Update testEquationOfMotion
- Remove performance test part
- Add tests for M, MInv, C, Cg
- Some skel files couldn't pass this test are disabled
Merge branch 'origin/test_equation_of_motion'
Add calculation of kinetic and potential energy for skeleton
Rename testDynamics.cpp_ to testDynamics.cpp
Fix bug in BodyNode::getWorldJacobianTimeDeriv()
- This commit is similar to 3869d28007ef313a8fbbe1038434f9a3831d232e
Restore and refactor testDynamics.cpp
- Some sub-tests are not implemented yet.
- Some sub-tests are disabled.
- Details are described in the file as TODO list.
Use dirty flag for body node's time derivative of body Jacobian
Merge branch 'origin/master'

Conflicts:
	dart/dynamics/Skeleton.cpp