Change Shape::computeInertia(double _mass) to pure virtual function and fix computeInertia(double mass) of each types of shapes.
Remove math::matrixToQuat() and math::quatToMatrix() since they are in Eigen with same functionality.
Fix World::evalDeriv().
Rename BodyNode::setMomentOfInertia() to BodyNode::setInertia(), modify comments and remove wrong assertions.
Remove an unnecessary line in World.
Merge with master.
Merge branch 'origin/master'
Box, Shpere primitive collision