Insects, validation, ground effect and takeoff

Hi all,
Here are some new parts of the code that I added during the last few weeks.
I'm not sure if all parts should be merged with master.
The important ones are the ordering of the rotation matrices, different geometries and kinematics (if we want to use them later), the ground (I implemented it differently to what was in the code before) and kinematics from file. 
channel.f90 is the mask function for the ground, but we do not compute forces on it
draw_plate.f90 is for the comparison with 2d
share_kine and kine_loader read flapping kinematics from file. It works but I'm still working on it, so this part may change.