Adds raycasting ability using bullet for RigidBodyManipulator.
Merge branch 'collision-dynamics-integration' of github.com:avalenzu/drake into collision-dynamics-integration
Adds a test for raycasting.
Merge branch 'collision-dynamics-integration' of github.com:avalenzu/drake into collision-dynamics-integration
updating cmake pointer
Merge branch 'master' of github.com:andybarry/drake into collision-dynamics-integration
updating cmake pointer
Merges changes for raycasting into my master
Addresses Russ's comments from pull request.
Test shouldn't use visualizer
adding dartmeasurement for known issues to make it easier to see in cdash.  would like it to actually appear on the cdash test summary page
Let RBM/surfaceTangents handle empty normals

Fixes #133
Re-call doKinematics with default args in ABCDC

That's AllBodiesClosestDistanceConstraint. This allows for testing of the cpp
constraint class. Without this, passing a non-mex kinsol into ABCDC yields
fewer constraint values than passing a mex one.
Merge pull request #93 from andybarry/collision-dynamics-integration

Raycasting with bullet and mex integration
fixed comment line
Move empty normals handling to contactConstraints

RBM/surfaceTangents now throws an error if `normal` is empty.
Cleanup no-contact-pair case in contactConstraints
ABCDC respects kinsol contract.

AllBodiesClosestDistanceConstraint (ABCDC) no longer re-runs `doKinematics`.
`testKinCnst_userfun_userfun` now has an additional flag that specifies whether
mex dynamics should be used throughout - even when testing a non-mex
constraint. This flag is only set to true for ABCDC right now. The behavior of
`testKinCnst` for the other constraint classes is unchanged.
Fixes headers that lost raycasting code via merge.
Merge pull request #138 from andybarry/collision-dynamics-integration

Fixes headers that lost raycasting code via merge.