Additional modifications for cross-compilation (UNIX and WIN32) Testing with the yWrite module
Dealing with some compilers discrepancies

Some additional casting was performed to compile on Windows (with cl
compiler) Tested on Visual Studio 2010
Update CMakeLists.txt

Remove non-standard modification of CMAKE_INSTALL_PREFIX
Remove non-standard alteration of CMAKE_INSTALL_PREFIX

Remove non-standard alteration of CMAKE_INSTALL_PREFIX
Merge branch 'master' into wholeBodyDynamicsTree