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> .
massive simplification of drake collision detection code.  everything compiles again.  about to start testing.
re-enabled collision components in RBM c++
clear simpleClosestPointFunctions, updating bullet_collision_test (but I can't understand how it wasn't updated already!)
Uncomment includes in DrakeCollision.h

The following were commented out and are needed for the code to compile

```
 #include <memory>
 #include <stdexcept>
 #include <bitset>
```
Make testURDFcollisionmex throw `MissingDependency`
Fix inconsistent definitions of collisionRaycast
Re-enable boost and fix c++ collision tests
Re-enable constraints and IK mex
Comment out debug print statements
Fix add_test for C++ IK and collison tests
Install drakeCollision library and header
Merge pull request #205 from avalenzu/memory_debugging

Memory debugging
Merge branch 'master' into floatingBase