Removed some deprecated methods and parameters from RigidBody and related.
Added (not yet working) capsule test. Removed some old properties from RigidBody
Merge branch 'andres/collision-dynamics-integration'
Removed contact points from mex compilation. Capsule test seems to work for one object, but not for more than one.
Changed LCMGL checkDependency to use cmake class path
Added falling snake test. Rewrote loop in contactConstraints to loop over bodies, not contact points.
Merge branch 'andres/collision-dynamics-integration'
Merge branch 'andres/collision-dynamics-integration'
Working edit.
Merge pull request #6 from mposa/collision-dynamics-integration

Adds capsule tests and speeds up contactConstraints