Controller feedback

Got rid of GetTorques function in CompassBiped

Added code for performing phase reset when the leg impacts the ground
(set ExtP_reset to desired reset phase). Also added code for adding an
"impulsive torque" to the legs upon impact, i.e., causing a sudden
change in angular velocities (either a constant change or bring them to
specific values)

Changed the 0 value for Switch and OutM so the output torque has the
appropriate dimension for CompassBiped when the controller uses no
pulses.
** TO DO ** figure out how to deal with a single pulse to one joint

Also re-coded the old adaptation function

Finally, stopped trying to render torques when no pulses exist.