part of registerDelegate into base class
Remove 'doLoadFile()', derived classes will return its delegate

Instead of passing the PlyReader to derived classes,
FemRepresentation::loadFile() will now ask its derived class to give
back the corresponding PlyReaderDelegate, and register this delegate and
do the load work.
Serialize Fem1D/2DRepresentation, add UnitTest
Add a list of active representaions in PhysicsManagerState.
Add a list of active constraints to PhysicsManagerState.