environment tweaks
Revert "revert color change in flat terrain"

This reverts commit eb7f14bc375337a9e050e30c0de5e219111556c6.
WIP: fix cost function
WIP: fewer SDP constraints
fewer unnecessary variables and constraints, and handle mosek stall better
cleanup and fix some numerical scaling issues
support color in rigidbody flat terrain
support getting just the mass of a single robotnum
just get the mass of the quadrotor
blue terrain and faster execution
method to set geometry color
clean up a bit
unit tests (finally) run on windows.  phew
update cmake to make win parallel builds more robust
starting to get rid of constexprs
fixed recursively defined gradient template type
got a couple of steps further in getting drakeGradientUtil to compile
converting macros to templated types
more progress on conversion from macros to templated types
more progress