Adding support maxTorque physics tag

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@171 042f3d55-54a8-47e9-b7fb-15903f145c44

Adding physics node test
Adding GramSchmidt method to improve ensureOrthonormlaBasis function
Adding some helpers for reachability data


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Adding joint limit penalization to PoseQuality class.
Adding standalone cmake file for VirtualRobot
Removing Stefan's comments from Robot.cpp



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Changing VirtualRobot cmake config file according to Simox config (Standalone version). Adding some more output in case XML attributes are unkonwn.

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@159 042f3d55-54a8-47e9-b7fb-15903f145c44

Fixing some OSG visualization issues, when copying 3d models (wrong global pose of triMeshes)
Improving OSG demo.
Adding OSG visualization support for arrows and coordinate axis

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@158 042f3d55-54a8-47e9-b7fb-15903f145c44

Cloning UseAsColModel visu files.

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Removing all hard-coded inventor/coin3D dependencies.
Initial version of OSG Factory and Visualizations
Example OSG Robot Viewer


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Adding base transformation helper to MathTools.
Adding MathTools test.


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Improving some demos.

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Adding license for rapidXML.

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