Improve readability of cmake output

This pull request improve the readability of cmake output by controlling the extent of printing information and stylizing the printing format. Here are example outputs of the previous output and improved output.

Previous output:
```
-- Generate makefile/project file for DART
-- CMAKE_SOURCE_DIR = /home/js/DRC/dart_master
-- CMAKE_BINARY_DIR = /home/js/DRC/dart_master/build
-- Checking dart build type
-- checking for module 'nlopt'
--   package 'nlopt' not found
-- Could NOT find NLOPT (missing:  NLOPT_LIBRARY NLOPT_INCLUDE_DIR) 
CMake Warning at CMakeLists.txt:89 (message):
  NLOPT not found
-- Looking for IPOPT - found
CMake Warning at CMakeLists.txt:104 (find_package):
-- Looking for BulletCollision - found
-- Boost version: 1.54.0
-- Found the following Boost libraries:
--   system
-- Generate the config file to /home/js/DRC/dart_master/build/dart/config.h
-- Generate the path header file to /home/js/DRC/dart_master/build/dart/utils/Paths.h
-- Adding test: testOptimizer
-- Adding test: testCommon
-- Adding test: testBuilding
-- Adding test: testGeometry
-- Adding test: testConstraint
-- Adding test: testInverseKinematics
-- Adding test: testWorld
-- Adding test: testDynamics
-- Adding test: testUtilities
-- Adding test: testCollision
-- Adding test: testParser
-- Adding test: testJoints
-- Adding test: testMath
-- Adding test: testSoftDynamics
-- Adding test: testNearestNeighbor
-- Adding test: testForwardKinematics
-- Configuring done
-- Generating done
-- Build files have been written to: /home/js/DRC/dart_master/build
```

Improved output:
```
-- 
-- ============================================
--                 DART 4.2.0
-- ============================================
-- 
-- [ Mandatory dependencies ]
-- Looking for Eigen - found
-- Looking for FCL - found
-- Looking for Assimp - found
-- Looking for OpenGL - found
-- Looking for GLUT - found
-- Looking for Boost - 1.54.0 found
-- Looking for FLANN - found
-- Looking for TinyXML - found
-- Looking for TinyXML2 - found
-- Looking for urdfdom - found
-- 
-- [ Optional dependencies ]
-- Looking for OpenMP - found
-- Looking for NLOPT - NOT found, please install libnlopt-dev
-- Looking for IPOPT - found
-- Looking for SHARK - found
-- Looking for BulletCollision - found
-- Looking for PerlModules - found
-- Looking for Doxygen - found
-- 
-- [ Build summary ]
-- CMAKE_GENERATOR  : Unix Makefiles
-- Compiler ID      : GNU
-- Compiler version : 4.8.2
-- Build type       : Release
-- BUILD_SHARED_LIBS: ON
-- ENABLE_OPENMP    : ON
-- Build core only  : OFF
-- Build examples   : ON
-- Build unit tests : ON
-- Install path     : /usr/local
-- CXX_FLAGS  : -Wall -msse2 -fPIC
-- CXX_FLAGS_RELEASE: -O3 -DNDEBUG
-- CMAKE_SOURCE_DIR : /home/js/DRC/dart_master
-- CMAKE_BINARY_DIR : /home/js/DRC/dart_master/build
-- 
-- [ Configured files ]
-- /home/js/DRC/dart_master/build/dart/config.h
-- /home/js/DRC/dart_master/build/dart/utils/Paths.h
-- /home/js/DRC/dart_master/build/cmake/DARTCoreConfig.cmake
-- /home/js/DRC/dart_master/build/cmake/DARTConfigVersion.cmake
-- /home/js/DRC/dart_master/build/cmake/DARTConfig.cmake
-- /home/js/DRC/dart_master/build/cmake/DARTConfigVersion.cmake
-- /home/js/DRC/dart_master/build/cmake/dart.pc
-- 
-- [ Unit tests ]
-- Adding test: testOptimizer
-- Adding test: testCommon
-- Adding test: testBuilding
-- Adding test: testGeometry
-- Adding test: testConstraint
-- Adding test: testInverseKinematics
-- Adding test: testWorld
-- Adding test: testDynamics
-- Adding test: testUtilities
-- Adding test: testCollision
-- Adding test: testParser
-- Adding test: testJoints
-- Adding test: testMath
-- Adding test: testSoftDynamics
-- Adding test: testNearestNeighbor
-- Adding test: testForwardKinematics
-- 
-- Configuring done
-- Generating done
-- Build files have been written to: /home/js/DRC/dart_master/build
```