minor spacesampler api change
added viewer c++ example
fixed qt c++ example with dynamic_cast
fixed idealcontroller bug
fixed viewer recorder deadlock
add OPT_IKFAST_FLOAT32 cmake option, fixed ikfast solver priority bug
Hacked in tighter RT tolerances on simulation update and eliminated redundant thread sleep
Finer tweaks to simulation for pseudo-RT
added control time to retiming functions to discretize times
Merge pull request #249 from robEllenberg/feature/realtime-tweaks

Small tweaks to simulation loop for pseudo-realtime
bullet fixes and better numpy include header check (thanks to John Schulman)
added mandatory ikfast test
add mandatory ikfast tests
added new linearsmoother, made parabolicsmoother faster, many other fixes for smoothing trajectories
Removed fallback on linear smoother in _ProcessPostPlanners, made linear smoother check configurations with tolerances
better caching if iksolvers and checking if new iksolver is same as last one
added several helper classes to cache information, fixed plugin destruction race condition
fixed several collada bugs with similar geometry
fixed memory leaks in retiming parameters, fixed asserts in parabolic smoother
changed logging