Force Boost to auto link to dynamic libraries

When building shared libraries, tell boost to auto link to the dynamic
versions of it's libraries. This was cropping up in windows builds where
boost would auto link to static libraries.
Add missing dependensices to SurgSimTesting

A couple of missing dependencies cropped up when build shared libraries.
Don't allow BUILD_SHARED_LIBS on Windows

Enabling shared libs on windows is going to require an EXPORT macro, and
exporting various stl containers (vector, map, etc). This isn't needed
with gcc, since everything is exported by default. So at the moment,
this change will display a cmake error if BUILD_SHARED_LIBS in ON, until
the needed changes are added.