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/useShadowMapInstancingVS.glsl

@@ -65,7 +65,7 @@ out vec3 lightDir,normal,ambient;
 void main(void)
 {
 	vec4 q = instance_quaternion;
-	ambient = vec3(0.6,.6,0.6);
+	ambient = vec3(0.5,.5,0.5);
 			
 	vec4 worldNormal = (quatRotate3( vertexnormal,q));