Fix bugs of WeldJointConstraint in two bodies case
Fix bugs of WeldJointConstraint for two bodies in one skeleton (closed chain)
Not allow arbitrary relative transformation for weld joint constraint
- The relative transformation between two bodies of weld joint constraint is initially set to their relative transformation when the weld joint constraint is made.
- This is necessary to prevent instability of dynamics from the initial constraint error due to arbitrary relative transformation
Remove undeclared definitions
- The declarations were removed by previous commit
Test rigidLoop with WeldJointConstraint instead of BallJointConstraint
- It will be replaced BallJointConstraint back once BallJointConstraint is stabilized
Merge pull request #224 from dartsim/fix_weld_joint_constraint

Fix weld joint constraint