dartsim/dart — pull request #188 by jslee02 (2014-05-27 23:29:55+00:00)
Title: Performance improvement for forward dynamics

+ Move variable size variables in `BodyNode` to each joint class and use fixed size variables instead
+ Create `SingleDofJoint` and `MultiDofJoint` classes
+ Update copyright years
+ Note: `EulerJoint` is unstable