This is useful for computing the multi-body ZMP.

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Added current file version to reader.

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Added adapter for RBDL to calculate Inverse Dynamics and Joint Space Inertia Matrix on a given RobotNodeSet. For usage, see the Inverse Dynamics example.

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Changed mutex usage in BulletCoinViewer in order tio make it optional (not needed in standard setup).
Added antialiasing parameters. Disabled by default.

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Added abstract method checkTolerances in JacobiProvider and changed visibility in DiffIK to public, needed for hierarchical ik solver.

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