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added possibility to setup DiffIK solver more efficiently

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Fixed model setup when inverting the kinematic structure of a robot.

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Improved performance of DifferentialIK. Added several class members and pre-initialized them to avoid heavy memory allocation/deletion during IK search.

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Switched default to VRML export (instead of not well supported iv format)

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Optimized memory consumption of VoxelTreeND. Now the leaf objects do not store an unnecessary pointer array to non existing leafs.

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fixed forward dynamics calculation

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Fixed makeRelative function. Failed if file did not exist.

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Fixed calculations of muslce lengths and moment arms. Fixed Dynamics calculations with RBDL. Added Simox_USE_RBDL to CMake

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Standalone COLLADA importer modified to convert simple COLLADA files (e.g., 1.4 w/o kinematics) to inventor. --Fixed

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Standalone COLLADA importer modified to convert simple COLLADA files (e.g., 1.4 w/o kinematics) to inventor.

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