add initial configuration jitterer using bias (thanks to Alejandro Perez), ikfast fixes for translationdirection5d
ikfast bug fixes, configurationjitterer now works
minor changes for spacesampler
Merge branch 'production' into alejandro
a lot of work organizing the configuration cache code
fix compilation bug
Merge branch 'production' into alejandro
add environment add/remove body callbacks, add Prop_LinkTransforms for KinBody callbacks, many changes to have configuratino cache track the scene