Moves collision map publishing to new function called by DcdCollision.
Collision::Representation::update is called before collisions, after
collisions, and also on setLocalPose, setShape, and maybe elsewhere, so
the map was being published too often (performance issues).
With this change, DcdCollision triggers the publish right after the
collisions are determined.
Reverts recent changes to Shape/DeformableCollisionRep::update.
Should have been reverted when the collision map publishing was moved
out of CollisionRep::update.