pulled out collision which seemed to resolve crashes on mac.  will now slowly pull it back in
quiet debug spew from GenericModel
intermediate commit.  no bullet.  no boost.  yes collision (using genericmodel).  still crashes.
link against collision in cmakelists, but do not reference header or anything.  this works.  (but everything more was still failiing).
also started the process of dramatically simplifying the collision code.
cleaned up header file references.  zapped all calls (i believe) to <vector> which could be interfering with <Eigen/StdVector> .