Fix EulerJoint::_updateTransform()
Add verifyRotation().
Add verification code for joint transformation in testJoint.cpp
Merge branch 'origin/master'

Conflicts:
	src/dynamics/EulerJoint.cpp
	src/math/Geometry.cpp
Fix compiler error caused by last commit
Merge branch 'origin/master'
Support box, sphere (not ellipsoid).
Use DARTCollsionDetector in ConstraintDynamics.