got snopt working on windows.

updates lots of code to support the build w/ snopt on windows
  - the existence of snopt turned on the compilation of many pieces of code that were not compiled on windows before.  (e.g. the constraints, ik, ...). 
  - went through and quieted all of the compiler warnings on msvc 10.  lots of static_cast<int>
  - had to be more careful with some of the DLLEXPORTS.  should really go and give specific names to every DLLEXPORT.  will add that to the list.

Please check this carefully for me.