Merge branch 'origin/master'

Conflicts:
	apps/CMakeLists.txt
	apps/bulletCollision/MyWindow.cpp
	dart/collision/fcl_mesh/SoftFCLMeshCollisionDetector.h
	dart/constraint/ClosedLoopConstraint.cpp
	dart/constraint/Constraint.cpp
	dart/constraint/Constraint.h
	dart/constraint/ConstraintDynamics.cpp
	dart/constraint/PointConstraint.cpp
	dart/dynamics/Skeleton.cpp
	dart/dynamics/Skeleton.h
	dart/dynamics/SoftEdge.h
	unittests/testDynamics.cpp
Merge branch 'upstream/master'

Conflicts:
	CMakeLists.txt
	apps/CMakeLists.txt
	apps/atlasRobot/MyWindow.cpp
	apps/atlasRobot/TerminalCondition.h
	apps/bulletCollision/MyWindow.cpp
	apps/harnessTest/MyWindow.cpp
	apps/softDoublePendulumTest/MyWindow.cpp
	apps/softSinglePendulumTest/MyWindow.cpp
	ci/before_install.sh
	dart/CMakeLists.txt
	dart/constraint/ConstraintDynamics.h
	dart/constraint/PointConstraint.h
	dart/constraint/SoftConstraintDynamics.cpp
	dart/constraint/SoftConstraintDynamics.h
	dart/dynamics/BodyNode.cpp
	dart/dynamics/BodyNode.h
	dart/dynamics/PointMass.cpp
	dart/dynamics/PointMass.h
	dart/dynamics/Skeleton.h
	dart/dynamics/SoftBodyNode.cpp
	dart/dynamics/SoftBodyNode.h
	dart/dynamics/SoftEdge.h
	dart/optimizer/ConstraintBox.cpp
	dart/optimizer/ObjectiveBox.cpp
	dart/optimizer/Problem.cpp
	data/sdf/atlas/ground.urdf
	data/sdf/atlas/head.dae
	data/sdf/atlas/head.stl
	data/sdf/atlas/l_clav.dae
	data/sdf/atlas/l_clav.stl
	data/sdf/atlas/l_farm.dae
	data/sdf/atlas/l_farm.stl
	data/sdf/atlas/l_foot.dae
	data/sdf/atlas/l_foot.stl
	data/sdf/atlas/l_hand.dae
	data/sdf/atlas/l_hand.stl
	data/sdf/atlas/l_larm.dae
	data/sdf/atlas/l_larm.stl
	data/sdf/atlas/l_lglut.dae
	data/sdf/atlas/l_lglut.stl
	data/sdf/atlas/l_lleg.dae
	data/sdf/atlas/l_lleg.stl
	data/sdf/atlas/l_scap.dae
	data/sdf/atlas/l_scap.stl
	data/sdf/atlas/l_talus.dae
	data/sdf/atlas/l_talus.stl
	data/sdf/atlas/l_uarm.dae
	data/sdf/atlas/l_uarm.stl
	data/sdf/atlas/l_uglut.dae
	data/sdf/atlas/l_uglut.stl
	data/sdf/atlas/l_uleg.dae
	data/sdf/atlas/l_uleg.stl
	data/sdf/atlas/ltorso.dae
	data/sdf/atlas/ltorso.stl
	data/sdf/atlas/mtorso.dae
	data/sdf/atlas/mtorso.stl
	data/sdf/atlas/pelvis.dae
	data/sdf/atlas/pelvis.stl
	data/sdf/atlas/r_clav.dae
	data/sdf/atlas/r_clav.stl
	data/sdf/atlas/r_farm.dae
	data/sdf/atlas/r_farm.stl
	data/sdf/atlas/r_foot.dae
	data/sdf/atlas/r_foot.stl
	data/sdf/atlas/r_hand.dae
	data/sdf/atlas/r_hand.stl
	data/sdf/atlas/r_larm.dae
	data/sdf/atlas/r_larm.stl
	data/sdf/atlas/r_lglut.dae
	data/sdf/atlas/r_lglut.stl
	data/sdf/atlas/r_lleg.dae
	data/sdf/atlas/r_lleg.stl
	data/sdf/atlas/r_scap.dae
	data/sdf/atlas/r_scap.stl
	data/sdf/atlas/r_talus.dae
	data/sdf/atlas/r_talus.stl
	data/sdf/atlas/r_uarm.dae
	data/sdf/atlas/r_uarm.stl
	data/sdf/atlas/r_uglut.dae
	data/sdf/atlas/r_uglut.stl
	data/sdf/atlas/r_uleg.dae
	data/sdf/atlas/r_uleg.stl
	data/sdf/atlas/utorso.dae
	data/sdf/atlas/utorso.stl
	data/sdf/atlas/utorso_pack.dae
	unittests/testOptimizer.cpp
	unittests/testSoftDynamics.cpp