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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Changed input of DiffIK and JacobiProvider from RobotNodePtr to SceneObjectPtr. This is useful when artificial markers attached to the RobotNodes should be used as input for IK solving. Changes were needed for the MMM project.

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- Allow to set new BulletEngineConfig at run-time (*)
- Fix indentation in some places (change spaces to tabs)
(*) currently specific to BulletEngine (no new methods in DynamicsEngine interface)


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* Fixed visualization bug in setVisualization that affected applyDisplacement and com visu.
* Added Model XML tag support.

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