avalenzu/drake — pull request #17 by avalenzu (2014-04-07 21:54:20+00:00)
Title: Terrain integration

Gets us back to where we were with collisions against terrain (or a bit ahead, as now everything can collide with flat terrain). @RussTedrake, @mposa would you mind taking a quick look at this just to make sure you're ok with the gist of it? We may want to change method names, etc., but I wan't to make sure I'm not off track here.