--[BE Week] Articulated Object Loading refactors and cleanup

[jturner65]

Motivation and Context

This PR introduces some cleanup and essential prerequisite work for the upcoming support for Non-uniform scaling for Articulated Objects.

• A scene instance boolean is introduced to specify whether or not to apply the product of the geometric scale vector to the mass for objects and articulated objects.
• A few functions were refactored to get rid of unconventional or non-descriptive function prototypes
• A few unused functions were removed.

How Has This Been Tested

All c++ and python tests passed locally

Types of changes

• Docs change / refactoring / dependency upgrade
• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to change)

Checklist

• My code follows the code style of this project.
• My change requires a change to the documentation.
• I have updated the documentation accordingly.
• I have read the CONTRIBUTING document.
• I have completed my CLA (see CONTRIBUTING)
• I have added tests to cover my changes.
• All new and existing tests passed.

[aclegg3]

LGTM, thanks for isolating refactor PR