Merge remote-tracking branch 'origin/master' into hand

Conflicts:
	apps/CMakeLists.txt
	apps/handManipulation/CMakeLists.txt
	apps/handManipulation/Main.cpp
	apps/handManipulation/PositionConstraint.h_
	apps/handTiltingAngle/CMakeLists.txt
	apps/handTiltingAngle/MyWindow.h
	dart/constraint/ContactConstraint.cpp
Enable self collision check for shadow hand