pass stance to planswing
Add terrain geometry based on terrain_pts_in_world
compute world terrain pts
WIP: adding heel-toe walking support
remove frame conversion
Add ikTraj to planSwing. Untested.
clear out some cruft
WIP: more work on toe-off walking
add some missing passthroughs
basic working heel-toe walking planner
don't playback every step
restore path
debug printing
Convert body_idx to int32 in MinDistanceConstraint

This was being done in collisionDetect but not here. It's necessary because
constructPtrRigidBodyConstraintMex expects an int array.
Add lateral constraint on swing foot in planSwing.
WIP: slightly broken swing traj using half-spaces instead of bullet
remove duplicate passthrough
make footstep plan more symmetric
nice trajectories with sharp descents on flat ground
switch back to bullet-based terrain avoidance