Adds raycasting ability using bullet for RigidBodyManipulator.
Merge branch 'collision-dynamics-integration' of github.com:avalenzu/drake into collision-dynamics-integration
Adds a test for raycasting.
Add `allCollisions` method - fast collision checks
Re-ignore upper-leg collisions in atlas_chull.urdf
Add `allCollision` MATLAB RBM method
Fix comments for `allCollisions`
user gradients for force elements with tests
changing spring traj opt to old SNOPT interface
moving the old spring tests
updating HandCmex error messages
removing the backward euler constraint
updated to Jdot, organize tests like Russ asked and included a wing gradient test
fixing HandC.cpp
initial commit
add license
Merge branch 'master' of github.com:rdeits/meshutil
img folder
new url
iris example