bugfix: when updating the pose of a robot's root node, the robot's global pose was not considered

bugfix: MathTools's method for determining on which side a point lies w.r.t. a plane was not working correctly for planes with p!=(0,0,0)

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@419 042f3d55-54a8-47e9-b7fb-15903f145c44