Add and modify skel files
Fix style
Add createNLinkRobot() to TestHelpers.h and fix style
Fix style of Geometry.h/cpp
Fix testJoints.cpp and testParser.cpp
Add testEquationOfMotion.cpp
Fix style of Geometry.h/cpp
- Replace previous forward dynamics algorithms with Featherstone's ones
- Use dirty flags for dynamics quantities such as M, M^{-1}, C, g, Fext, J
- Calculate the dynamics qunatities using cache data from the forward dynamics steps which improves the performance
Comment out profinling code in Debug mode of testEquationOfMotion
Add more assertions to BodyNode::updateBiasForce()
Fix style
Fix Skeleton::updateMassMatrix()
Reduce the number of iteration for benchmark test of testEquationOfMotion.cpp in debug mode
Clean up unnecessary parts
Remove BodyNode::mDescendantBodyNodes
Clean up BodyNode.cpp and Skeleton.cpp
Clean up Skeleton.cpp
Make all the member functions of SkelParser as public.
Add destructor of MeshShape
Change BodyNode::draw() to virtual function