Add isSymmetric() function
Adapting World::step() to refactored forward dynamics API
Refactor joint classes for performance improvement
Fix Skeleton::updateForwardKinematics()
Fix computing mass matrix and its inverse matrix
Fix computing C, C+g
Passed testDynamics.cpp
Passe testJoints.cpp
Testing softbody dynamics
Remove override keyword and pass all the unit tests
Update transmitted force and body acceleration with constraint impulses
Update copyright years
Fix style
Merge pull request #188 from dartsim/dynamics

Performance improvement for forward dynamics