Removed numerous static variables (replaced with member variables)
Merge branch 'master' of https://github.com/edrumwri/Moby
Merge branch 'master' of https://github.com/edrumwri/Moby
Merge branch 'master' of https://github.com/edrumwri/Moby
Fixed bug in RCArticulatedBody::calc_jacobian()