update data types
added preliminary class jacobianelement
changed data types and pointer strategy
added BallJointConstraint
updated readme
added methods multiplyVector, scale, getColumn, get/setElement, op* to Mat3
added methods transpose, copy, setRotationFromQuaternion to Mat3
docs
updated rigid body test
updated docs
set doxygen QUIET=YES
added optional OSG rendering for rigid demo
fixed assymetric jacobian bug, now both balljoint and lock works
quaternion fixes, transfer quat transform to OSG
future velocities, box inertia, ball joint fixes, OSG infinite loop
lockjoint now inherits from balljoint
BallJoint and LockJoint works. Fixed construction of shur complement and other math related stuff
changed command line usage of the test
Bumped version to 0.0.1, updated docs.
Bumped version to 0.1.0, updated docs.