Fix method CollisionObject::getTransform.
Cosmetic changes

  - remove trailing white spaces.
Fix bug in ObjectIterator.

  jointIt_ was wrongly increased twice.
Allow to set the joint of a CollisionObject to 0x0

  Store latest computed global position in positionInJointFrame_.
Fix Debug ouput in Device::addCollisionPairs and add a transform Debug output in CollisionObject
Fix wrong vector copy and cosmetic changes