Add Fem3d frictionless contact
Rename "AddStapleBehavior" to "StaplerBehavior"
Removes unused include from InputVtcExample.cpp
NovintScaffold force/torque calculations use stiffness/damping, if any.

computeRotationVector should probably be refactored or move to Math.
PhantomScaffold force/torque calculations use stiffness/damping, if any.

This commit has not yet been tested.
Uses Eigen::Matrix::data instead of Maps in NovintScaffold.
Bugfix, NovintScaffold assigns to fakeBasisMatrix.
Moves computeRotationVector into Math.
Uses Eigen::Matrix::data() instead of Maps in PhantomScaffold.
Let StaplerBehavior holds a copy of the representation

Store a copy of the representation, whose collision list (if any) will
be accessed by StaplerBehavior.

Note: When there is collision, the collision list of the representation
should be copied out for thread safety. Thus, a mutex should be used to
protect the copy.
Merge branch 'wip/storeContacts-CollisionRep' of git.assembla.com:OpenSurgSim into wip/staplingDemo-printoutCollisionInfo
Alphabetically orders NovintScaffold includes.
Add printout message when the stapler collides with other objects.
Bugfix, fixes broken build due to half-completed PhantomScaffold change.

Moves the outputData variable into the force/torque function.
Uses the correct variable names from the DeviceData struct.
Removes the scaling (which is not currently in our Phantom code).
Refactor main.cpp to add createStapler() and createArm() and add
physics and collision representations for the stapler and arm.
Add VTC connection for the stapler SceneElement.
Merge branch 'master' into feature/haptic-use-stiffness-damping

Conflicts:
	SurgSim/Physics/VirtualToolCoupler.cpp
VirtualToolCoupler uses computRotationVector in Math.
VirtualToolCoupler checks for necessary inputs at wakeUp.
Use FixRepresentation to create the arm element and add transfer pose
behavior from physics to graphics for its.