* cylinder support
* continuous joints
* visu array support

Visualization fix: applyDisplacement uses MM now

added VirtualRobot::init to set coin3d environment variables
added setTransparency method to Visualization

CoinVisualizationFactory::renderOffscreenAndGetFocalLength now renders and returns the used focal length
CoinVisualizationFactory::renderOffscreen does not take a focal length parameter (coin3d does not use it)

the example CameraView does not show depth voxels anymore (they were wrong anyway)

Conflicts:
	VirtualRobot/Nodes/RobotNode.h

added some helper methods
improved performance of joint updates

render offscreen now takes custom values for zNear, zFar and the focal length

Results in much better IK behavior.