VisualTestCommon links to correct glut library.

With target_link_libraries, the various VisualTests do not need to
link to glut or include the glut header directories.
Rename 'CollisionShape' to 'Shape' when serializing RigidCollisionRep

Revise UnitTest
Remove globalPosition member from Collision::Location

- Reason: The globalPosition calculated by the Dcd becomes irrelevant when the Representation's pose is updated. And the Representation's pose is updated twice within PhysicsManager::update(). In free motion and push results step. Since the Dcd is called between these two, the contact info is stale outside of the PhysicsManager. So, the globalPosition is replaced with rigidLocalPosition.
- Updated all DcdContact::doCalcluateContact() functions and unit tests.
- Updated other part of the code which were broke because of this (VisualizeContactBehavior, RigidRepresentationTest)
- Updated StaplerBehavior::createBilateral3DConstraint to accept
  Collision::Locations for both the representations.
Merge branch 'master' into fix/remove-globalposition-from-dcd
Merge branch 'fix/remove-globalposition-from-dcd' into 'master'

Remove globalPosition member from Collision::Location

+1: Julien Lenoir, Harald Scheirich, Ryan Beasley, Paul Novotny

Merged-on: https://www.assembla.com/code/OpenSurgSim/git/merge_requests/1073543
Merge remote-tracking branch 'origin/master' into fix/RigidCollisionRepresentation-Serialization
Merge branch 'fix/RigidCollisionRepresentation-Serialization' into 'master'

Revise RigidCollisionRepresentation serialization

Merged-on: https://www.assembla.com/code/OpenSurgSim/git/merge_requests/1066083
Merge branch 'fix/visualtest-glut-linking' into 'master'

Fixes the VisualTestCommon CMakeLists linking to glut.

+1: Julien Lenoir, Harald Scheirich, haizhouW

Merged-on: https://www.assembla.com/code/OpenSurgSim/git/merge_requests/1065933