Add kiva_shelf to prepare for picking/grasping task

Fix uninitialized variable jointDamping/jointFriction in SDF importer
Add SDF <pose> parsing in visual, inertial, collision elements.
Slight improvement in TinyRender loading performance of largish meshes (30k vertices)
Reduce #define MAX_SDF_BODIES to 500, due to some issue in client code, todo: figure out what the issue is.
b3RobotSimAPI support SDF file loading
Tiny improvement in OpenGL hardware renderer lighting, to distinguish faces without textures

examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.glsl

@@ -27,8 +27,7 @@ void main(void)
 	vec3 ct,cf;
 	float intensity,at,af;
 	
-	intensity = clamp( dot( normalize(normal),lightDir ), 0,1 );
-	
+	intensity = 0.5+0.5*clamp( dot( normalize(normal),lightDir ), -1,1 );
 	
 	af = 1.0;