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Improved VoxelTreeND.

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Added math helpers

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Added generic file io methods
Added trimesh creation of approximated spheres
Improved generic usage of pose quality classes
Added generic n-tree implementation based on VoxelTree6D


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bugfix: when eef definitions contain RobotNodes without CollisionModels the check for collision during open/close operations failed.

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* initial joint value now considers lo/hi limits
* open/close eef not longer crashes on RobotNodes without collision model

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Minor SimDynamics/Bullet updates. Better support for linux/bullet cmake configuration. Fixed wrong const definitions in custom collision dispatcher.

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Added ignoreCollision tag to physics section of robot's xml description: Allows to specify disabled collision pairs for physics engines.
Adjusted ARMAR-III model to work with bullet-SimDynamics.


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Created more accurate collision model of ARMAR-III. Old model with minimum number of triangles (630) has been renamed to ArmarIII_minColModel.xml.

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Adjusting some set and get globalPose methods accordingly.
Also some implicit checks for RootNodes are handled in a better way.

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Added extended functionality to BulletEngine/CoinQtBulletViewer. Mutex protections and start/stop/step engine functionality.
Fixed missing const definition in SimoxCollisionDispatcher: now the correct methods are called by the bullet framework.
Improved SimDynamiosViewer: Start/Stop/Step engine, CoM visualizations



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* Moved hierarchical functionality from RobotNodes to parent class SceneObject. This allows to add children to sceneobejcts and unifies the parent/child structure over all objects.
* Changed initialization of RobotNodes. Names of children are not longer passed to constructor. The standard addChild method is used instead.
* Removed RobotNode's applyJointValue methods. Now the standard updatePose methods are used.
* Fixed ref bug in createArrow function. Now memory is released when detaching arrow visualizations.



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Update to current bullet version (2.81)

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Fixed Coin3D units hanling. Removed implicit assumption that all models are given in millimeters. Now all Coin3D related models may have a units tag or if not, the units are assumed as meters (standard in Coin). This change does only affect the model import/export, since all Simox internal computations are still performed in millimeters.
Added unit tags to 3d model files and fixed all demos and examples.

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