Merge pull request #60 from dartsim/primitive_collision

Ready to support primitive geometries for collision
ConstraintDynamics can now solve contact, joint limits, and other holonomic constraints ALL AT ONCE. If you don't want to enforce joint limit constriants, set SkeletonDynamics::mJointLimit to false (default is true). ContactDynamics should be replaced by ConstraintDynamics eventually, but currenlty the World class and many other apps depend on it. To see an example of ConstraintDynamics, run hanging and compare it with joint limit on/off.
ConstraintDynamics can now solve contact, joint limits, and other holonomic constraints ALL AT ONCE. If you don't want to enforce joint limit constriants, set SkeletonDynamics::mJointLimit to false (default is true). ContactDynamics should be replaced by ConstraintDynamics eventually, but currenlty the World class and many other apps depend on it. To see an example of ConstraintDynamics, run hanging and compare it with joint limit on/off.
Merge branch 'origin/master'