cartwheel: fix bug in JSpState::Null()
cartwheel: move RawTorques and JSpTorques classes out of controller directory
cartwheel: move stuff from Cartwheel into CWRobot methods
cartwheel: use pkg-config instead of ode-config, fix incorrect assertion with ode 0.13.1
mechsim: make mechsim library not depend on ODE, use pkg-config in tests Makefile
mechsim: do not discard earlier data in case of a fatal error (e.g. assertion in ODE)
mechsim: heightfield: draw what is actually being simulated