Merge branch 'master' of git.assembla.com:OpenSurgSim into wip/staplingDemo-printoutCollisionInfo
Merge branch 'wip/staplingDemo-printoutCollisionInfo' of git.assembla.com:OpenSurgSim into wip/staplingDemo-printoutCollisionInfo
Replace dcdContactCalculation for arm and stapler by capsule and sphere representations.
Also disable gravity of the sphere representation.

Update VTC's linearStiffness.
Drop TransferPoseBehavior in createArm, revise rotation alignment of arm
Rename m_staplerRepresentation to m_collisionRepresentation
Connect graphical stapler to physics representation.

Remove visualization of the (sphere) collision representation used for
stapler, use graphical stapler directly.

Remove visualization of the input device.