dartsim/dart — pull request #184 by jslee02 (2014-04-24 20:29:00+00:00)
Title: New constraint solver and softbody dynamics clean up

+ New constraint solver
+ Improve method to construct LCP problem
+ It does not require explicit skeleton's mass matrix and inverse mass matrix
+ Add constrained group concept (similar to ODE's Island concept)
+ Softbody dynamics clean up
+ Merge SoftWorld into World