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distanceToLine and nearestPointOnLine work now with every Eigen vector

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Changed min/max functions to pqp_min/pqp_max since these methods could result in errors when min/max macros are defined within other libraries.

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Minor changes: added convenient parameter settings for some methods (collision detection)
Minor Fix: added some explicit casts to avoid double/float warnings

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This migrates some problems when using bullet with double precision.

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* Added explicit casts to avoid compiler warnings
* Renamed USE_SENSORS define to COLLADA_IMPORT_USE_SENSORS
* Rearranged includes to avoid compiler warnings (windows)

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Use Bullet's fixedTimeStep instead of manipulating timeStep for driving the simulation (+ fix indentation)


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