improved the speed of contact handling
removed exampleCollisionWithSkeleton and fixed some warnings
modified balance app: using EE integrator
changed the ground level in balance app
added pdf files for tutorials and removed the tex files
added tutotial pdf files
added constraintDynamics class and 'hanging' app
moved fort.4 into data/etc
removed installationGuide.txt and windowsTroubleshootingGuide.txt
added hanging app
Fix #28: Contact points were not calculated correctly

The collision mesh was centered around the node origin instead of the node's COM.
Merge branch 'robotics' of github.com:golems/dart into robotics
Removed argp from the hardcoded design and updated its cmake file
Fix compiler error in hardcodedDesign app on Windows and some clean-up
added ConstraintDynamics
Fix compiler error in hanging app
Merge remote-tracking branch 'remotes/origin/robotics'

Conflicts:
	apps/CMakeLists.txt
fixed hanging app
Add transformation that represents a rotational DOF around a given arbitrary axis
Chang order of TransFormType since somehow ROTATEX/Y/Z need to be at the beginning