Avoid clearing Kinematics Geometry hash when adding to environment

[kanbouchou]

Background

• Kinematics geometry hash is expensive to compute and we would like to avoid recomputing it unless necessary
• When we clone a kinbody and add to an environment, cloning is copying __hashkinematics, but it was reset inside _ComputeInternalInformation and _PostprocessChangedParameters both called from Environment::Add

Proposal

1. Inside _ComputeInternalInformation, do not invalidate kinematics geometry hash.
2. Do not pass KinBody::Prop_LinkDynamics to _PostprocessChangedParameters when calling Environment::Add as dynamics properties should not be changed during this process.

cc @yoshikikanemoto

[kanbouchou]

will make some changes based on offline discussions, setting to draft until completed.

[kanbouchou]

will make some changes based on offline discussions, setting to draft until completed.

@rdiankov please review again, the final change set is basically to make sure that in call path of adding to environment, make sure we don't invalidate hash. I didn't need to add logic to invalidate hash when related properties changes, it was already all taken care of.

[kanbouchou]

@rdiankov changed variable name as discussed offline, from __hashKinGeomDyn to __hashKinematicsGeometryDynamics

[rdiankov]

thanks