Fix friction and restitution of individual shapes in a body

[jslee02]

DynamicAspect was introduced to allow to set different dynamics properties (including friction and restitution properties) per shape in a BodyNode for setting the dynamic properties of individual shapes in a BodyNode. However, the constraint solver still uses the dynamics properties stored in BodyNode.

This PR deprecates the friction and restitution property related APIs in BodyNode and change the constraint solver to use the dynamics properties in DynamicAspect.

Resolves #200.

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[codecov]

Codecov Report

❗ No coverage uploaded for pull request base (master@2466c01). Click here to learn what that means.
The diff coverage is 51.42%.

@@            Coverage Diff            @@
##             master    #1369   +/-   ##
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  Coverage          ?   56.97%           
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  Files             ?      366           
  Lines             ?    27460           
  Branches          ?        0           
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  Hits              ?    15646           
  Misses            ?    11814           
  Partials          ?        0

Impacted Files	Coverage Δ
dart/dynamics/detail/BodyNodeAspect.hpp	80% <ø> (ø)
dart/constraint/ContactConstraint.hpp	100% <ø> (ø)
dart/dynamics/BodyNode.hpp	100% <ø> (ø)
dart/constraint/SoftContactConstraint.cpp	0% <0%> (ø)
dart/constraint/ContactConstraint.cpp	74.92% <100%> (ø)
dart/dynamics/BodyNode.cpp	77.25% <60%> (ø)

[scpeters]

this looks good to me. I'll try rebasing my branch onto this tomorrow morning