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
now only comparing to mex if mex file is available
Fix the kinsol problem in inverseKinBackend.m
testIK can fail due to major iterations limit. Increase the major iterations limit'
increase the major iterations limit further. This is ridiculously high
Merge pull request #539 from tkoolen/issue-537

testFindKinematicPath: only compare to mex if mex file is available
Merge pull request #541 from hongkai-dai/fix-iktraj-matlab

Fix the kinsol problem in inverseKinBackend.m
add new planner which only one sector variable for both sin and cos
pcone constraint
new polynomial cone utility
polycone-based planner
more accurate approximation
much faster footstep planner relying on good convex relaxations
fix some spacing bugs and implement trim
get reachability from biped
make goal cost higher on final steps